CN105700565A - Real-time automatic tracking system and method for light on actor - Google Patents

Abstract

The invention discloses a real-time automatic tracking system and method for light on an actor. The automatic tracking system is composed of cloud platform movement modules, stage lighting equipment, a mobile object positioning module, a motor drive module, a remote control module, a controller module and a wireless communication module. The mobile object positioning module is used for carrying out real-time positioning on a plurality of actors wearing micro tags; on the basis of realization of multi-target positioning, the remote controller module is used for carrying out switching selection on cloud platform movement module serial numbers corresponding to all micro tags, so that automatic light beam tracking and switching of the stage lighting equipment on different actors by the single cloud platform movement module can be realized and multiple cloud platform movement modules can be controlled simultaneously to realize real-time automatic light beam tracking by the stage lighting equipment for one or more target actors. Therefore, the labor intensity can be substantially reduced and more light changing modes of the stage lighting equipment can be realized.

Description

A kind of performer's light real-time automatic tracking system and method

Technical field

The present invention relates to a kind of performer's lamp optical tracking system, particularly relate to a kind of performer's light real-time automatic tracking system and method。

Background technology

First-class at stage or the ice rink of various large-scale literature and art recreations; going on the stage is when performance; in order to allow spectators that featured performer has clearer observation; the light of stage of high brightness usually can be adopted to be pointed into this performer; and when this actor performance moves, it is necessary to light follows the tracks of movement along with the movement of performer。

The control method of existing performer's lamp optical tracking system mainly has:

1. Non-follow control: need operator's walking about according to performer, followed the tracks of by Mobile illumination equipment projecting direction manually, general lighting equipment volume is bigger, and higher temperature can be produced, such as long-time operation, labor intensity of operating staff can be made big. psychentonia, it is easy to produce bigger tracking error；

2. Remote: utilize computer system to be implemented in line traffic control, it is necessary to the monitoring personnel of specialty are operated controlling at any time, comparatively inconvenience, and automaticity is not high；

3. preset the motion track of light units: such as Chinese utility model patent 93101330 (hand and computer combination control console for stage light), it is possible to realize computer programmable and storage field control function。But which requires that performer performs in strict accordance with the route provided and beat, and its motility is not good enough；

4. automatic tracking system: such as Chinese invention patent 201210476935.8 (automatic stage light tracking system based on thermal imaging), is based on infrared camera and obtains performer's location positioning with image processing method；Practical China new patent 201420305194.1 (a kind of automatic stage light tracking system) is based on infrared sensor and performer is carried out location positioning；Chinese utility model patent 201020184403.3 (automatic stage light tracking system) is based on stage upward pressure sensor array and performer is carried out location positioning。The method adopted by them, it can be seen that when occurring multiple performer on stage, above three system all cannot realize any performer is carried out real-time positioning, also cannot realize light of stage and freely switch tracking between different performers。

All there is some weak point in existing performer's lamp optical tracking system, thus, it would be highly desirable to a kind of easy to operate and multiple target performers can be carried out at any time freely switch follow the tracks of performer's light real-time automatic tracking system。

At present, market has a kind of Moving objects location module, certain wireless location system can be adopted to realize, e.g., adopt domestic indoor and outdoor wireless location LocalSense system etc.。LocalSense system can realize multiple target 3D or the 2D demand positioned, by wearing different micro-labels for different mobile targets, it may be achieved the real-time positioning to each target。

Summary of the invention

It is an object of the invention to overcome deficiency of the prior art。A kind of can multiple performers being carried out is provided freely to switch the performer's light real-time tracking system followed the tracks of。Present invention simultaneously provides the method utilizing this system that performer is carried out real-time tracking。

For reaching above-mentioned purpose, performer's light real-time automatic tracking system of the present invention comprises: The Cloud Terrace motion module, light of stage equipment, Moving objects location module, motor drive module, remote controller module, controller module and wireless communication module。Wherein:

Described The Cloud Terrace motion module can be provided with many sets, often set The Cloud Terrace motion module structure is: be provided with pitching rotary drive motor on its The Cloud Terrace pedestal, pitching rotary head frame, horizontally rotate drive motor, horizontally rotate tripod head frame, by pitching rotary drive motor and the driving horizontally rotating drive motor, pitching rotary head frame can be realized respectively and horizontally rotate the rotation of tripod head frame。

Described light of stage equipment is arranged on the pitching rotary head frame of respective The Cloud Terrace motion module, by the pitching rotary drive motor in driving The Cloud Terrace motion module and the rotation horizontally rotating drive motor, drive pitching rotary head frame respectively and horizontally rotate tripod head frame rotation, thus adjusting the lamplight direction of light of stage equipment；

Described Moving objects location module, can adopt certain wireless location system to realize, and e.g., adopts domestic indoor and outdoor wireless location LocalSense system etc.；LocalSense system can realize multiple target 3D or the 2D demand positioned, by wearing different micro-labels for different mobile targets, it may be achieved the real-time positioning to each target, thus obtaining the three-dimensional coordinate location information of any number of performers on stage。

Described motor drive module, is separately mounted in each self-corresponding The Cloud Terrace motion module, is realized pitching rotary drive motor in respective The Cloud Terrace motion module and the rotation control horizontally rotating drive motor by the control signal of output motor。

Described remote controller module, on the one hand, one or more sets The Cloud Terrace motion module can be arbitrarily selected to number, make it controlled, meanwhile, all controlled The Cloud Terrace motion module are arranged micro-tag number of the tracking target performer of correspondence, when arranging, both can micro-tag number corresponding to different The Cloud Terrace motion module, it is also possible to many corresponding same micro-tag number of set The Cloud Terrace motion module；Light of stage equipment in arbitrary The Cloud Terrace motion module can be sent some assist control instructions about options such as start and stop, movement velocity, light power, colors by remote controller module on the other hand；

Described controller module, accepts the micro-tag number of target performer that The Cloud Terrace motion module is numbered and correspondence is followed the tracks of or corresponding assist control instruction that remote controller module sends on the one hand；On the other hand, location information according to all performers transmitted from Moving objects location module, and the corresponding relation that the micro-tag number of target performer is numbered with The Cloud Terrace motion module, obtain the location information corresponding to the micro-tag number of target performer, controller module utilizes these location information, by microprocessor, the The Cloud Terrace motion module joint space that the target performer that be there is a need to tracking is corresponding is carried out inverse solution to calculate, and by pitching rotary drive motor in each The Cloud Terrace motion module drawn and horizontally rotate the angle information that drive motor should rotate, to respective pitching rotary drive motor and the drive motor corresponding movement instruction of transmission is horizontally rotated through respective motor drive module, oneself corresponding target performer followed the tracks of is carried out from motion tracking realizing each The Cloud Terrace motion module lamp apparatus that goes on the stage；

Described wireless communication module, adopts wireless communication technique to set up the contact between controller module and remote controller module, both is played function served as bridge。

The method that stage performer is carried out real-time tracking by above-mentioned automatic stage light tracking system is utilized mainly to comprise the steps of:

Step one, by Moving objects location module, each performer wearing micro-label on stage is carried out real-time positioning, and the location information that each wears the performer of micro-label in real time is sent to controller module；

Step 2, controlled all The Cloud Terrace motion module numbering and correspondence thereof be set by remote controller module follow the tracks of the micro-tag number of performer and relevant assist control instruction, and send it to controller module；

The information that step 3, the controller module remote controller module to receiving sends resolves, it is thus achieved that the micro-tag number of target performer and the corresponding relation that The Cloud Terrace motion module is numbered and relevant assist control instruction；

Step 4, controller module is on the one hand according to the location information of all performers transmitted from Moving objects location module, and the corresponding relation that the micro-tag number of target performer is numbered with The Cloud Terrace motion module, obtain the location information corresponding to the micro-tag number of target performer, utilize these location information, by microprocessor, the The Cloud Terrace motion module joint space that the target performer that be there is a need to tracking is corresponding is carried out inverse solution to calculate, and by pitching rotary drive motor in each The Cloud Terrace motion module drawn and horizontally rotate the angle information that drive motor should rotate, to respective pitching rotary drive motor and the drive motor corresponding movement instruction of transmission is horizontally rotated through respective motor drive module, oneself corresponding target performer followed the tracks of is carried out from motion tracking realizing each The Cloud Terrace motion module lamp apparatus that goes on the stage；Perform the assist control instruction that remote controller module sends on the other hand。

The inverse computational methods solved of above-mentioned single The Cloud Terrace motion module joint space comprise the steps of:

Step 1, stage plane hit exactly somewhere, front set up O₀-X₀Y₀Z₀Coordinate system, is called for short O₀Coordinate system；O₀The X of coordinate system₀Axle honest sensing stage direction, Z₀Axle honest sensing ceiling direction, Y₀Axle is determined by common right-handed system rule, is the base coordinate system of stage performer's position location information。Wear each performer of micro-label relative to O₀The location information of coordinate system can be obtained by Moving objects location module, sets the performer of a certain numbering of micro-label relative to O₀The three-dimensional localization information of coordinate system can be with vector representation⁰P_i=[⁰x_i ⁰y_i ⁰z_i1]^T, wherein i represents micro-tag number of target performer, i=1,2,3........n。

Step 2, at O₀Coordinate system is along Y₀On direction of principal axis directly over a certain position, set up the O ' in The Cloud Terrace motion module respectively₀-X’₀Y’₀Z’₀Coordinate system, O '₁-X₁’Y₁’Z’₁Coordinate system, O '₂-X’₂Y’₂Z’₂Coordinate system and O '₃-X’₃Y’₃Z’₃Coordinate system, is briefly referred to as O '₀、O’₁、O’₂、O’₃Coordinate system (lower same), wherein:

O’₀Coordinate origin is built on the upper bottom central plane horizontally rotating joint of The Cloud Terrace motion module, for the base coordinate system of The Cloud Terrace motion module；

O’₁Coordinate origin build the underface horizontally rotating joints axes of The Cloud Terrace motion module in, is fixed on and horizontally rotates in tripod head frame, and initial point just horizontally rotates on joints axes and elevating movement joints axes cross point in The Cloud Terrace motion module, O '₁Coordinate system followed by the rotation horizontally rotating tripod head frame and rotates, its corner α₁Represent；

O’₂Coordinate origin is fixed on pitching rotary head frame, and and O '₁Coordinate origin overlaps, O '₂Coordinate system not only followed by and horizontally rotates horizontally rotating of tripod head frame and rotate, and also followed by the pitch rotation of pitching rotary head frame and rotates, and it is along with the corner α of pitching rotary head frame pitch rotation₂Represent；

O’₃Coordinate origin build O ' in₂The Z ' of coordinate system₂On axle opposite direction position, it is fixed together with stage lighting equipment axis, and the direction of light of stage apparatus lamp light beam and X '₃The direction of axle is consistent, O '₃And O '₂The same, the rotation of both direction can be done along with the rotation horizontally rotating tripod head frame and pitching rotary head frame, O '₃Coordinate system and O '₂Coordinate system keeps translation relation, is used for representing that target pointed by light of stage apparatus lamp light beam is at O '₃Vector in coordinate system describes。

Step 3, determine pitching rotary drive motor corner α on The Cloud Terrace₁, horizontally rotate drive motor corner α₂And performer and O '₃Distance between coordinate origin³x_i

By O '₀Coordinate system is relative to O₀The translation relation T of coordinate system₀Describe；By O '₁Coordinate system is relative to O '₀Coordinate system horizontally rotate relation T₁Describe, by O '₂Coordinate system is relative to O '₁The pitching rotation relationship T of coordinate system₂Statement, by O '₃Coordinate system is relative to O '₂The translation relation T of coordinate system₃Describe, be that the target performer of i is at O ' by micro-tag number pointed by stage lighting light beam₃Vector representation in coordinate system is³P_i=[³x_i001]^T, then can pass through coordinate system transformation method will³P_iConvert to relative to O₀Vector representation in coordinate system, is designated as⁰S_i, performer and the performer of Moving objects location module location pointed by stage lighting light beam are same targets, so must have⁰S_i=⁰P_i, then have:

⁰P_i=⁰S_i=T₀·T₁·T₂·T₃·³P_i(1)

And obtain following series matrix according to described above:

Wherein:⁰P_iIt is that the performer of i is relative to O for micro-tag number on the stage that detected by Moving objects location module₀The location information of coordinate system, for known；Ry₀For O '₀Coordinate system is along O₀Coordinate system y₀Axial translational movement, for known；Rz₀For O '₀Coordinate system is relative to O₀The height of coordinate system, for known；Rz₁For O '₁Coordinate system is along O '₀The Z ' of coordinate system₀The reciprocal translational movement of axle, for known；Rz₃For O '₃Coordinate system is along O '₂The Z ' of coordinate system₂The reciprocal translational movement of axle, for known。

α₁For horizontally rotating the corner of drive motor, from Z '₀Direction of principal axis is seen, is just counterclockwise, is negative clockwise, is demand solution amount。

α₂For the corner of pitching rotary drive motor, from Y '₁Direction of principal axis is seen, nutation is just, faces upward as negative, is demand solution amount

³x_iFor performer and O '₃Distance between coordinate origin, is demand solution amount

Can be derived acquisition by aforementioned each formula and known conditions:

Wherein: A=⁰z_i-Rz₀-Rz₁, B=⁰x_i·cos(α₁)+(⁰y_i-Ry₀)·sin(α₁)

Above-mentioned formula (3) solves α₁、α₂、³x_iProcess be the inverse calculating process solving model of The Cloud Terrace joint space, namely by target performer at O₀Location information in coordinate system, derives pitching rotary drive motor corner α on The Cloud Terrace₁, horizontally rotate drive motor corner α₂And performer and O '₃Distance between coordinate origin³x_i, it is determined that how to adjust the process of stage lighting beam alignment target performer。

It is an advantage of the current invention that: in containing the system overlapping The Cloud Terrace motion module more, the multiple performers wearing micro-label can be carried out real-time positioning by Moving objects location module by the present invention, realizing on the basis to Multi-target position, by remote controller module, the switching of The Cloud Terrace motion module numbering corresponding to each micro-label is selected, both can realize the light beam that different performers carry out light of stage equipment by single The Cloud Terrace motion module and switch from motion tracking；Multiple The Cloud Terrace motion module can also be controlled, it is achieved to the light beam of the real-time light of stage equipment of one or more target performers from motion tracking simultaneously。It is possible not only to be substantially reduced the labor intensity of people, and the light transformation pattern of more light of stage equipment can be realized。

Accompanying drawing explanation

Fig. 1 is the system structure schematic diagram of the present invention；

Fig. 2 is the system the general frame of the present invention；

Each co-ordinate system location schematic diagram when Fig. 3 is initial position；

Fig. 4 is the workflow block diagram of the present invention。

In figure:

Fig. 1: 100-micro-label；101-performer；102-stage；103-light of stage equipment；104-pitching rotary drive motor；105-pitching rotary head frame；106-horizontally rotates tripod head frame；107-horizontally rotates drive motor；108-The Cloud Terrace pedestal

Fig. 2: 201-The Cloud Terrace motion module；202-Moving objects location module；203-motor-drive circuit module；204-remote controller module；205-controller module；206-wireless communication module

Detailed description of the invention

Below in conjunction with accompanying drawing, the method for work of performer's light real-time automatic tracking system of the present invention is described。

Present system comprises: as in figure 2 it is shown, The Cloud Terrace motion module 201, Moving objects location module 202, motor drive module 203, remote controller module 204, controller module 205 and wireless communication module 206。Wherein:

Described The Cloud Terrace motion module 201 can be provided with many sets, see Fig. 1, often set The Cloud Terrace motion module 201 structure is: be provided with pitching rotary drive motor 104 on its The Cloud Terrace pedestal 108, pitching rotary head frame 105, horizontally rotate drive motor 107, horizontally rotate tripod head frame 106, by pitching rotary drive motor 104 and the driving horizontally rotating drive motor 107, pitching rotary head frame 105 can be realized respectively and horizontally rotate the rotation of tripod head frame 106。

Described light of stage equipment 103 is arranged on the pitching rotary head frame 105 of respective The Cloud Terrace motion module 201, by the pitching rotary drive motor 104 in driving The Cloud Terrace motion module 201 and the rotation horizontally rotating drive motor 107, drive pitching rotary head frame 105 respectively and horizontally rotate tripod head frame 106 and rotate, thus adjusting the lamplight direction of light of stage equipment 103；

Described Moving objects location module 202, can adopt certain wireless location system to realize, and e.g., adopts domestic indoor and outdoor wireless location LocalSense system etc.；LocalSense system can realize multiple target 3D or the 2D demand positioned, by wearing different micro-labels 100 for different mobile targets, it may be achieved the real-time positioning to each target, thus obtaining the three-dimensional coordinate location information of any number of performers 101 on stage。

Described motor drive module 203, is separately mounted in each self-corresponding The Cloud Terrace motion module 201, is realized pitching rotary drive motor in respective The Cloud Terrace motion module 201 104 and the rotation control horizontally rotating drive motor 107 by the control signal of output motor。

Described remote controller module 204, on the one hand, one or more sets The Cloud Terrace motion module 201 can be arbitrarily selected to number, make it controlled, meanwhile, micro-label 100 of the tracking target performer 101 that all controlled The Cloud Terrace motion module 201 arrange correspondence is numbered, when arranging, both can number by the corresponding different micro-label 100 of different The Cloud Terrace motion module 201, it is also possible to many corresponding same micro-labels 100 of set The Cloud Terrace motion module 201 are numbered；Light of stage equipment 103 in arbitrary The Cloud Terrace motion module 201 can be sent some assist control instructions about options such as start and stop, movement velocity, light power, colors by remote controller module 204 on the other hand；

Described controller module 205, the micro-label 100 of target performer 101 that The Cloud Terrace motion module 201 is numbered and correspondence is followed the tracks of accepting remote controller module 204 transmission on the one hand is numbered or corresponding assist control instruction；On the other hand, location information according to all performers 101 transmitted from Moving objects location module 202, and the corresponding relation that micro-label 100 numbering of target performer 101 is numbered with The Cloud Terrace motion module 201, obtain the micro-label of target performer 101 100 and number corresponding location information, controller module 205 utilizes these location information, by microprocessor, The Cloud Terrace motion module 201 joint space of target performer 101 correspondence that be there is a need to follow the tracks of is carried out inverse solution to calculate, and by pitching rotary drive motor in each The Cloud Terrace motion module 201 drawn 104 with horizontally rotate the angle information that drive motor 107 should rotate, to respective pitching rotary drive motor 104 through respective motor drive module 203 and horizontally rotate drive motor 107 and send corresponding movement instruction, oneself corresponding target performer 101 followed the tracks of is carried out from motion tracking realizing each The Cloud Terrace motion module 201 lamp apparatus that goes on the stage, or perform remote controller module 204 and send the assist control instruction of coming。

Described wireless communication module 206, adopts wireless communication technique to set up the contact between controller module 205 and remote controller module 204, both is played function served as bridge。

The method that stage performer 101 is carried out real-time tracking by above-mentioned automatic stage light tracking system is utilized mainly to comprise the steps of:

Step one, by Moving objects location module 202, each performer 101 wearing micro-label 100 on stage is carried out real-time positioning, and the location information that each wears the performer 101 of micro-label 100 in real time is sent to controller module 205；

Step 2, arranged by remote controller module 204 controlled all The Cloud Terrace motion module 201 number and correspondence follow the tracks of the assist control instruction numbering and be correlated with of the micro-label 100 of performer 101, and send it to controller module 205；

The information that step 3, controller module 205 remote controller module 204 to receiving sends resolves, it is thus achieved that target performer 101 micro-label 100 numbers the corresponding relation to The Cloud Terrace motion module 201 numbering and relevant assist control instruction；

Step 4, controller module 205 1 aspect is according to the location information of all performers 101 transmitted from Moving objects location module 202, and the corresponding relation that micro-label 100 numbering of target performer 101 is numbered with The Cloud Terrace motion module 201, obtain the micro-label of target performer 101 100 and number corresponding location information, utilize these location information, by microprocessor, The Cloud Terrace motion module 201 joint space of target performer 101 correspondence that be there is a need to follow the tracks of is carried out inverse solution to calculate, and by pitching rotary drive motor in each The Cloud Terrace motion module 201 drawn 104 with horizontally rotate the angle information that drive motor 107 should rotate, to respective pitching rotary drive motor 104 through respective motor drive module 203 and horizontally rotate drive motor 107 and send corresponding movement instruction, oneself corresponding target performer 101 followed the tracks of is carried out from motion tracking realizing each The Cloud Terrace motion module 201 lamp apparatus that goes on the stage；Perform the assist control instruction that remote controller module 204 sends on the other hand。

The inverse computational methods solved of above-mentioned single The Cloud Terrace motion module 201 joint space comprise the steps of:

Step 1, stage plane hit exactly somewhere, front set up O₀-X₀Y₀Z₀Coordinate system, is called for short O₀Coordinate system；O₀The X of coordinate system₀Axle honest sensing stage direction, Z₀Axle honest sensing ceiling direction, Y₀Axle is determined by common right-handed system rule, is the base coordinate system of stage performer 101 position location information。Wear each performer 101 of micro-label 100 relative to O₀The location information of coordinate system can be obtained by Moving objects location module 202, sets the performer 101 of micro-a certain numbering of label 100 relative to O₀The three-dimensional localization information of coordinate system can be with vector representation⁰P_i=[⁰x_i ⁰y_i ⁰z_i1]^T, wherein i represents that micro-label 100 of target performer 101 is numbered, i=1,2,3........n。

Step 2, at O₀Coordinate system is along Y₀On direction of principal axis directly over a certain position, set up the O ' in The Cloud Terrace motion module 201 respectively₀-X’₀Y’₀Z’₀Coordinate system, O '₁-X’₁Y’₁Z’₁Coordinate system, O '₂-X’₂Y’₂Z’₂Coordinate system and O '₃-X’₃Y’₃Z’₃Coordinate system, is briefly referred to as O '₀、O’₁、O’₂、O’₃Coordinate system (lower same), wherein:

O’₀Coordinate origin is built on the upper bottom central plane horizontally rotating joint of The Cloud Terrace motion module 201, for the base coordinate system of The Cloud Terrace motion module 201；

O’₁Coordinate origin build the underface horizontally rotating joints axes of The Cloud Terrace motion module 201 in, is fixed on and horizontally rotates in tripod head frame 106, and initial point just horizontally rotates on joints axes and elevating movement joints axes cross point in The Cloud Terrace motion module 201, O '₁Coordinate system followed by the rotation horizontally rotating tripod head frame 106 and rotates, its corner α₁Represent；

O’₂Coordinate origin is fixed on pitching rotary head frame 105, and and O '₁Coordinate origin overlaps, O '₂Coordinate system not only followed by and horizontally rotates horizontally rotating and rotating of tripod head frame 106, also followed by the pitch rotation of pitching rotary head frame 105 and rotates, and it is along with the corner α of pitching rotary head frame 105 pitch rotation₂Represent；

O’₃Coordinate origin build O ' in₂The Z ' of coordinate system₂On axle opposite direction position, it is fixed together with stage lighting equipment axis, and the direction of light of stage equipment 103 beam of light and X '₃The direction of axle is consistent, O '₃And O '₂The same, the rotation of both direction can be done along with the rotation horizontally rotating tripod head frame 106 and pitching rotary head frame 105, O '₃Coordinate system and O '₂Coordinate system keeps translation relation, is used for representing that target pointed by light of stage equipment 103 beam of light is at O '₃Vector in coordinate system describes。

Step 3, determine pitching rotary drive motor 104 corner α on The Cloud Terrace₁, horizontally rotate drive motor 107 corner α₂And performer 101 and O '₃Distance between coordinate origin³x_i

By O '₀Coordinate system is relative to O₀The translation relation T of coordinate system₀Describe；By O '₁Coordinate system is relative to O '₀Coordinate system horizontally rotate relation T₁Describe, by O '₂Coordinate system is relative to O '₁The pitching rotation relationship T of coordinate system₂Statement, by O '₃Coordinate system is relative to O '₂The translation relation T of coordinate system₃Describe, micro-label 100 pointed by stage lighting light beam is numbered the target performer 101 of i at O '₃Vector representation in coordinate system is³P_i=[³x_i001]^T, then can pass through coordinate system transformation method will³P_iConvert to relative to O₀Vector representation in coordinate system, is designated as⁰S_i, performer 101 and the performer 101 of Moving objects location module 202 location pointed by stage lighting light beam are same targets, so must have⁰S_i=⁰P_i, then have:

⁰P_i=⁰S_i=T₀·T₁·T₂·T₃·³P_i(1)

And obtain following series matrix according to described above:

Wherein:⁰P_iIt is numbered the performer 101 of i relative to O for micro-label 100 on the stage that detected by Moving objects location module 202₀The location information of coordinate system, for known；Ry₀For O '₀Coordinate system is along O₀Coordinate system y₀Axial translational movement, for known；Rz₀For O '₀Coordinate system is relative to O₀The height of coordinate system, for known；Rz₁For O '₁Coordinate system is along O '₀The Z ' of coordinate system₀The reciprocal translational movement of axle, for known；Rz₃For O '₃Coordinate system is along O '₂The Z ' of coordinate system₂The reciprocal translational movement of axle, for known。

α₁For horizontally rotating the corner of drive motor 107, from Z '₀Direction of principal axis is seen, is just counterclockwise, is negative clockwise, is demand solution amount。

α₂For the corner of pitching rotary drive motor 104, from Y '₁Direction of principal axis is seen, nutation is just, faces upward as negative, is demand solution amount

³x_iFor performer 101 and O '₃Distance between coordinate origin, is demand solution amount

Can be derived acquisition by aforementioned each formula and known conditions:

Wherein: A=⁰z_i-Rz₀-Rz₁, B=⁰x_i·cos(α₁)+(⁰y_i-Ry₀)·sin(α₁)

Above-mentioned formula (3) solves α₁、α₂、³x_iProcess be the inverse calculating process solving model of The Cloud Terrace joint space, namely by target performer 101 at O₀Location information in coordinate system, derives pitching rotary drive motor 104 corner α on The Cloud Terrace₁, horizontally rotate drive motor 107 corner α₂And performer 101 and O '₃Distance between coordinate origin³x_i, it is determined that how to adjust the process of stage lighting beam alignment target performer 101。

Embodiment described above only have expressed the specific embodiment of the present invention, and it describes comparatively concrete detailed, but can not be interpreted as the restriction to the scope of the claims of the present invention。It should be noted that; for the person of ordinary skill of the art; under the premise without departing from present inventive concept principle, it is also possible to make some deformation and improvement, within these broadly fall into the protection domain that protection scope of the present invention all should be encompassed in Patent right requirement of the present invention。

Claims (2)

1. performer's light real-time automatic tracking system, it is characterised in that it comprises The Cloud Terrace motion module, light of stage equipment, Moving objects location module, motor drive module, remote controller module, controller module and wireless communication module；Wherein:

Described The Cloud Terrace motion module can be provided with many sets, often set The Cloud Terrace motion module structure is: be provided with pitching rotary drive motor on its The Cloud Terrace pedestal, pitching rotary head frame, horizontally rotate drive motor, horizontally rotate tripod head frame, by pitching rotary drive motor and the driving horizontally rotating drive motor, pitching rotary head frame can be realized respectively and horizontally rotate the rotation of tripod head frame；

Described light of stage equipment is arranged on the pitching rotary head frame of respective The Cloud Terrace motion module, by the pitching rotary drive motor in driving The Cloud Terrace motion module and the rotation horizontally rotating drive motor, drive pitching rotary head frame respectively and horizontally rotate tripod head frame rotation, thus adjusting the lamplight direction of light of stage equipment；

Described Moving objects location module, wireless location system is adopted to realize, can realize multiple target 3D or the 2D demand positioned by alignment system, by wearing different micro-labels for different mobile targets, the real-time positioning to each target can be realized, thus obtaining the three-dimensional coordinate location information of any number of performers on stage；

Described motor drive module, is separately mounted in each self-corresponding The Cloud Terrace motion module, is realized pitching rotary drive motor in respective The Cloud Terrace motion module and the rotation control horizontally rotating drive motor by the control signal of output motor；

Described remote controller module, on the one hand, one or more sets The Cloud Terrace motion module can be arbitrarily selected to number, make it controlled, meanwhile, all controlled The Cloud Terrace motion module are arranged micro-tag number of the tracking target performer of correspondence, when arranging,, both can micro-tag number corresponding to different The Cloud Terrace motion module, it is also possible to many corresponding same micro-tag number of set The Cloud Terrace motion module；Light of stage equipment in arbitrary The Cloud Terrace motion module can be sent some assist control instructions about start and stop, movement velocity, light power and color option by remote controller module on the other hand；

Described controller module, accepts the micro-tag number of target performer that The Cloud Terrace motion module is numbered and correspondence is followed the tracks of or corresponding assist control instruction that remote controller module sends on the one hand；On the other hand, location information according to all performers transmitted from Moving objects location module, and the corresponding relation that the micro-tag number of target performer is numbered with The Cloud Terrace motion module, obtain the location information corresponding to the micro-tag number of target performer, controller module utilizes these location information, by microprocessor, the The Cloud Terrace motion module joint space that the target performer that be there is a need to tracking is corresponding is carried out inverse solution to calculate, and by pitching rotary drive motor in each The Cloud Terrace motion module drawn and horizontally rotate the angle information that drive motor should rotate, to respective pitching rotary drive motor and the drive motor corresponding movement instruction of transmission is horizontally rotated through respective motor drive module, oneself corresponding target performer followed the tracks of is carried out from motion tracking realizing each The Cloud Terrace motion module lamp apparatus that goes on the stage；

Described wireless communication module, adopts wireless communication technique to set up the contact between controller module and remote controller module, both is played function served as bridge。

2. the method that stage performer is carried out real-time tracking by the automatic stage light tracking system utilized described in claim 1, it is characterised in that step is as follows:

Step one, by Moving objects location module, each performer wearing micro-label on stage is carried out real-time positioning, and the location information that each wears the performer of micro-label in real time is sent to controller module；

Step 2, controlled all The Cloud Terrace motion module numbering and correspondence thereof be set by remote controller module follow the tracks of the micro-tag number of performer and relevant assist control instruction, and send it to controller module；

The information that step 3, the controller module remote controller module to receiving sends resolves, it is thus achieved that the micro-tag number of target performer and the corresponding relation that The Cloud Terrace motion module is numbered and relevant assist control instruction；

Step 4, controller module is on the one hand according to the location information of all performers transmitted from Moving objects location module, and the corresponding relation that the micro-tag number of target performer is numbered with The Cloud Terrace motion module, obtain the location information corresponding to the micro-tag number of target performer, utilize these location information, by microprocessor, the The Cloud Terrace motion module joint space that the target performer that be there is a need to tracking is corresponding is carried out inverse solution to calculate, and by pitching rotary drive motor in each The Cloud Terrace motion module drawn and horizontally rotate the angle information that drive motor should rotate, to respective pitching rotary drive motor and the drive motor corresponding movement instruction of transmission is horizontally rotated through respective motor drive module, oneself corresponding target performer followed the tracks of is carried out from motion tracking realizing each The Cloud Terrace motion module lamp apparatus that goes on the stage；Perform the assist control instruction that remote controller module sends on the other hand；

The inverse computational methods solved of above-mentioned single The Cloud Terrace motion module joint space comprise the steps of:

Step 4.1, stage plane hit exactly somewhere, front set up O₀-X₀Y₀Z₀Coordinate system, is called for short O₀Coordinate system；O₀The X of coordinate system₀Axle honest sensing stage direction, Z₀Axle honest sensing ceiling direction, Y₀Axle is determined by common right-handed system rule, is the base coordinate system of stage performer's position location information。Wear each performer of micro-label relative to O₀The location information of coordinate system can be obtained by Moving objects location module, sets the performer of a certain numbering of micro-label relative to O₀The three-dimensional localization information of coordinate system can be with vector representation⁰P_i=[⁰x_i ⁰y_i ⁰z_i1]^T, wherein i represents micro-tag number of target performer, i=1,2,3........n；

Step 4.2, at O₀Coordinate system is along Y₀On direction of principal axis directly over a certain position, set up the O ' in The Cloud Terrace motion module respectively₀-X’₀Y’₀Z’₀Coordinate system, O '₁-X’₁Y’₁Z’₁Coordinate system, O '₂-X’₂Y’₂Z’₂Coordinate system and O '₃-X’₃Y’₃Z’₃Coordinate system, is briefly referred to as O '₀、O’₁、O’₂、O’₃Coordinate system, wherein:

O’₀Coordinate origin is built on the upper bottom central plane horizontally rotating joint of The Cloud Terrace motion module, for the base coordinate system of The Cloud Terrace motion module；

O’₁Coordinate origin build the underface horizontally rotating joints axes of The Cloud Terrace motion module in, is fixed on and horizontally rotates in tripod head frame, and initial point just horizontally rotates on joints axes and elevating movement joints axes cross point in The Cloud Terrace motion module, O '₁Coordinate system followed by the rotation horizontally rotating tripod head frame and rotates, its corner α₁Represent；

O’₂Coordinate origin is fixed on pitching rotary head frame, and and O '₁Coordinate origin overlaps, O '₂Coordinate system not only followed by and horizontally rotates horizontally rotating of tripod head frame and rotate, and also followed by the pitch rotation of pitching rotary head frame and rotates, and it is along with the corner α of pitching rotary head frame pitch rotation₂Represent；

O’₃Coordinate origin build O ' in₂The Z ' of coordinate system₂On axle opposite direction position, it is fixed together with stage lighting equipment axis, and the direction of light of stage apparatus lamp light beam and X '₃The direction of axle is consistent, O '₃And O '₂The same, the rotation of both direction can be done along with the rotation horizontally rotating tripod head frame and pitching rotary head frame, O '₃Coordinate system and O '₂Coordinate system keeps translation relation, is used for representing that target pointed by light of stage apparatus lamp light beam is at O '₃Vector in coordinate system describes；

Step 4.3, determine pitching rotary drive motor corner α on The Cloud Terrace₁, horizontally rotate drive motor corner α₂And performer and O '₃Distance between coordinate origin³x_i

By O '₀Coordinate system is relative to O₀The translation relation T of coordinate system₀Describe；By O '₁Coordinate system is relative to O '₀Coordinate system horizontally rotate relation T₁Describe, by O '₂Coordinate system is relative to O '₁The pitching rotation relationship T of coordinate system₂Statement, by O '₃Coordinate system is relative to O '₂The translation relation T of coordinate system₃Describe, be that the target performer of i is at O ' by micro-tag number pointed by stage lighting light beam₃Vector representation in coordinate system is³P_i=[³x_i001]^T, then can pass through coordinate system transformation method will³P_iConvert to relative to O₀Vector representation in coordinate system, is designated as⁰S_i, performer and the performer of Moving objects location module location pointed by stage lighting light beam are same targets, so must have⁰S_i=⁰P_i, then have:

⁰P_i=⁰S_i=T₀·T₁·T₂·T₃·³P_i(1)

And obtain following series matrix according to described above:

$\left\{\begin{array}{c}{T}_0=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& {\mathrm{Ry}}_0\\ 0& 0& 1& {\mathrm{Rz}}_0\\ 0& 0& 0& 1\end{array}\right]\\ T_1=\left[\begin{array}{cccc}{\mathrm{cos\α}}_1& -{\mathrm{sin\α}}_1& 0& 0\\ {\mathrm{sin\α}}_1& {\mathrm{cos\α}}_1& 0& 0\\ 0& 0& 1& {\mathrm{Rz}}_0\\ 0& 0& 0& 1\end{array}\right]\\ T_2=\left[\begin{array}{cccc}{\mathrm{cos\α}}_2& 0& {\mathrm{cos\α}}_2& 0\\ 0& 1& 0& 0\\ -{\mathrm{sin\α}}_2& 0& {\mathrm{cos\α}}_2& 0\\ 0& 0& 0& 1\end{array}\right]\\ T_3=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& {\mathrm{Rz}}_3\\ 0& 0& 0& 1\end{array}\right]\\ {P_3}_i={\left[\begin{array}{cccc}{x_3}_i& 0& 0& 1\end{array}\right]}^T\\ {P_0}_i={\left[\begin{array}{cccc}{x_0}_i& {y_0}_i& {z_0}_i& 1\end{array}\right]}^T\end{array}\right.---\left(2\right)$

Wherein:⁰P_iIt is that the performer of i is relative to O for micro-tag number on the stage that detected by Moving objects location module₀The location information of coordinate system, for known；Ry₀For O '₀Coordinate system is along O₀Coordinate system y₀Axial translational movement, for known；Rz₀For O '₀Coordinate system is relative to O₀The height of coordinate system, for known；Rz₁For O '₁Coordinate system is along O '₀The Z ' of coordinate system₀The reciprocal translational movement of axle, for known；Rz₃For O '₃Coordinate system is along O '₂The Z ' of coordinate system₂The reciprocal translational movement of axle, for known；

α₁For horizontally rotating the corner of drive motor, from Z '₀Direction of principal axis is seen, is just counterclockwise, is negative clockwise；It it is demand solution amount。

α₂For the corner of pitching rotary drive motor, from Y '₁Direction of principal axis is seen, nutation is just, faces upward as negative, is demand solution amount

³x_iFor performer and O '₃Distance between coordinate origin, is demand solution amount

Derived by aforementioned each formula and known conditions and obtain:

$\left\{\begin{array}{c}{\mathrm{\α}}_1=arctan\frac{{y_0}_i-{\mathrm{Ry}}_0}{{x_0}_i}\\ {\mathrm{\α}}_2=\±acos(-{\mathrm{Rz}}_3/sqrt(A^2+B^2))+atan(B/A)\\ {x_3}_i=B\·\cos \left({\mathrm{\α}}_2\right)-A\·\sin \left({\mathrm{\α}}_2\right)\end{array}\right.---\left(3\right)$

Wherein: A=⁰z_i-Rz₀-Rz₁, B=⁰x_i·cos(α₁)+(⁰y_i-Ry₀)·sin(α₁)

Above-mentioned formula (3) solves α₁、α₂、³x_iProcess be the inverse calculating process solving model of The Cloud Terrace joint space, namely by target performer at O₀Location information in coordinate system, derives pitching rotary drive motor corner α on The Cloud Terrace₁, horizontally rotate drive motor corner α₂And performer and O '₃Distance between coordinate origin³x_i, it is determined that how to adjust the process of stage lighting beam alignment target performer。