CN105700565B - A kind of performer's light real-time automatic tracking system and method - Google Patents

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

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Publication number
CN105700565B
CN105700565B CN201610157852.0A CN201610157852A CN105700565B CN 105700565 B CN105700565 B CN 105700565B CN 201610157852 A CN201610157852 A CN 201610157852A CN 105700565 B CN105700565 B CN 105700565B
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coordinate system
module
performer
holder
light
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CN105700565A (en
Inventor
樊炳辉
贾朝川
王传江
柏山清
韩云飞
曲彩梅
王昌
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Shandong University of Science and Technology
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Shandong University of Science and Technology
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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/105—Controlling the light source in response to determined parameters
    • H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
    • H05B47/125—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings by using cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L27/00—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate
    • H01L27/14—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate including semiconductor components sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation
    • H01L27/144—Devices controlled by radiation
    • H01L27/146—Imager structures
    • H01L27/14601—Structural or functional details thereof
    • H01L27/1462—Coatings
    • H01L27/14621—Colour filter arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/175—Controlling the light source by remote control
    • H05B47/19—Controlling the light source by remote control via wireless transmission

Abstract

The invention discloses a kind of performer's light real-time automatic tracking system and method, the automatic tracking system includes holder motion module, light of stage equipment, Moving objects location module, motor drive module, remote controller module, controller module and wireless communication module.The multiple performers for wearing micro- label are positioned in real time by Moving objects location module, on the basis of realizing to Multi-target position, the switching that holder motion module corresponding to each micro- label is numbered is selected by remote controller module, single holder motion module both may be implemented, the light beam of different performers progress light of stage equipment is switched from motion tracking；It can also control multiple holder motion modules simultaneously, realize to the light beam of the real-time light of stage equipment of one or more target performers from motion tracking.The labor intensity of people can be not only substantially reduced, but also the light transformation pattern of more light of stage equipment may be implemented.

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 light tracking system more particularly to a kind of performer's light real-time automatic tracking system and Method.
Background technology
First-class in the stage or ice rink of the literature and art recreation of various large sizes, going on the stage is in performance, in order to allow Spectators have clearer observation to featured performer, can usually the light of stage of high brightness be used to be pointed into the performer, and when this is drilled When member's performance is mobile, light is needed to track movement with the movement of performer.
The control method of existing performer's light tracking system mainly has：
1. manually controlling：Operating personnel's walking about according to performer is needed, by manually mobile lighting equipment projecting direction It is tracked, general illumination equipment volume is larger, and will produce higher temperature, such as long-time operation, can make operating personnel The big of labor intensity is nervous, easy tos produce larger tracking error；
2. remote control：Implement On-line Control using computer system, the monitoring personnel of profession is needed to be operated at any time Control, it is more inconvenient, and the degree of automation is not high；
3. presetting the motion track of light units：As (light of stage is manual for Chinese utility model patent 93101330 Computer combination control console), it can realize computer programmable and storage field control function.But which requires performer strictly to press Performed according to the route and beat provided, flexibility is not good enough；
4. automatic tracking system：As (light of stage based on thermal imaging is automatic for Chinese invention patent 201210476935.8 Tracking system), it is to obtain performer position with image processing method based on infrared camera to position；Practical China's new patent 201420305194.1 (a kind of automatic stage light tracking system) is to carry out position positioning to performer based on infrared sensor；In State's utility model patent 201020184403.3 (automatic stage light tracking system) is based on array of pressure sensors on stage Position positioning is carried out to performer.By method used by them it is found that when occurring multiple performers on stage, above three system Cannot achieve and arbitrary performer positioned in real time, also cannot achieve free switching of the light of stage between different performers with Track.
There are certain shortcomings in existing performer's light tracking system, thus, it would be highly desirable to one kind is easy to operate and can be right Multiple target performers carry out performer's light real-time automatic tracking system of free switching tracking at any time.
Currently, there is a kind of Moving objects location module in the market, certain wireless location system can be used to realize, e.g., adopt With domestic indoor and outdoor wireless location LocalSense systems etc..LocalSense systems, which can be realized, positions multiple target 3D or 2D Demand, by wearing different micro- labels for different mobile targets, it can be achieved that real-time positioning to each target.
Invention content
It is an object of the invention to overcome deficiency in the prior art.One kind is provided multiple performers can freely cut Change performer's light real-time tracking system of tracking.Present invention simultaneously provides the sides for carrying out real-time tracking to performer using this system Method.
In order to achieve the above objectives, performer's light real-time automatic tracking system of the invention includes：Holder motion module, stage Light units, Moving objects location module, motor drive module, remote controller module, controller module and wireless communication module.Its In：
The holder motion module can be equipped with more sets, and often covering holder motion module structure is：Pacify on its holder pedestal Equipped with pitching rotary drive motor, pitching rotary head frame rotates horizontally driving motor, rotates horizontally tripod head frame, passes through pitching Rotary drive motor and the driving for rotating horizontally driving motor can realize pitching rotary head frame and rotate horizontally tripod head frame respectively Rotation.
The light of stage equipment is mounted on the pitching rotary head frame of respective holder motion module, by driving cloud The rotation of pitching rotary drive motor and horizontal rotation driving motor in platform motion module, drives pitching rotary head frame respectively It rotates with tripod head frame is rotated horizontally, is directed toward so as to adjust the light of light of stage equipment；
Certain wireless location system can be used to realize, e.g., using domestic interior in the Moving objects location module Outer wireless location LocalSense systems etc.；LocalSense systems can be realized to the demand of multiple target 3D or 2D positioning, be passed through Different micro- labels is worn for different mobile targets, it can be achieved that real-time positioning to each target, takes up an official post to obtain stage It anticipates the three-dimensional coordinate location information of multiple performers.
The motor drive module is separately mounted in corresponding holder motion module, passes through output motor Control the rotation control that driving motor was realized to pitching rotary drive motor in respective holder motion module and rotated horizontally to signal.
The remote controller module, on the one hand, can arbitrarily select one or more sets holder motion modules number, make its by Control, meanwhile, all controlled holder motion modules are arranged with micro- tag number of corresponding tracking target performer, when setting, both may be used Different micro- tag numbers is corresponded to different holder motion modules, can also be covered holder motion module more and be corresponded to same micro- label volume Number；Another aspect remote controller module can send the light of stage equipment in arbitrary holder motion module some about opening Stop, the auxiliary control instruction of the options such as movement velocity, light power, color；
The controller module, on the one hand receive remote controller module transmission holder motion module number and its it is corresponding with The micro- tag number of target performer of track assists control instruction accordingly；On the other hand, it is passed according to from Moving objects location module The correspondence of the location information and the micro- tag number of target performer of all performers come and holder motion module number, is obtained The location information corresponding to the micro- tag number of target performer is obtained, controller module utilizes these location informations, passes through microprocessor To the corresponding holder motion module joint space of target performer of tracking in need carry out inverse solution and calculate, and it is every by what is obtained The angle information that pitching rotary drive motor and horizontal rotation driving motor should rotate in a holder motion module, through respective electricity Machine drive module is to respective pitching rotary drive motor and rotates horizontally the corresponding movement instruction of driving motor transmission, to realize Each holder motion module goes on the stage lamp apparatus to oneself corresponding to the target performer tracked progress from motion tracking；
The wireless communication module establishes the connection between controller module and remote controller module using wireless communication technique System, function served as bridge is played to the two.
Include mainly as follows using the method that above-mentioned automatic stage light tracking system carries out real-time tracking to stage performer Step：
Step 1: by Moving objects location module, each performer for wearing micro- label on stage is positioned in real time, And the location information of each performer for wearing micro- label is sent to controller module in real time；
Step 2: controlled all holder motion modules number and its corresponding tracking performer is arranged by remote controller module Micro- tag number and relevant auxiliary control instruction, and send it to controller module；
Step 3: the information that controller module sends the remote controller module received parses, target performer is obtained Correspondence and relevant auxiliary control instruction of micro- tag number with holder motion module number；
Step 4: controller module is on the one hand according to the positioning letter for all performers transmitted from Moving objects location module The correspondence of breath and the micro- tag number of target performer and holder motion module number, obtains the micro- tag number of target performer Corresponding location information, using these location informations, by microprocessor to tracking in need target performer it is corresponding Holder motion module joint space carries out inverse solution and calculates, and pitching in each holder motion module obtained is rotated driving electricity The angle information that machine and horizontal rotation driving motor should rotate, rotates to respective pitching through respective motor drive module and drives It motor and rotates horizontally driving motor and sends corresponding movement instruction, to realize that each holder motion module goes on the stage lamp apparatus pair The target performer for oneself corresponding to tracking carries out from motion tracking；On the other hand the auxiliary control instruction that remote controller module is sent is executed.
The computational methods of the inverse solution of above-mentioned single holder motion module joint space comprise the following steps:
Step 1, O is established in somewhere in front of stage plane center0-X0Y0Z0Coordinate system, abbreviation O0Coordinate system；O0Coordinate system X0The honest direction stage direction of axis, Z0The honest direction ceiling direction of axis, Y0Axis determines by common right-handed system rule, as The base coordinate system of stage performer's position location information.Each performer of micro- label is worn relative to O0The location information of coordinate system It can be obtained by Moving objects location module, set the performer of a certain number of micro- label relative to O0The three-dimensional localization of coordinate system Information can be with vector representation0Pi=[0xi 0yi 0zi 1]T, micro- tag number of wherein i expression target performers, i=1,2, 3........n。
Step 2, in O0Coordinate system is along Y0In axis direction right over a certain position, the O in holder motion module is established respectively ’0-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, point It Jian Chengwei not O '0、O’1、O’2、O’3Coordinate system (similarly hereinafter), wherein：
O’0Coordinate origin is built in the upper bottom center plane in horizontal rotation joint of holder motion module, is holder The base coordinate system of motion module；
O’1Coordinate origin build the underface of the horizontal rotation joints axes of holder motion module in, is fixed on horizontal rotation Turn in tripod head frame, and origin is just in the horizontal rotation joints axes of holder motion module and pitching movement joints axes crosspoint On, O1' coordinate system be followed by rotate horizontally tripod head frame rotation and rotate, corner α1It indicates；
O’2Coordinate origin is fixed on pitching rotary head frame, and and O '1Coordinate origin overlaps, O '2Coordinate system is not It is only followed by and rotates horizontally horizontally rotating for tripod head frame and rotate, be also followed by the pitch rotation of pitching rotary head frame and turn It is dynamic, with the corner α of pitching rotary head frame pitch rotation2It indicates；
O’3Coordinate origin build O ' in2The Z ' of coordinate system2On axis negative direction position, fixed with stage lamp apparatus central axes Together, and the direction of the light of stage equipment beam of light and X '3The direction of axis is consistent, O '3And O '2It equally, can be with horizontal rotation The rotation of tripod head frame and pitching rotary head frame and the rotation for doing both direction, O '3Coordinate system and O '2Coordinate system keeps translation to close System, for indicating the target pointed by the light of stage equipment beam of light in O '3Vector description in coordinate system.
Step 3 determines pitching rotary drive motor corner α on holder1, rotate horizontally driving motor corner α2And performer With O '3The distance between coordinate origin3xi
By O '0Coordinate system is relative to O0The translation relationship T of coordinate system0Description；By O '1Coordinate system is relative to O '0Coordinate system Horizontal rotation relationship T1Description, by O '2Coordinate system is relative to O '1The pitching rotation relationship T of coordinate system2Statement, by O '3It sits Mark system is relative to O '2The translation relationship T of coordinate system3The target that micro- tag number pointed by stage lighting light beam is i is drilled in description Member is in O '3Vector representation in coordinate system is3Pi=[3xi 0 0 1]T, then can be incited somebody to action by coordinate system transformation method3PiIt is converted into opposite In O0Vector representation in coordinate system, is denoted as0Si, due to pointed by stage lighting light beam performer and Moving objects location module it is fixed The performer of position is the same target, so must have0Si=0Pi, then have：
0Pi=0Si=T0·T1·T2·T3·3Pi (1)
And following series matrix can be obtained according to foregoing description：
Wherein：0PiFor micro- tag number on the stage that is detected by Moving objects location module be i performer relative to O0 The location information of coordinate system is known；Ry0For O '0Coordinate system is along O0Coordinate system y0The translational movement of axis direction is known；Rz0For O’0Coordinate system is relative to O0The height of coordinate system is known；Rz1For O '1Coordinate system is along O '0The Z ' of coordinate system0Axis negative direction is put down Shifting amount is known；Rz3For O '3Coordinate system is along O '2The Z ' of coordinate system2The translational movement of axis negative direction is known.
α1To rotate horizontally the corner of driving motor, from Z '0Axis direction is seen, counterclockwise for just, clockwise is negative, is demand Xie Liang.
α2For the corner of pitching rotary drive motor, from Y '1Axis direction sees that nutation is just that it is negative to face upward, and is demand solution amount
3xiFor performer and O '3The distance between coordinate origin is demand solution amount
Acquisition can be derived by aforementioned each formula and known conditions：
Wherein：A=0zi-Rz0-Rz1, B=0xi·cos(α1)+(0yi-Ry0)·sin(α1)
Above-mentioned formula (3) solves α1、α2、3xiProcess be solution model inverse to holder joint space calculating process, i.e., By target performer in O0Location information in coordinate system, to derive pitching rotary drive motor corner α on holder1, level rotation Turn driving motor corner α2And performer and O '3The distance between coordinate origin3xi, determine how adjustment stage lighting light beam pair The process of quasi- target performer.
The advantage of the invention is that：In the system containing more set holder motion modules, the present invention can be by mobile target Locating module positions the multiple performers for wearing micro- label in real time, on the basis of realizing to Multi-target position, by distant It controls device module to select the switching that holder motion module corresponding to each micro- label is numbered, single holder movement mould both may be implemented The light beam that block carries out different performers light of stage equipment switches from motion tracking；Multiple holder movement moulds can also be controlled simultaneously Block is realized to the light beam of the real-time light of stage equipment of one or more target performers from motion tracking.It can not only substantially reduce The labor intensity of people, and the light transformation pattern of more light of stage equipment may be implemented.
Description of the drawings
Fig. 1 is the system structure 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：The micro- labels of 100-；101- performers；102- stages；103- light of stage equipment；104- pitching rotation driving electricity Machine；105- pitching rotary head framves；106- rotates horizontally tripod head frame；107- rotates horizontally driving motor；108- holder pedestals
Fig. 2：201- holder motion modules；202- Moving objects location modules；203- motor-drive circuit modules；204- is distant Control device module；205- controller modules；206- wireless communication modules
Specific implementation mode
Below in conjunction with the accompanying drawings, illustrate the working method of performer's light real-time automatic tracking system of the present invention.
Present system includes：As shown in Fig. 2, holder 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：
The holder motion module 201 can be equipped with more sets, see Fig. 1, and often covering 201 structure of holder motion module is：At it Pitching rotary drive motor 104 is installed on holder pedestal 108, pitching rotary head frame 105 rotates horizontally driving motor 107, Tripod head frame 106 is rotated horizontally, it, can be real respectively by the driving of pitching rotary drive motor 104 and horizontal rotation driving motor 107 Existing pitching rotary head frame 105 and the rotation for rotating horizontally tripod head frame 106.
The light of stage equipment 103 is mounted on the pitching rotary head frame 105 of respective holder motion module 201, By driving the pitching rotary drive motor 104 in holder motion module 201 and rotating horizontally the rotation of driving motor 107, point Not Dai Dong pitching rotary head frame 105 and rotate horizontally tripod head frame 106 rotate, so as to adjust the light of light of stage equipment 103 It is directed toward；
Certain wireless location system can be used to realize, e.g., using domestic in the Moving objects location module 202 Indoor and outdoor wireless location LocalSense systems etc.；LocalSense systems can realize the demand to multiple target 3D or 2D positioning, By wearing different micro- labels 100 for different mobile targets, it can be achieved that real-time positioning to each target, to be waved The three-dimensional coordinate location information of any number of performers 101 on platform.
The motor drive module 203 is separately mounted in corresponding holder motion module 201, passes through output The control signal of motor is realized to pitching rotary drive motor 104 in respective holder motion module 201 and rotates horizontally driving electricity The rotation of machine 107 controls.
The remote controller module 204, on the one hand, it can arbitrarily select one or more sets holder motion modules 201 to number, Keep its controlled, meanwhile, micro- label 100 that all controlled holder motion modules 201 are arranged with corresponding tracking target performer 101 is compiled Number, when setting, both can different holder motion modules 201 correspond to different micro- labels 100 and number, holder movement can also be covered more Module 201 corresponds to same micro- label 100 and numbers；Another aspect remote controller module 204 can be to arbitrary holder motion module 201 On light of stage equipment 103 send some about the options such as start and stop, movement velocity, light power, color auxiliary control refer to It enables；
The controller module 205, the holder motion module 201 on the one hand receiving the transmission of remote controller module 204 are numbered And its control instruction is numbered or assisted accordingly to 101 micro- label 100 of target performer of corresponding tracking；On the other hand, according to from shifting The location information and 101 micro- label 100 of target performer for all performers 101 that moving targets location module 202 transmits are numbered and cloud The correspondence that platform motion module 201 is numbered obtains 101 micro- label 100 of target performer and numbers corresponding location information, control Device module 205 utilize these location informations, by microprocessor to institute tracking in need 101 corresponding holder of target performer fortune 201 joint space of dynamic model block carries out inverse solution and calculates, and pitching in each holder motion module 201 obtained is rotated driving electricity The angle information that machine 104 and horizontal rotation driving motor 107 should rotate, bows through respective motor drive module 203 to respective It faces upward rotary drive motor 104 and rotates horizontally driving motor 107 and send corresponding movement instruction, to realize that each holder moves mould Block 201 goes on the stage lamp apparatus to oneself corresponding to the target performer 101 tracked progress from motion tracking, or execution remote controller module The 204 auxiliary control instructions sent.
The wireless communication module 206 establishes controller module 205 and remote controller module using wireless communication technique Contact between 204 plays function served as bridge to the two.
Include mainly such as using the method that above-mentioned automatic stage light tracking system carries out real-time tracking to stage performer 101 Lower step：
Step 1: by Moving objects location module 202, each performer 101 for wearing micro- label 100 on stage is carried out Positioning in real time, and the location information of each performer 101 for wearing micro- label 100 is sent to controller module 205 in real time；
Step 2: by remote controller module 204 be arranged controlled all holder motion modules 201 number and its it is corresponding with 101 micro- label 100 of track performer is numbered and relevant auxiliary control instruction, and sends it to controller module 205；
Step 3: the information that controller module 205 sends the remote controller module 204 received parses, mesh is obtained Mark the correspondence and relevant auxiliary control instruction that 101 micro- label 100 of performer number is numbered with holder motion module 201；
Step 4: 205 one side of controller module is according to all performers 101 transmitted from Moving objects location module 202 Location information and 101 micro- label 100 of target performer number with holder motion module 201 number correspondence, obtain mesh Mark 101 micro- label 100 of performer numbers corresponding location information, using these location informations, by microprocessor to all need Each of 101 corresponding 201 joint space of holder motion module of target performer to be tracked carries out inverse solution calculating, and will be obtained The angle information that pitching rotary drive motor 104 and horizontal rotation driving motor 107 should rotate in holder motion module 201, warp Respective motor drive module 203 is sent accordingly to respective pitching rotary drive motor 104 and horizontal rotation driving motor 107 Movement instruction, with realize each holder motion module 201 go on the stage lamp apparatus to oneself correspond to tracking target performer 101 into It goes from motion tracking；On the other hand the auxiliary control instruction that remote controller module 204 is sent is executed.
The computational methods of the inverse solution of above-mentioned single 201 joint space of holder motion module comprise the following steps:
Step 1, O is established in somewhere in front of stage plane center0-X0Y0Z0Coordinate system, abbreviation O0Coordinate system；O0Coordinate system X0The honest direction stage direction of axis, Z0The honest direction ceiling direction of axis, Y0Axis determines by common right-handed system rule, as The base coordinate system of 101 position location information of stage performer.Each performer 101 of micro- label 100 is worn relative to O0Coordinate system Location information can be obtained by Moving objects location module 202, the performer 101 for setting 100 a certain number of micro- label is opposite In O0The three-dimensional localization information of coordinate system can be with vector representation0Pi=[0xi 0yi 0zi 1]T, wherein i expression targets performer 101 Micro- label 100 number, i=1,2,3........n.
Step 2, in O0Coordinate system is along Y0In axis direction right over a certain position, establish respectively in holder motion module 201 O’0-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, It is briefly referred to as O '0、O’1、O’2、O’3Coordinate system (similarly hereinafter), wherein：
O’0Coordinate origin is built in the upper bottom center plane in horizontal rotation joint of holder motion module 201, is cloud The base coordinate system of platform motion module 201；
O1' coordinate origin build in holder motion module 201 horizontal rotation joints axes underface, be fixed on level On rotary head frame 106, and origin is just in the horizontal rotation joints axes of holder motion module 201 and pitching movement joint shaft On line crosspoint, O '1Coordinate system is followed by the rotation for rotating horizontally tripod head frame 106 and rotates, corner α1It indicates；
O’2Coordinate origin is fixed on pitching rotary head frame 105, and and O '1Coordinate origin overlaps, O '2Coordinate system It is not only followed by and rotates horizontally horizontally rotating and rotating for tripod head frame 106, the pitching for being also followed by pitching rotary head frame 105 turns It moves and rotates, with the corner α of 105 pitch rotation of pitching rotary head frame2It indicates；
O’3Coordinate origin build O ' in2The Z ' of coordinate system2On axis negative direction position, fixed with stage lamp apparatus central axes Together, and the direction of 103 beam of light of light of stage equipment and X '3The direction of axis is consistent, O '3And O '2It equally, can be with level The rotation of rotary head frame 106 and pitching rotary head frame 105 and the rotation for doing both direction, O '3Coordinate system and O '2Coordinate system Translation relationship is kept, for indicating the target pointed by 103 beam of light of light of stage equipment in O '3Vector in coordinate system is retouched It states.
Step 3 determines 104 corner α of pitching rotary drive motor on holder1, rotate horizontally 107 corner α of driving motor2With And performer 101 and O '3The distance between coordinate origin3xi
By O '0Coordinate system is relative to O0The translation relationship T of coordinate system0Description；By O '1Coordinate system is relative to O '0Coordinate system Horizontal rotation relationship T1Description, by O '2Coordinate system is relative to O '1The pitching rotation relationship T of coordinate system2Statement, by O '3It sits Mark system is relative to O '2The translation relationship T of coordinate system3Description, by the target that the number of micro- label 100 is i pointed by stage lighting light beam Performer 101 is in O '3Vector representation in coordinate system is3Pi=[3xi 0 0 1]T, then can be incited somebody to action by coordinate system transformation method3PiConversion At relative to O0Vector representation in coordinate system, is denoted as0Si, since the performer 101 pointed by stage lighting light beam determines with mobile target The performer 101 that position module 202 positions is the same target, so must have0Si=0Pi, then have：
0Pi=0Si=T0·T1·T2·T3·3Pi (1)
And following series matrix can be obtained according to foregoing description：
Wherein：0PiFor the performer 101 that the number of micro- label 100 is i on the stage that is detected by Moving objects location module 202 Relative to O0The location information of coordinate system is known；Ry0For O '0Coordinate system is along O0Coordinate system y0The translational movement of axis direction, for Know；Rz0For O '0Coordinate system is relative to O0The height of coordinate system is known；Rz1For O '1Coordinate system is along O '0The Z ' of coordinate system0Axis is anti- The translational movement in direction is known；Rz3For O '3Coordinate system is along O '2The Z ' of coordinate system2The translational movement of axis negative direction is known.
α1To rotate horizontally the corner of driving motor 107, from Z '0Axis direction is seen, is to need counterclockwise to be clockwise negative just Solution amount.
α2For the corner of pitching rotary drive motor 104, from Y '1Axis direction sees that nutation is just that it is negative to face upward, and is demand solution Amount
3xiFor performer 101 and O '3The distance between coordinate origin is demand solution amount
Acquisition can be derived by aforementioned each formula and known conditions：
Wherein：A=0zi-Rz0-Rz1, B=0xi·cos(α1)+(0yi-Ry0)·sin(α1)
Above-mentioned formula (3) solves α1、α2、3xiProcess be solution model inverse to holder joint space calculating process, i.e., By target performer 101 in O0Location information in coordinate system, to derive 104 corner α of pitching rotary drive motor on holder1, Rotate horizontally 107 corner α of driving motor2And the distance between 3 coordinate origin of performer 101 and O '3xi, determine how adjustment The process of stage lighting light beam alignment target performer 101.
Specific implementation mode of the invention above described embodiment only expresses, description is more specific detailed, but not It can be interpreted as the limitation to the scope of the claims of the present invention.It should be pointed out that for those of ordinary skill in the art, not Under the premise of being detached from present inventive concept principle, several modifications and improvements can also be made, these belong to the protection model of the present invention Enclosing should all cover within the protection domain of Patent right requirement of the present invention.

Claims (2)

1. a kind of performer's light real-time automatic tracking system, which is characterized in that it sets comprising holder motion module, light of stage Standby, Moving objects location module, motor drive module, remote controller module, controller module and wireless communication module；Wherein：
The holder motion module can be equipped with more sets, and often covering holder motion module structure is：It is equipped on its holder pedestal Pitching rotary drive motor, pitching rotary head frame rotate horizontally driving motor, rotate horizontally tripod head frame, are rotated by pitching Driving motor and the driving for rotating horizontally driving motor can realize pitching rotary head frame and rotate horizontally turning for tripod head frame respectively It is dynamic；
The light of stage equipment is mounted on the pitching rotary head frame of respective holder motion module, by driving holder fortune Dynamic model pitching rotary drive motor in the block and the rotation for rotating horizontally driving motor, drive pitching rotary head frame and water respectively Flat rotary head frame rotation, is directed toward so as to adjust the light of light of stage equipment；
The Moving objects location module, is realized using wireless location system, can be realized to multiple target by positioning system The demand of 3D or 2D positioning, by wearing different micro- labels for different mobile targets, it can be achieved that the real-time of each target Positioning, to obtain the three-dimensional coordinate location information of any number of performers on stage；
The motor drive module is separately mounted in corresponding holder motion module, passes through the control of output motor The rotation control of driving motor is realized to pitching rotary drive motor in respective holder motion module and rotated horizontally to signal；
The remote controller module, on the one hand, it can arbitrarily select one or more sets holder motion modules to number, keep its controlled, Meanwhile all controlled holder motion modules are arranged with micro- tag number of corresponding tracking target performer, when setting, both may not be used Different micro- tag numbers is corresponded to holder motion module, holder motion module can also be covered more and correspond to same micro- tag number； Another aspect remote controller module can send the light of stage equipment in arbitrary holder motion module some about start and stop, fortune The auxiliary control instruction of dynamic speed, light power and color option；
On the one hand the controller module receives the holder motion module number of remote controller module transmission and its corresponds to tracking The micro- tag number of target performer assists control instruction accordingly；On the other hand, foundation is transmitted from Moving objects location module The correspondence of the location information and the micro- tag number of target performer of all performers and holder motion module number, obtains mesh The location information corresponding to the micro- tag number of performer is marked, controller module utilizes these location informations, by microprocessor to institute The corresponding holder motion module joint space of target performer of tracking in need carries out inverse solution and calculates, and each cloud that will be obtained The angle information that pitching rotary drive motor and horizontal rotation driving motor should rotate in platform motion module, drives through respective motor Dynamic model block is to respective pitching rotary drive motor and rotates horizontally the corresponding movement instruction of driving motor transmission, each to realize Holder motion module goes on the stage light units to oneself corresponding to the target performer tracked progress from motion tracking；
The wireless communication module establishes the contact between controller module and remote controller module using wireless communication technique, Function served as bridge is played to the two.
2. a kind of carrying out real-time tracking using performer's light real-time automatic tracking system described in claim 1 to stage performer Method, which is characterized in that steps are as follows：
Step 1: by Moving objects location module, each performer for wearing micro- label on stage is positioned in real time, and real When the location information of each performer for wearing micro- label is sent to controller module；
Step 2: controlled all holder motion modules number and its micro- mark of corresponding tracking performer is arranged by remote controller module Label number and relevant auxiliary control instruction, and send it to controller module；
Step 3: the information that controller module sends the remote controller module received parses, the micro- mark of target performer is obtained Correspondence and relevant auxiliary control instruction of the label number with holder motion module number；
Step 4: the location information of controller module all performers that on the one hand foundation is transmitted from Moving objects location module, with And the correspondence of the micro- tag number of target performer and holder motion module number, it obtains corresponding to the micro- tag number of target performer Location information, using these location informations, by microprocessor to the corresponding holder of target performer of tracking in need transport Dynamic model block joint space carries out inverse solution and calculates, and by pitching rotary drive motor and water in each holder motion module obtained The angle information that flat rotary drive motor should rotate, through respective motor drive module to respective pitching rotary drive motor and It rotates horizontally driving motor and sends corresponding movement instruction, to realize that each holder motion module lamp apparatus that goes on the stage is right to oneself The target performer that should be tracked carries out from motion tracking；On the other hand the auxiliary control instruction that remote controller module is sent is executed；
The computational methods of the inverse solution of above-mentioned each holder motion module joint space comprise the following steps:
Step 4.1, O is established in somewhere in front of stage plane center0-X0Y0Z0Coordinate system, abbreviation O0Coordinate system；O0The X of coordinate system0 The positive direction of axis is directed toward stage direction, Z0The positive direction of axis is directed toward ceiling direction, Y0Axis is by common right-handed system rule Lai really Determine, as the base coordinate system of stage performer's position location information；Each performer of micro- label is worn relative to O0Coordinate system Location information can be obtained by Moving objects location module, set the performer of a certain number of micro- label relative to O0Coordinate system Three-dimensional localization information can be with vector representation0Pi=[0xi 0yi 0zi 1]T, micro- tag number of wherein i expression target performers, i =1,2,3........n；
Step 4.2, in O0Coordinate system is along Y0In axis direction right over a certain position, the O in holder motion module is established respectively0’- X0’Y0’Z0' coordinate system, O1’-X1’Y1’Z1' coordinate system, O2’-X2’Y2’Z2' coordinate system and O3’-X3’Y3’Z3' coordinate system, respectively Referred to as O0’、O1’、O2’、O3' coordinate system, wherein：
O0' coordinate origin is built in the upper bottom center plane in horizontal rotation joint of holder motion module, it is that holder moves mould The base coordinate system of block；
O1' coordinate origin build in holder motion module horizontal rotation joints axes underface, be fixed on horizontal rotation holder On frame, and origin is just on the horizontal rotation joints axes of holder motion module and pitching movement joints axes crosspoint, O1’ Coordinate system is followed by the rotation for rotating horizontally tripod head frame and rotates, corner α1It indicates；
O2' coordinate origin is fixed on pitching rotary head frame, and and O1' coordinate origin coincidence, O2' coordinate system not only with It is rotated with horizontally rotating for tripod head frame is rotated horizontally, is also followed by the pitch rotation of pitching rotary head frame and rotates, With the corner α of pitching rotary head frame pitch rotation2It indicates；
O3' coordinate origin build O in2' coordinate system Z '2On axis negative direction position, it is fixed on light of stage equipment central axes Together, and the direction of the light of stage equipment beam of light and X3' axis direction it is consistent, O3' and O2' equally, it can be with horizontal rotation cloud The rotation of rack and pitching rotary head frame and the rotation for doing both direction, O3' coordinate system and O2' coordinate system holding translation relationship, For indicating the target pointed by the light of stage equipment beam of light in O3' vector description in coordinate system；
Step 4.3 determines pitching rotary drive motor corner α on holder2, rotate horizontally driving motor corner α1And performer with O3The distance between ' coordinate origin3xi
By O0' coordinate system is relative to O0The translation relationship T of coordinate system0Description；By O1' coordinate system is relative to O0' coordinate system water Flat rotation relationship T1Description, by O2' coordinate system is relative to O1' coordinate system pitching rotation relationship T2Statement, by O3' coordinate system Relative to O2' coordinate system translation relationship T3Description exists the target performer that micro- tag number pointed by stage lighting light beam is i O3' vector representation in coordinate system is3Pi=[3xi 0 0 1]T, then can be incited somebody to action by coordinate system transformation method3PiIt is converted into relative to O0 Vector representation in coordinate system, is denoted as0Si, due to pointed by stage lighting light beam performer and Moving objects location module positioning Performer is the same target, so must have0Si=0Pi, then have：
0Pi=0Si=T0·T1·T2·T3·3Pi (1)
And following series matrix can be obtained according to foregoing description：
Wherein：0PiFor micro- tag number on the stage that is detected by Moving objects location module be i performer relative to O0Coordinate The location information of system is known quantity；Ry0For O0' coordinate system is along O0Coordinate system y0The translational movement of axis direction is known quantity；Rz0For O0' coordinate system is relative to O0The height of coordinate system is known quantity；Rz1For O1' coordinate system is along O0' coordinate system Z0' axis negative direction Translational movement is known quantity；Rz3For O3' coordinate system is along O2' coordinate system Z2' axis negative direction translational movement, be known quantity；
α1To rotate horizontally the corner of driving motor, from Z0' axis direction is seen, it is that just, clockwise is negative counterclockwise；It is demand solution amount；
α2For the corner of pitching rotary drive motor, from Y1' axis direction sees, nutation is just that it is negative to face upward, and is demand solution amount；
3xiFor performer and O3The distance between ' coordinate origin, it is demand solution amount
It is derived and is obtained by aforementioned each formula and known conditions：
Wherein：A=0zi-Rz0-Rz1, B=0xi·cos(α1)+(0yi-Ry0)·sin(α1)
Above-mentioned formula (3) solves α1、α2、3xiProcess be solution model inverse to holder joint space calculating process, that is, pass through mesh Performer is marked in O0Location information in coordinate system, to derive pitching rotary drive motor corner α on holder2, rotate horizontally driving Motor corner α1And performer and O3The distance between ' coordinate origin3xi, determine how adjustment stage lighting light beam alignment target The process of performer.
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