CN106054946A - Spot following device and method - Google Patents
Spot following device and method Download PDFInfo
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- CN106054946A CN106054946A CN201610634489.7A CN201610634489A CN106054946A CN 106054946 A CN106054946 A CN 106054946A CN 201610634489 A CN201610634489 A CN 201610634489A CN 106054946 A CN106054946 A CN 106054946A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000013507 mapping Methods 0.000 claims abstract description 35
- 238000001914 filtration Methods 0.000 claims abstract description 21
- 238000003909 pattern recognition Methods 0.000 claims description 31
- 230000003287 optical effect Effects 0.000 claims description 29
- 230000009466 transformation Effects 0.000 claims description 10
- 238000003384 imaging method Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- SDIXRDNYIMOKSG-UHFFFAOYSA-L disodium methyl arsenate Chemical compound [Na+].[Na+].C[As]([O-])([O-])=O SDIXRDNYIMOKSG-UHFFFAOYSA-L 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003333 near-infrared imaging Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- 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
- G05D3/20—Control of position or direction using feedback using a digital comparing device
- G05D3/203—Control of position or direction using feedback using a digital comparing device using fine or coarse devices
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Abstract
The invention provides a spot following device and method. The device comprises a spot following light source emission unit, a mode identification unit and a central processing unit, the central processing unit further comprises a mapping operation module and a spot following coordinate conversion module, and the mode identification unit further comprises a characteristic light emitter, a filtering switching device and a characteristic light receiver.
Description
Technical field
The present invention relates to automation field, particularly relate to a kind of light-chasing device and method of following spot.
Background technology
Stage follow spotlight be the role in order to highlight on stage or render stage effect and a conventional equipment.Existing
Stage follow spotlight system in technology is roughly divided into three kinds: purely manual operation follow spot light direction of illumination；By terminal control
The tracing lamp system of system, by electrical motor driven follow spot light, but can remain a need for operator and monitors stage situation and in time to chasing after
Light modulation is controlled；Stage target is then tracked by automatic light tracking lamp system by certain mode, then via automatically controlling is
System drives follow spot light, it is achieved automatization follows spot.
Application number 201220193005.7, the patent diselosesll of entitled a kind of light of stage following device a kind of by
The signal generation apparatus of scalable frequency, cut-in temperature sensor, Mike in sound source locating device are installed with locatee
Wind array and single-chip microcomputer, then utilize the position in sodar time difference method signal calculated source, then follow spot light motor carried out automatization
Control.Application number 201420486577.3, the patent diselosesll of entitled a kind of light of stage following device is a kind of is following the tracks of mesh
Put on and install with the power-actuated radio-frequency (RF) tag of button cell, and alignment system has radio-frequency (RF) tag reader, may be used to receive
Radiofrequency signal, and under the auxiliary of camera module, realize the track and localization of target.
The mode labor intensive of purely manual operation follow spot light, does not has the ability of Automated condtrol, precision of following spot and response speed
Spend relatively low；Though the tracing lamp system controlled by terminal follow spot precision and response speed is substantially improved, but still need to
Operator are wanted remotely to control.
And the technical scheme that discloses in above-mentioned existing two patents is more complicated, need to rely on more extra equipment；
It is quiet that the intense noise that the method carrying out positioning according to sound source is easily subject in scene affects hardly possible on stage
's；There is the restriction of the factors such as response distance, certainty of measurement due on stage in the method carrying out positioning according to radiofrequency signal
The position of performer is changing always, and existing various radio frequency location technologies all exist big, the poor stability of serious position error etc.
Defect, the power of tab end is also a potential problem.
Further, a follow spot light is only capable of following the trail of a target.When stage sight is complicated, performer is more, backstage needs portion
Affixing one's name to a large amount of manpower and a large amount of follow spot light, the cooperation between AM/BAM is extremely difficult.The follow spot light of prior art is only capable of realizing on a small quantity
The light beam of color is followed the trail of, and this can not meet the most far away the requirement of modern stage performance.
Summary of the invention
The technical problem to be solved is to provide a kind of light-chasing device and method of following spot, it is possible to automatic accurate
Follow spot.
In order to solve the problems referred to above, the invention provides a kind of light-chasing device, including: light source transmitter unit of following spot；Pattern
Recognition unit, for needing the target of being followed spot limited in region implementing to follow spot to carry out pattern recognition；Described pattern recognition
Unit has a feature light emitters, a characteristic light line receiver and a filtering switch, described feature light emitters
For to needing the region project that limits implementing to follow spot to have the light of characteristic wavelength, described characteristic light line receiver can sense
From visible ray and the characteristic wavelength light in described restriction region, described filtering switch can be by luminous energy seen from on-off control
No entrance characteristic light line receiver；CPU, follows spot light source transmitter unit with described and pattern recognition unit is connected, institute
State CPU to farther include: mapping operations module, be used for setting up and store described restriction region and know in described pattern
The mapping relations following spot between areal coordinate that optical imagery coordinate in other unit and light source transmitter unit of following spot are used；Follow spot
Coordinate transformation module, for collected by pattern recognition according to described pattern recognition unit at least one by target of following spot
Optical imagery coordinate, and the mapping relations that provide of mapping operations module converse target of being followed spot and launch single at light source of following spot
Areal coordinate of following spot in unit, and light source transmitter unit of following spot described in being sent to follows spot for implementing.
Optionally, described in light source transmitter unit of following spot be a projector or multiple stage projector, every projector can be each
From the independent one or more bright areas of generation, to implement to follow spot to simple target or multiple target.
Optionally, what described feature light emitters was launched is infrared light, and described filtering switch is infrared filtering switching
Device, it is possible to passed through by the selectivity of on-off control visible ray, described characteristic light line receiver can sense visible ray and infrared
Light, under described filtering switch duty, described characteristic light line receiver can only receive and sense infrared light.
One is followed spot method, comprises the steps: to provide needs to implement restriction region and the light-chasing device followed spot；
Set up the reflecting between areal coordinate of following spot of described restriction region optical imagery coordinate in described light-chasing device and light-chasing device
Penetrate relation；The light using characteristic wavelength irradiates described restriction region goes forward side by side row mode identification, recognizes the need for the mesh followed spot
Target optical imagery coordinate；The face of following spot of light-chasing device is become to sit described optical imagery coordinate transformation according to described mapping relations
Mark；Areal coordinate transmitting of following spot described in described light-chasing device foundation is followed spot.
Optionally, the described step setting up mapping relations farther includes: by described restriction region at described light-chasing device
Interior imaging, to obtain the background image limiting region；The image of areal coordinate information will be followed spot via chasing after containing described light-chasing device
Region imaging is limited, it is thus achieved that limit the characteristic image in region described in radiant transmitter unit projective semimodules；Contrast above-mentioned two
The background image of step acquisition and characteristic image, set up optical imagery coordinate in described restriction region and follow spot between areal coordinate
Mapping relations.
Optionally, the light of described characteristic wavelength is infrared light.
Optionally, repeatedly implement described step, to lock single or multiple target, it is achieved automatic light tracking continuously
The present invention uses and follows spot light source transmitter unit emission characteristic mode image to establish optical imagery coordinate and to follow spot
The mapping relations followed spot between areal coordinate of light source transmitter unit, and during implementing to follow spot, feature light emitters is past
Limit region project characteristic wavelength light, then limit the image in region after infrared filtering switch filters visible ray again by
Characteristic light line receiver is captured as picture, thus accurately identifies by the physical location of target of following spot on numerous and diverse stage.
Accompanying drawing explanation
Shown in accompanying drawing 1 be the light-chasing device that provides of the present invention and method of following spot detailed description of the invention described in device tool
The structural representation of body embodiment.
Shown in accompanying drawing 2 be the light-chasing device that provides of the present invention and method of following spot detailed description of the invention described in method tool
The enforcement step schematic diagram of body embodiment.
Detailed description of the invention
The light-chasing device provided the present invention below in conjunction with the accompanying drawings and the detailed description of the invention of method of following spot are done specifically
Bright.
It is the structural representation of device detailed description of the invention of the present invention shown in accompanying drawing 1, including: light source of following spot is launched single
Unit 11, pattern recognition unit 12 and CPU 13.Described pattern recognition unit 12 includes feature light emitters
122 and filtering switch 121 and characteristic light line receiver 123.Described CPU 13 farther includes to map fortune
Calculate module 131 and coordinate transformation module 132 of following spot.
Described light source transmitter unit 11 of following spot can produce a branch of or multi beam convection light to be implemented to follow spot to target
Light source discharger, such as, can be a projector, is realized by one projection pattern corresponding with region of following spot of output
The effect of following spot in one or more region, it is also possible to be multiple projector or the array of multiple LED composition, every by adjusting
The angle of the converging light of individual projector or LED emission realizes the effect of following spot in one or more region.This specific embodiment party
Formula is preferably projector, it is possible to followed spot in multiple regions by more rapid generation accurately.
Described pattern recognition unit 12 is for needing the target of being followed spot limited in region implementing to follow spot to carry out pattern
Identify.Described pattern recognition unit 12 includes characteristic light line receiver 123, feature light emitters 122 and filtering switch
121.Described feature light emitters 122 is for needing the region project that limits implementing to follow spot to have the light of characteristic wavelength.
Described characteristic light line receiver 123 can sense the visible ray from described restriction region and characteristic wavelength light, described filtering
Can switch 121 can enter characteristic light line receiver by on-off control visible ray；Owing to infrared light is prone to produce and know
Not, therefore described in there is the optical signalling of characteristic wavelength be preferably infrared signal, corresponding filtering switch is then infrared absorption filter
Ripple switch.Under described filtering switch 121 is in running order, except other light of infrared light are all filtered, then pattern is known
Characteristic light line receiver 123 in other unit 12 is only near infrared imaging, and described filtering switch 121 is closed
Under, the characteristic light line receiver 123 in pattern recognition unit 12 then can be to infrared light and visual light imaging.
CPU 13 follows spot light source transmitter unit 11 with described and pattern recognition unit 12 is connected.Described centre
Reason unit farther includes mapping operations module 131 and coordinate transformation module 132 of following spot.
Mapping operations module 131 is the light in described pattern recognition unit 12 in setting up and store described restriction region
Learn imager coordinate and the mapping relations following spot between areal coordinate of described light source transmitter unit 11 employing of following spot.Above-mentioned mapping operations
Module 131 needs to obtain the background image limiting region and the characteristic image containing this areal coordinate information of following spot.Containing following spot face
The acquisition pattern of the characteristic image of coordinate information can be such as described in follow spot light source transmitter unit 11 will be containing areal coordinate of following spot
Region imaging is limited described in the image projective semimodules of information, and while pattern recognition unit 12 is to limiting regional imaging
To obtain the characteristic image containing this areal coordinate information of following spot.And the background image limiting region can pass through feature light receiver
Device 123 obtains limiting the mode directly taken pictures in region.The described characteristic image containing areal coordinate information of following spot is by light of following spot
The feature mode image that source transmitter unit 11 is launched, such as, can be circle speckle array, grid lines, black and white gridiron pattern or structure light
Sequence etc..Mapping operations module 131 is by the above-mentioned characteristic image limiting region containing areal coordinate information of following spot, same to background image
Compare, thus obtain optical imagery coordinate and the mapping relations following spot between areal coordinate of light source transmitter unit 11 of following spot.
During setting up these mapping relations, visible ray is become by pattern recognition unit 12 at filtering switch 121 in off position
Picture.
Coordinate transformation module 132 of following spot is for collecting by algorithm for pattern recognition according to described pattern recognition unit 12
At least one is by the optical imagery coordinate of target of following spot, and the mapping relations that provide of mapping operations module 131 converse by
The areal coordinate of following spot of target of following spot.Described pattern recognition unit 12 gathers restriction down at filtering switch 121
The image in region, under this state, the visible light signal in described restriction region is filtered out, therefore can be more accurately to quilt
Target of following spot carries out pattern recognition, so that it is determined that by the positional information of target of following spot.
Above-mentioned positional information is to be collected by pattern recognition unit 12, and pattern recognition unit 12 can only provide this signal
Optical imagery coordinate.The mapping relations that mapping operations module 131 provides can be converted into light source transmitter unit 11 of following spot and be adopted
Areal coordinate of following spot.Above-mentioned areal coordinate of following spot be sent to described in follow spot light source transmitter unit 11 for implement follow spot.In limit
Have in determining region multiple followed spot target time, this device can also carry out pattern recognition simultaneously to multiple targets, and light source of following spot
Transmitter unit 11 is to produce the light source discharger that target is implemented to follow spot by multi beam convection light, such that it is able to realize many
Following spot of target.
The coordinate of following spot being merely able to according to self due to light source transmitter unit 11 of following spot drives enforcement to follow spot, and different
Relative position between stage and light-chasing device is different from, and said method is launched by employing light source transmitter unit 11 of following spot
Feature mode image establishes the mapping following spot between areal coordinate of optical imagery coordinate and light source transmitter unit 11 of following spot and closes
System, and during implementing to follow spot, feature light emitters, toward limiting region project characteristic wavelength light, then limits region
Image after infrared filtering switch filters visible ray, be captured as picture by characteristic light line receiver again, thus at numerous and diverse dance
Accurately identify by the way of pattern recognition by the physical location of target of following spot on platform.
Next combine accompanying drawing and provide the detailed description of the invention of the method for the invention.
It is the enforcement step schematic diagram of this detailed description of the invention shown in accompanying drawing 2, including: step S20, it is provided that needs to implement
Follow spot region in the restriction region followed spot and；Step S21, sets up described restriction region light in described light-chasing device and studies
As coordinate and the mapping relations followed spot between areal coordinate of light-chasing device；Step S22, uses the light of characteristic wavelength to irradiate described
Limit region to go forward side by side row mode identification, recognize the need for the optical imagery coordinate of the target followed spot；Step S23, according to described
Described optical imagery coordinate transformation is become the areal coordinate of following spot of light-chasing device by mapping relations；Step S24, described light-chasing device foundation
Described areal coordinate transmitting of following spot is followed spot.
The device that above method is used can be the device described in previous embodiment, it is also possible to be that other are any
Plant the light-chasing device that said method can be supported to implement smoothly.
With reference to step S20, it is provided that one needs restriction region and the light-chasing device implementing to follow spot.Described restriction region can
To be any region with limited boundary such as a stage, one piece of vacant lot and a room, and the ground in this region
Face is preferably flat and opaque, is conducive to positioning accurately.Reflective and concavo-convex ground influences whether location
Optimal implementation result, but have no effect on the enforcement of localization method.Described light-chasing device can produce a branch of or multi beam concentration light
Restraint and implement to follow spot to target, and the target followed spot can also actively be carried out by the light-chasing device in this detailed description of the invention
It is automatically positioned.
With reference to step S21, set up described restriction region optical imagery coordinate in described light-chasing device and light-chasing device
The mapping relations followed spot between areal coordinate.This step is firstly the need of obtaining the background image limiting region and containing this face of following spot
Coordinate information image.Acquisition pattern containing areal coordinate frame of following spot such as can be by containing following spot areal coordinate information
Limit region imaging described in image projective semimodules, i.e. can obtain containing this areal coordinate of following spot while limiting regional imaging
Frame.And the background image limiting region can be by obtaining limiting by the way of directly taking pictures in region.Described containing chasing after
The image of bright finish coordinate information is a feature mode image.By the above-mentioned restriction area image containing areal coordinate information of following spot,
Compare with the background image not containing any information, thus obtain optical imagery coordinate and the mapping following spot between areal coordinate
Relation.
Step S22, uses the light of characteristic wavelength to irradiate described restriction region and goes forward side by side row mode identification, recognize the need for by
The optical imagery coordinate of the target followed spot.More accurately target of being followed spot can be carried out pattern recognition under this state, from
And determine by the positional information of target of following spot.Described positional information is to collect by the way of optical imagery, therefore collects
Positional information be optical imagery coordinate.The light of described characteristic wavelength can be such as infrared light.
With reference to step S23, according to described mapping relations, described optical imagery coordinate transformation is become the face of following spot of light-chasing device
Coordinate.
The optical imagery coordinate transformation that step S22 obtains can be become light source of following spot to send out by the mapping relations that step S21 obtains
Penetrate the areal coordinate of following spot that unit uses.
With reference to step S24, described light-chasing device according to described in areal coordinate of following spot launch and follow spot.Above-mentioned follow spot areal coordinate for
Enforcement is followed spot.Limit in region have multiple followed spot target time, this device can also gather simultaneously come from multiple target
There is the optical signalling of characteristic wavelength, and employing can produce the light source transmitting dress that target is implemented to follow spot by multi beam convection light
Put, such that it is able to realize following spot to multiobject.Can be such as a projector, corresponding with region of following spot by output one
Projection pattern realize the effect of following spot in one or more region, it is also possible to be multiple projector or multiple each with
The array of the LED composition of collecting lens, realizes one by the angle adjusting the converging light of each projector or LED emission
Or the effect of following spot in multiple region.This detailed description of the invention is preferably projector, it is possible to more rapid produce accurately multiple districts
Following spot of territory.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (8)
1. a light-chasing device, it is characterised in that including:
Follow spot light source transmitter unit；
Pattern recognition unit, for needing the target of being followed spot limited in region implementing to follow spot to carry out pattern recognition, described
Pattern recognition unit has a feature light emitters, a characteristic light line receiver and a filtering switch, described characteristic light
Line emitter is for needing the region project that limits implementing to follow spot to have the light of characteristic wavelength, described characteristic light line receiver
Can sense the visible ray from described restriction region and characteristic wavelength light, described filtering switch can pass through on-off control
Can visible ray enter characteristic light line receiver；
CPU, follows spot light source transmitter unit with described and pattern recognition unit is connected, and described CPU is entered
One step includes:
Mapping operations module, for setting up and store described restriction region optical imagery coordinate in described pattern recognition unit
And the mapping relations following spot between areal coordinate that light source transmitter unit of following spot is used；
Follow spot coordinate transformation module, chased after at least one collected by pattern recognition according to described pattern recognition unit
The optical imagery coordinate of optical target, and mapping operations module provide mapping relations converse target of being followed spot at light of following spot
Areal coordinate of following spot in the transmitter unit of source, and light source transmitter unit of following spot described in being sent to follows spot for implementing.
Light-chasing device the most according to claim 1, it is characterised in that described in light source transmitter unit of following spot be a projector
Or multiple stage projector.
Light-chasing device the most according to claim 2, it is characterised in that the generation one that every projector can be the most independent
Or multiple bright areas, to implement to follow spot to simple target or multiple target.
Light-chasing device the most according to claim 1, it is characterised in that what described feature light emitters was launched is infrared
Light, described filtering switch is infrared filtering switch, it is possible to passed through by the selectivity of on-off control visible ray, described feature
Light receiver can sense visible ray and infrared light, under described filtering switch duty, and described feature light receiver
Device can only receive and sense infrared light.
5. a method of following spot, it is characterised in that comprise the steps:
Needs are provided to implement restriction region and the light-chasing device followed spot；
Set up the following spot between areal coordinate of described restriction region optical imagery coordinate in described light-chasing device and light-chasing device
Mapping relations；
The light using characteristic wavelength irradiates described restriction region goes forward side by side row mode identification, the target recognizing the need for being followed spot
Optical imagery coordinate；
According to described mapping relations, described optical imagery coordinate transformation is become the areal coordinate of following spot of light-chasing device；
Areal coordinate transmitting of following spot described in described light-chasing device foundation is followed spot.
Method of following spot the most according to claim 5, it is characterised in that the described step setting up mapping relations is wrapped further
Include:
By the imaging in described light-chasing device of described restriction region, to obtain the background image limiting region；
By containing described light-chasing device follow spot areal coordinate information image via follow spot described in light source transmitter unit projective semimodules limit
Determine region imaging, it is thus achieved that limit the characteristic image in region；
The background image of contrast above-mentioned two step acquisition and characteristic image, set up optical imagery coordinate in described restriction region
And the mapping relations followed spot between areal coordinate.
Method of following spot the most according to claim 5, it is characterised in that the light of described characteristic wavelength is infrared light.
Method of following spot the most according to claim 5, it is characterised in that repeatedly implement described step, single or many to lock
Individual target, it is achieved automatic light tracking continuously.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610634489.7A CN106054946A (en) | 2016-08-04 | 2016-08-04 | Spot following device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610634489.7A CN106054946A (en) | 2016-08-04 | 2016-08-04 | Spot following device and method |
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| CN201610634489.7A Pending CN106054946A (en) | 2016-08-04 | 2016-08-04 | Spot following device and method |
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Cited By (5)
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|---|---|---|---|---|
| CN107023806A (en) * | 2017-05-12 | 2017-08-08 | 重庆电子工程职业学院 | Lighting Control Assembly based on target |
| CN107708273A (en) * | 2017-10-19 | 2018-02-16 | 北京工业大学 | A kind of stage light control system, polishing lamp lamp holder driving method, tag location method |
| CN107889317A (en) * | 2017-12-12 | 2018-04-06 | 广东工业大学 | A kind of system, controller and the method for spotlight tracking target |
| CN109448052A (en) * | 2018-08-29 | 2019-03-08 | 浙江大丰实业股份有限公司 | Driving mechanism of following spot based on image analysis |
| CN109661086A (en) * | 2019-01-15 | 2019-04-19 | 广州黑豹演艺科技有限公司 | A kind of stage follow spotlight autocontrol method and system |
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| CN109661086A (en) * | 2019-01-15 | 2019-04-19 | 广州黑豹演艺科技有限公司 | A kind of stage follow spotlight autocontrol method and system |
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Application publication date: 20161026 |