CN109661086A - A kind of stage follow spotlight autocontrol method and system - Google Patents
A kind of stage follow spotlight autocontrol method and system Download PDFInfo
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- CN109661086A CN109661086A CN201910034022.2A CN201910034022A CN109661086A CN 109661086 A CN109661086 A CN 109661086A CN 201910034022 A CN201910034022 A CN 201910034022A CN 109661086 A CN109661086 A CN 109661086A
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The invention discloses a kind of stage follow spotlight autocontrol method and systems, wherein this method comprises: light control console sends signal light control instruction to tracking controller；Tracking controller sends the position acquisition request for being tracked target to stage location-server；Stage location-server measurement is tracked coordinate of the target in three-dimensional satellite coordinate system；And target will be tracked and be mapped onto the lamps and lanterns coordinate system for being tracked the corresponding target lamps and lanterns of target in the coordinate in three-dimensional satellite coordinate system；The light for calculating target lamps and lanterns again is directed toward the Pan value for tending to be tracked coordinate points of the target in the lamps and lanterns coordinate system of target lamps and lanterns and Tilt value and is sent to tracking controller；Pan value and Tilt value are sent to target lamps and lanterns by tracking controller, so that the light of target lamps and lanterns is got to and is tracked target.By means of the invention it is possible to the performer on automatic real-time track stage, instead of operation of manually following spot, so that following spot for follow spot light is more accurate.
Description
Technical field
The present invention relates to stage illumination, lighting technical field, in particular to a kind of stage follow spotlight autocontrol method and system.
Background technique
The utilization of light of stage is indispensable important means in theatrical art, reaches and gives top priority to what is the most important, moulds personage's shape
As the purpose of, flowering shrubs.The equipment that follow spot light can carry out in time light supply in performance as a kind of performer, can
Performer or other special-effects are protruded with light beam in the case where the stage whole audience is dark, its main feature is that the light of follow spot light will follow
Performer is mobile, and generally there is still a need for artificial remote control operations, to expend a large amount of manpower, and can have control accurately situation does not go out
Existing, the lamp control system of following spot that some is controlled by computer needs the monitor of profession though no longer needing a large amount of manpowers
The online real-time operation of member, the degree of automation is not high and higher cost, thus be badly in need of designing a kind of control precisely, cost is relatively low and energy
The tracing lamp system of real-time tracking performer.
Summary of the invention
The present invention provides a kind of stage follow spotlight autocontrol method and system, can drill on automatic real-time track stage
Member, instead of operation of manually following spot, so that following spot for follow spot light is more accurate.
According to an aspect of the invention, there is provided a kind of stage follow spotlight autocontrol method, comprising the following steps: lamp
Photocontrol platform sends signal light control instruction to tracking controller；The tracking controller is tracked to the transmission of stage location-server
The position acquisition of target is requested；The stage location-server measurement is tracked coordinate of the target in three-dimensional satellite coordinate system；
The stage location-server will be tracked coordinate of the target in three-dimensional satellite coordinate system and be mapped onto that be tracked target corresponding
In the lamps and lanterns coordinate system of target lamps and lanterns, obtain being tracked coordinate of the target in the lamps and lanterns coordinate system of the target lamps and lanterns；It is described
The light that stage location-server calculates the target lamps and lanterns, which is directed toward, tends to be tracked target in the lamps and lanterns seat of the target lamps and lanterns
Pan (translation) value and Tilt (inclination) value of coordinate points in mark system, and the Pan (translation) value and Tilt (inclination) value are sent out
It send to the tracking controller；The Pan (translation) value and Tilt (inclination) value are sent to the mesh by the tracking controller
Beacon light tool, so that the light of the target lamps and lanterns is got to and is tracked target.
Preferably, the light control console to tracking controller send signal light control instruction after, this method further include with
Lower step: the tracking controller judges whether the signal light control instruction is the control instruction followed spot for controlling lamps and lanterns；Such as
Fruit is then to execute the tracking controller to send the step for being tracked the position acquisition request of target to the stage location-server
Suddenly；If it is not, then signal light control instruction is sent in the lamps and lanterns of installation before the lights by the tracking controller, so that dance
Lamps and lanterns on platform are used according to lamps and lanterns original function.
Preferably, the light control console to tracking controller send signal light control instruction before, this method further include with
Lower step: stage location-server is established three-dimensional and is defended using the main satellite in several satellites being mounted on around stage as origin
Star coordinate system；The stage location-server defends each being mounted on around stage according to the three-dimensional satellite coordinate system
Star and each lamps and lanterns carry out coordinate setting；The stage location-server is with each lamps and lanterns in the three-dimensional satellite coordinate system
In coordinate be that origin establishes the lamps and lanterns subcoordinate system of each lamps and lanterns.
Preferably, this method is further comprising the steps of: UWB data collector to be tracked target carry object machine and peace
Several satellites around stage send radio signal；UWB data collector receives the target for being tracked target carrying
The radio signal of device and several satellites being mounted on around stage feedback；UWB data collector is by radio signals
Time difference be sent to the stage location-server；The stage location-server calculates the mesh according to the time difference
Mark the distance between device and each satellite of several satellites being mounted on around stage；
The stage location-server measurement is tracked coordinate of the target in three-dimensional satellite coordinate system, specifically: it is described
Stage location-server according between the object machine and each satellite for several satellites being mounted on around stage away from
From obtaining being tracked coordinate of the target in three-dimensional satellite coordinate system.
Preferably, the stage location-server is according to the object machine and several satellites being mounted on around stage
The distance between each satellite obtains being tracked target after the coordinate in three-dimensional satellite coordinate system, and this method further includes
Following steps: the stage location-server calculates each satellite being mounted on around stage and each lamps and lanterns described three
Tie up the position compensation of the coordinate in co-ordinates of satellite system；The stage location-server is defended according to each being mounted on around stage
The position compensation of star and coordinate of each lamps and lanterns in the three-dimensional satellite coordinate system is sat to target is tracked in three-dimensional satellite
Coordinate in mark system is adjusted, and obtains being tracked coordinates of targets of the target in three-dimensional satellite coordinate system；
The stage location-server, which will be tracked coordinate of the target in three-dimensional satellite coordinate system and be mapped onto, is tracked mesh
In the lamps and lanterns coordinate system for marking corresponding target lamps and lanterns, obtain being tracked seat of the target in the lamps and lanterns coordinate system of the target lamps and lanterns
Mark, specifically: the stage location-server will be tracked coordinates of targets of the target in three-dimensional satellite coordinate system be mapped by
In the lamps and lanterns coordinate system for tracking the corresponding target lamps and lanterns of target, obtain being tracked target in the lamps and lanterns coordinate system of the target lamps and lanterns
In coordinate.
According to another aspect of the present invention, a kind of stage follow spotlight automatic control system, including light control are additionally provided
Platform processed, tracking controller, stage location-server:
Wherein, the light control console includes: instruction sending unit, is referred to for sending signal light control to tracking controller
It enables；
Wherein, the tracking controller includes: request transmitting unit, for being chased after to stage location-server transmission
The position acquisition of track target is requested；
Wherein, the stage location-server includes: coordinates of targets measuring unit, is tracked target in three-dimensional for measuring
Coordinate in co-ordinates of satellite system；Coordinate hints obliquely at unit, hints obliquely at for will be tracked coordinate of the target in three-dimensional satellite coordinate system
To being tracked in the lamps and lanterns coordinate system of the corresponding target lamps and lanterns of target, obtain being tracked target in the lamps and lanterns seat of the target lamps and lanterns
Coordinate in mark system；Computing unit, the light for calculating the target lamps and lanterns, which is directed toward, to be tended to be tracked target in the target
Pan (translation) value and Tilt (inclination) value of coordinate points in the lamps and lanterns coordinate system of lamps and lanterns, and by the Pan (translation) value and
Tilt (inclination) value is sent to the tracking controller；
The tracking controller further include: first control unit is used for the Pan (translation) value and Tilt (inclination) value
The target lamps and lanterns are sent to, so that the light of the target lamps and lanterns is got to and is tracked target.
Preferably, the tracking controller further include: judging unit, in described instruction transmission unit to Tracing Control
After device sends signal light control instruction, judge whether the signal light control instruction is the control instruction followed spot for controlling lamps and lanterns；
The request transmitting unit, specifically for judging that the signal light control instruction is followed spot for controlling lamps and lanterns in the judging unit
Control instruction when, Xiang Suoshu stage location-server send be tracked target position acquisition request；Second control unit is used
In when the judging unit judges that signal light control instruction is not used for the control instruction that control lamps and lanterns are followed spot, by the light
Control instruction is sent in the lamps and lanterns of installation before the lights, so that the lamps and lanterns on stage are used according to lamps and lanterns original function.
Preferably, the stage location-server further include: co-ordinates of satellite system establishes unit, for sending in described instruction
Before unit sends signal light control instruction to tracking controller, it is with the main satellite in several satellites for being mounted on around stage
Origin establishes three-dimensional satellite coordinate system；Coordinate setting unit, for according to the three-dimensional satellite coordinate system, to being mounted on stage
Each satellite and each lamps and lanterns of surrounding carry out coordinate setting；Lamps and lanterns subcoordinate system establishes unit, for each lamp
Having the coordinate in the three-dimensional satellite coordinate system is the lamps and lanterns subcoordinate system that origin establishes each lamps and lanterns.
Preferably, a kind of stage follow spotlight automatic control system further includes UWB data collector:
Wherein, the UWB data collector includes: signal transmitting unit, for be tracked target carry object machine
And several satellites being mounted on around stage send radio signal；Feedback signal reception unit is tracked mesh for receiving
Mark the radio signal of the object machine carried and several satellites being mounted on around stage feedback；Time difference transmission unit is used
In the time difference of radio signals is sent to the stage location-server；
The stage location-server further include: metrics calculation unit, for calculating the mesh according to the time difference
Mark the distance between device and each satellite of several satellites being mounted on around stage；The coordinates of targets measuring unit,
Specifically for obtaining according to the distance between the object machine and each satellite of several satellites being mounted on around stage
It is tracked coordinate of the target in three-dimensional satellite coordinate system.
Preferably, the stage location-server further include: position compensation computing unit, for being surveyed in the coordinates of targets
Measure unit according to the distance between the object machine and each satellite of several satellites being mounted on around stage, obtain by
Target is tracked after the coordinate in three-dimensional satellite coordinate system, calculates each satellite and each lamp being mounted on around stage
Has the position compensation of the coordinate in the three-dimensional satellite coordinate system；Coordinates of targets adjustment unit is mounted on stage for basis
Around each satellite and coordinate of each lamps and lanterns in the three-dimensional satellite coordinate system position compensation, to being tracked mesh
The coordinate being marked in three-dimensional satellite coordinate system is adjusted, and obtains being tracked target seat of the target in three-dimensional satellite coordinate system
Mark；The coordinate hints obliquely at unit, specifically for will be tracked coordinates of targets of the target in three-dimensional satellite coordinate system be mapped by
In the lamps and lanterns coordinate system for tracking the corresponding target lamps and lanterns of target, obtain being tracked target in the lamps and lanterns coordinate system of the target lamps and lanterns
In coordinate.
Compared with prior art, beneficial effects of the present invention are as follows:
By means of the invention it is possible to accurately measure the spatial position coordinate for being tracked target on stage, then will be tracked
The spatial position coordinate of target is mapped onto the coordinate system of the lamps and lanterns on stage, with accurately calculate lamps and lanterns by light get to by
Pan (translation) value and Tilt (inclination) value adjusted required for target is tracked, when needing to carry out the behaviour that follows spot to the performer on stage
When making, it is only necessary to issue signal light control instruction in light control console, light accurately can be got to drilling on stage by lamps and lanterns
With member, instead of traditional operation of manually following spot, accurately automatic light tracking is realized.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In attached drawing:
Fig. 1 is a kind of flow chart of stage follow spotlight autocontrol method according to an embodiment of the present invention；
Fig. 2 is a kind of structural block diagram of stage follow spotlight automatic control system according to an embodiment of the present invention；
Fig. 3 is the flow chart of according to embodiments of the present invention one another stage follow spotlight autocontrol method；
Fig. 4 is the flow chart of according to embodiments of the present invention two another stage follow spotlight autocontrol method.
Specific embodiment
Below in conjunction with attached drawing of the present invention, technical solution of the present invention is described, but described embodiment is only
A part of the embodiment of the present invention, based on the embodiments of the present invention, those of ordinary skill in the art are not making creative labor
Every other embodiment obtained under the premise of dynamic, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a kind of stage follow spotlight autocontrol method, Fig. 1 is according to an embodiment of the present invention
A kind of flow chart of stage follow spotlight autocontrol method, as shown in Figure 1, comprising the following steps:
Step S101: light control console sends signal light control instruction to tracking controller；
Step S102: tracking controller sends the position acquisition request for being tracked target to stage location-server；
Step S103: stage location-server measurement is tracked coordinate of the target in three-dimensional satellite coordinate system；
Step S104: stage location-server, which will be tracked coordinate of the target in three-dimensional satellite coordinate system and be mapped onto, to be chased after
In the lamps and lanterns coordinate system of the corresponding target lamps and lanterns of track target, obtain being tracked seat of the target in the lamps and lanterns coordinate system of target lamps and lanterns
Mark；
Step S105: the light that stage location-server calculates target lamps and lanterns, which is directed toward, to be tended to be tracked target in target lamps and lanterns
Lamps and lanterns coordinate system in coordinate points Pan (translation) value and Tilt (inclination) value, and by Pan (translation) value and Tilt (inclination)
Value is sent to tracking controller；
Step S106: Pan (translation) value and Tilt (inclination) value are sent to target lamps and lanterns by tracking controller, so that target
The light of lamps and lanterns, which is got to, is tracked target.
In implementation process, after step slol, tracking controller judges whether signal light control instruction is for controlling
The control instruction that lamps and lanterns are followed spot；If it is, executing tracking controller sends the position for being tracked target to stage location-server
The step of setting acquisition request；If it is not, then signal light control instruction is sent in the lamps and lanterns of installation before the lights by tracking controller,
So that the lamps and lanterns on stage are used according to lamps and lanterns original function.
Before step S101, stage location-server is with the main satellite in several satellites for being mounted on around stage
Origin establishes three-dimensional satellite coordinate system；Stage location-server is every around stage to being mounted on according to three-dimensional satellite coordinate system
One satellite and each lamps and lanterns carry out coordinate setting；Stage location-server is with each lamps and lanterns in three-dimensional satellite coordinate system
Coordinate be that origin establishes the lamps and lanterns subcoordinate system of each lamps and lanterns.
In implementation process, UWB data collector is to the object machine for being tracked target carrying and is mounted on around stage
Several satellites send radio signal；UWB data collector receives the object machine for being tracked target carrying and is mounted on stage
The radio signal of several satellites feedback of surrounding；The time difference of radio signals is sent to by UWB data collector
Stage location-server；Stage location-server calculates object machine according to the time difference and defends with several being mounted on around stage
The distance between each satellite of star；
Stage location-server measurement is tracked coordinate of the target in three-dimensional satellite coordinate system, specifically: stage positioning
Server is tracked according to the distance between object machine and each satellite of several satellites being mounted on around stage
Coordinate of the target in three-dimensional satellite coordinate system.
Further, stage location-server calculates each satellite being mounted on around stage and each lamps and lanterns three
Tie up the position compensation of the coordinate in co-ordinates of satellite system；Stage location-server according to each satellite for being mounted on around stage and
The position compensation of coordinate of each lamps and lanterns in three-dimensional satellite coordinate system, to being tracked target in three-dimensional satellite coordinate system
Coordinate is adjusted, and obtains being tracked coordinates of targets of the target in three-dimensional satellite coordinate system；
Stage location-server, which will be tracked coordinate of the target in three-dimensional satellite coordinate system and be mapped onto, is tracked target pair
In the lamps and lanterns coordinate system for the target lamps and lanterns answered, obtain being tracked coordinate of the target in the lamps and lanterns coordinate system of target lamps and lanterns, specifically
Are as follows: stage location-server will be tracked coordinates of targets of the target in three-dimensional satellite coordinate system and be mapped onto that be tracked target corresponding
Target lamps and lanterns lamps and lanterns coordinate system in, obtain being tracked coordinate of the target in the lamps and lanterns coordinate system of target lamps and lanterns.
Through the above steps, it can be realized the automatic light tracking to performer on stage, instead of operation of manually following spot, so that chasing after
Light is more accurate.
The embodiment of the invention also provides a kind of stage follow spotlight automatic control system, chased after for realizing a kind of above-mentioned stage
Light lamp autocontrol method.
Fig. 2 is a kind of structural block diagram of stage follow spotlight automatic control system according to an embodiment of the present invention, such as Fig. 2 institute
Show, which includes light control console 10, tracking controller 20, stage location-server 30:
Wherein, light control console 10 includes: instruction sending unit 101, for sending signal light control to tracking controller 20
Instruction；
Wherein, tracking controller 20 includes: request transmitting unit 201, for being chased after to the transmission of stage location-server 30
The position acquisition of track target is requested；
Wherein, stage location-server 30 includes: coordinates of targets measuring unit 301, is tracked target three for measuring
Tie up the coordinate in co-ordinates of satellite system；Coordinate hints obliquely at unit 302, for that will be tracked coordinate of the target in three-dimensional satellite coordinate system
It is mapped onto the lamps and lanterns coordinate system for being tracked the corresponding target lamps and lanterns of target, obtains being tracked target in the lamps and lanterns seat of target lamps and lanterns
Coordinate in mark system；Computing unit 303, the light for calculating target lamps and lanterns, which is directed toward, to be tended to be tracked target in target lamps and lanterns
Pan (translation) value and Tilt (inclination) value of coordinate points in lamps and lanterns coordinate system, and by Pan (translation) value and Tilt (inclination) value
It is sent to tracking controller 20；
Tracking controller 20 further include: first control unit 202, for Pan (translation) value and Tilt (inclination) value to be sent out
It send to target lamps and lanterns, so that the light of target lamps and lanterns is got to and is tracked target.
For stage follow spotlight automatic control system, tracking controller 20 further include: judging unit 203, for instructing
After transmission unit 101 sends signal light control instruction to tracking controller 20, judge whether signal light control instruction is for controlling
The control instruction that lamps and lanterns are followed spot；Request transmitting unit 201, specifically for judging that signal light control instruction is to use in judging unit 203
When controlling the control instruction that lamps and lanterns are followed spot, the position acquisition request for being tracked target is sent to stage location-server 30；The
Two control units 204, for judging that signal light control instruction is not used for the control instruction that control lamps and lanterns are followed spot in judging unit 203
When, signal light control instruction is sent in the lamps and lanterns of installation before the lights, so that the lamps and lanterns on stage are according to lamps and lanterns original function
It uses.
For stage follow spotlight automatic control system, stage location-server 30 further include: co-ordinates of satellite system establishes unit
304, it is used for before instruction sending unit 101 sends signal light control instruction to tracking controller 20, to be mounted on around stage
Several satellites in main satellite be origin, establish three-dimensional satellite coordinate system；Coordinate setting unit 305, for according to three-dimensional
Co-ordinates of satellite system carries out coordinate setting to each satellite being mounted on around stage and each lamps and lanterns；Lamps and lanterns subcoordinate system
Unit 306 is established, for establishing the lamp of each lamps and lanterns using coordinate of each lamps and lanterns in three-dimensional satellite coordinate system as origin
Has subcoordinate system.
Further include UWB data collector 40 for stage follow spotlight automatic control system:
Wherein, UWB data collector 40 includes: signal transmitting unit 401, for be tracked target carry object machine
And several satellites being mounted on around stage send radio signal；Feedback signal reception unit 402 is tracked for receiving
The radio signal of object machine and several satellites feedback being mounted on around stage that target carries；Time difference transmission unit
403, for the time difference of radio signals to be sent to stage location-server 30；
Stage location-server 30 further include: metrics calculation unit 307, for calculating object machine and peace according to the time difference
The distance between each satellite of several satellites around stage；Coordinates of targets measuring unit 301 is specifically used for root
According to the distance between object machine and each satellite of several satellites being mounted on around stage, obtain being tracked target three
Tie up the coordinate in co-ordinates of satellite system.
For stage follow spotlight automatic control system, stage location-server 30 further include: position compensation computing unit
308, for being defended in coordinates of targets measuring unit 301 according to each of object machine and several satellites for being mounted on around stage
The distance between star obtains being tracked target after the coordinate in three-dimensional satellite coordinate system, and calculating is mounted on around stage
The position compensation of each satellite and coordinate of each lamps and lanterns in three-dimensional satellite coordinate system；Coordinates of targets adjustment unit 309,
For the position according to each satellite and coordinate of each lamps and lanterns in three-dimensional satellite coordinate system being mounted on around stage
Compensation, is adjusted to coordinate of the target in three-dimensional satellite coordinate system is tracked, and obtains being tracked target in three-dimensional satellite seat
Coordinates of targets in mark system；Coordinate hints obliquely at unit 302, specifically for that will be tracked target of the target in three-dimensional satellite coordinate system
Coordinate is mapped onto the lamps and lanterns coordinate system for being tracked the corresponding target lamps and lanterns of target, obtains being tracked target in the lamp of target lamps and lanterns
Has the coordinate in coordinate system.
It should be noted that stage follow spotlight automatic control system described in Installation practice corresponds to above-mentioned method
Embodiment, concrete implementation process had carried out detailed description in embodiment of the method, and details are not described herein.
In order to keep technical solution of the present invention and implementation method clearer, below in conjunction with preferred embodiment in fact
Existing process is described in detail.
Embodiment one
The present embodiment provides another stage follow spotlight autocontrol methods, as shown in figure 3, Fig. 3 is real according to the present invention
Apply the flow chart of another stage follow spotlight autocontrol method of example one, comprising the following steps:
Step S301: stage location-server using the main satellite in several satellites being mounted on around stage as origin,
Establish three-dimensional satellite coordinate system；
In the embodiment of the present invention, at least four satellites can be installed around stage, be separately mounted to four angles of stage
On, thus if stage is larger, it can also install certainly and be more than in the exact position of performer on comprehensive positioning stage
Four satellites, so that more accurate to the positioning of performer on stage；
As an alternative embodiment, the specific embodiment of above-mentioned steps S301 are as follows: the satellite around stage
After installing, it is thus necessary to determine that a satellite is main satellite, three-dimensional calibration coordinate system is established before the lights, using laser ranging
Instrument, by laser range finder be individually placed to calibration coordinate system in three different locations, respectively measure laser range finder at three not
With at position and the distance between each satellite around stage, the seat according to laser range finder in calibration coordinate system in this way
Mark and the distance between laser range finder and satellite, so that it may coordinate of the satellite in calibration coordinate system is calculated, by main satellite
Coordinate be considered as origin and establish three-dimensional satellite coordinate system, then by the coordinate projection of other satellites into three-dimensional satellite coordinate system；
Step S302: stage location-server defends each being mounted on around stage according to three-dimensional satellite coordinate system
Star and each lamps and lanterns carry out coordinate setting；
As an alternative embodiment, calculating the specific embodiment of lamps and lanterns coordinate are as follows: if measurement point is all on ground
Face can then calculate the coordinate of lamps and lanterns using sine, if measurement point is not all to be determined on ground using cosine
Reason calculates lamps and lanterns coordinate；
Step S303: stage location-server is established using coordinate of each lamps and lanterns in three-dimensional satellite coordinate system as origin
The lamps and lanterns subcoordinate system of each lamps and lanterns；
Step S304: light control console sends signal light control instruction to tracking controller；
Step S305: tracking controller judges whether signal light control instruction is the control instruction followed spot for controlling lamps and lanterns；
If not, thening follow the steps S306；If so, thening follow the steps S307~step S311；
As an alternative embodiment, after light control console sends signal light control instruction to tracking controller,
The control purpose that can first judge signal light control instruction, if it is for following spot, so that it may position the essence of performer on stage
True coordinate position, then lamps and lanterns are controlled for use of following spot, if not for following spot, so that it may it is used as common lamps and lanterns,
Use the lamps and lanterns of installation before the lights as follow spot light simultaneously, without installing special follow spot before the lights
Lamp, this provides for improved the utilization rates of lamps and lanterns on stage；
Step S306: signal light control instruction is sent in the lamps and lanterns of installation before the lights by tracking controller, so that stage
On lamps and lanterns according to lamps and lanterns original function use；
Step S307: tracking controller sends the position acquisition request for being tracked target to stage location-server；
Step S308: stage location-server measurement is tracked coordinate of the target in three-dimensional satellite coordinate system；
Step S309: stage location-server, which will be tracked coordinate of the target in three-dimensional satellite coordinate system and be mapped onto, to be chased after
In the lamps and lanterns coordinate system of the corresponding target lamps and lanterns of track target, obtain being tracked seat of the target in the lamps and lanterns coordinate system of target lamps and lanterns
Mark；
Step S310: the light that stage location-server calculates target lamps and lanterns, which is directed toward, to be tended to be tracked target in target lamps and lanterns
Lamps and lanterns coordinate system in coordinate points Pan (translation) value and Tilt (inclination) value, and by Pan (translation) value and Tilt (inclination)
Value is sent to tracking controller；
Step S311: Pan (translation) value and Tilt (inclination) value are sent to target lamps and lanterns by tracking controller, so that target
The light of lamps and lanterns, which is got to, is tracked target.
Embodiment two
The present embodiment provides another stage follow spotlight autocontrol methods, as shown in figure 4, Fig. 4 is real according to the present invention
Apply the flow chart of another stage follow spotlight autocontrol method of example two, comprising the following steps:
Step S401: stage location-server using the main satellite in several satellites being mounted on around stage as origin,
Establish three-dimensional satellite coordinate system；
In the embodiment of the present invention, at least four satellites can be installed around stage, be separately mounted to four angles of stage
On, thus if stage is larger, it can also install certainly and be more than in the exact position of performer on comprehensive positioning stage
Four satellites, so that more accurate to the positioning of performer on stage；
As an alternative embodiment, the specific embodiment of above-mentioned steps S301 are as follows: the satellite around stage
After installing, it is thus necessary to determine that a satellite is main satellite, three-dimensional calibration coordinate system is established before the lights, using laser ranging
Instrument, by laser range finder be individually placed to calibration coordinate system in three different locations, respectively measure laser range finder at three not
With at position and the distance between each satellite around stage, the seat according to laser range finder in calibration coordinate system in this way
Mark and the distance between laser range finder and satellite, so that it may coordinate of the satellite in calibration coordinate system is calculated, by main satellite
Coordinate be considered as origin and establish three-dimensional satellite coordinate system, then by the coordinate projection of other satellites into three-dimensional satellite coordinate system；
Step S402: stage location-server defends each being mounted on around stage according to three-dimensional satellite coordinate system
Star and each lamps and lanterns carry out coordinate setting；
As an alternative embodiment, calculating the specific embodiment of lamps and lanterns coordinate are as follows: if measurement point is all on ground
Face can then calculate the coordinate of lamps and lanterns using sine, if measurement point is not all to be determined on ground using cosine
Reason calculates lamps and lanterns coordinate；
Step S403: stage location-server is established using coordinate of each lamps and lanterns in three-dimensional satellite coordinate system as origin
The lamps and lanterns subcoordinate system of each lamps and lanterns；
Step S404: light control console sends signal light control instruction to tracking controller；
Step S405: tracking controller judges whether signal light control instruction is the control instruction followed spot for controlling lamps and lanterns；
If not, thening follow the steps S406；If so, thening follow the steps S407~step S417；
As an alternative embodiment, after light control console sends signal light control instruction to tracking controller,
The control purpose that can first judge signal light control instruction, if it is for following spot, so that it may position the essence of performer on stage
True coordinate position, then lamps and lanterns are controlled for use of following spot, if not for following spot, so that it may it is used as common lamps and lanterns,
Use the lamps and lanterns of installation before the lights as follow spot light simultaneously, without installing special follow spot before the lights
Lamp, this provides for improved the utilization rates of lamps and lanterns on stage；
Step S406: signal light control instruction is sent in the lamps and lanterns of installation before the lights by tracking controller, so that stage
On lamps and lanterns according to lamps and lanterns original function use；
Step S407: tracking controller sends the position acquisition request for being tracked target to stage location-server；
Step S408:UWB data collector is to the object machine for being tracked target carrying and is mounted on several around stage
A satellite sends radio signal；
If step S409:UWB data collector receives the object machine for being tracked target carrying and is mounted on around stage
The radio signal of dry satellite feedback；
The time difference of radio signals is sent to stage location-server by step S410:UWB data collector；
Step S411: stage location-server object machine is calculated according to the time difference and is mounted on around stage several
The distance between each satellite of satellite；
Step S412: stage location-server is according to each of object machine and several satellites being mounted on around stage
The distance between satellite obtains being tracked coordinate of the target in three-dimensional satellite coordinate system；
Step S413: stage location-server calculates each satellite being mounted on around stage and each lamps and lanterns three
Tie up the position compensation of the coordinate in co-ordinates of satellite system；
In the embodiment of the present invention, due to the three-dimensional satellite coordinate system of foundation be based on laser measurement point, and measure
The coordinate of object machine is to do benchmark with the coordinate position of satellite again, so the coordinate position of satellite needs to do position compensation；By
It in the coordinate of lamps and lanterns is measured based on laser measurement point, so the coordinate of lamps and lanterns is translated, can just made in this way
The lamps and lanterns coordinate position of measurement is more accurate, and it is more accurate also to make to follow spot；
Step S414: stage location-server is according to each satellite and each lamps and lanterns being mounted on around stage three
The position compensation for tieing up the coordinate in co-ordinates of satellite system, is adjusted to coordinate of the target in three-dimensional satellite coordinate system is tracked,
It obtains being tracked coordinates of targets of the target in three-dimensional satellite coordinate system；
Step S415: stage location-server will be tracked coordinates of targets of the target in three-dimensional satellite coordinate system and be mapped onto
It is tracked in the lamps and lanterns coordinate system of the corresponding target lamps and lanterns of target, obtains being tracked target in the lamps and lanterns coordinate system of target lamps and lanterns
Coordinate；
Step S416: the light that stage location-server calculates target lamps and lanterns, which is directed toward, to be tended to be tracked target in target lamps and lanterns
Lamps and lanterns coordinate system in coordinate points Pan (translation) value and Tilt (inclination) value, and by Pan (translation) value and Tilt (inclination)
Value is sent to tracking controller；
Step S417: Pan (translation) value and Tilt (inclination) value are sent to target lamps and lanterns by tracking controller, so that target
The light of lamps and lanterns, which is got to, is tracked target.
In summary, through the foregoing embodiment, the spatial position seat that target is tracked on stage can accurately be measured
It marks, then in the coordinate system for the lamps and lanterns that the spatial position coordinate for being tracked target is mapped on stage, accurately to calculate lamp
Light is got to Pan (translation) value and Tilt (inclination) value of adjustment required for being tracked target by tool, when needing on stage
Performer follow spot when operating, it is only necessary to issue signal light control instruction in light control console, lamps and lanterns can be accurately by light
It gets to the performer on stage, instead of traditional operation of manually following spot, realizes accurately automatic light tracking.
Claims (10)
1. a kind of stage follow spotlight autocontrol method, which comprises the following steps:
Light control console sends signal light control instruction to tracking controller；
The tracking controller sends the position acquisition request for being tracked target to stage location-server；
The stage location-server measurement is tracked coordinate of the target in three-dimensional satellite coordinate system；
The stage location-server, which will be tracked coordinate of the target in three-dimensional satellite coordinate system and be mapped onto, is tracked target pair
In the lamps and lanterns coordinate system for the target lamps and lanterns answered, obtain being tracked coordinate of the target in the lamps and lanterns coordinate system of the target lamps and lanterns；
The light that the stage location-server calculates the target lamps and lanterns, which is directed toward, to be tended to be tracked target in the target lamps and lanterns
Lamps and lanterns coordinate system in coordinate points Pan (translation) value and Tilt (inclination) value, and by the Pan (translation) value and Tilt
(inclination) value is sent to the tracking controller；
The Pan (translation) value and Tilt (inclination) value are sent to the target lamps and lanterns by the tracking controller, so that described
The light of target lamps and lanterns, which is got to, is tracked target.
2. the method according to claim 1, wherein the light control console sends light control to tracking controller
It is further comprising the steps of after system instruction:
The tracking controller judges whether the signal light control instruction is the control instruction followed spot for controlling lamps and lanterns；
It is asked if it is, executing the tracking controller to the position acquisition that stage location-server transmission is tracked target
The step of asking；
If it is not, then signal light control instruction is sent in the lamps and lanterns of installation before the lights by the tracking controller, so that
Lamps and lanterns on stage are used according to lamps and lanterns original function.
3. according to the method described in claim 2, it is characterized in that, the light control console sends light control to tracking controller
It is further comprising the steps of before system instruction:
Stage location-server establishes three-dimensional satellite seat using the main satellite in several satellites being mounted on around stage as origin
Mark system；
The stage location-server is according to the three-dimensional satellite coordinate system, to each satellite being mounted on around stage and often
One lamps and lanterns carries out coordinate setting；
The stage location-server is established each using coordinate of each lamps and lanterns in the three-dimensional satellite coordinate system as origin
The lamps and lanterns subcoordinate system of a lamps and lanterns.
4. according to the method described in claim 3, it is characterized in that, further comprising the steps of:
UWB data collector sends wireless to several satellites for being tracked the object machine of target carrying and being mounted on around stage
Electric signal；
UWB data collector receives the object machine for being tracked target carrying and several satellites for being mounted on around stage feed back
Radio signal；
The time difference of radio signals is sent to the stage location-server by UWB data collector；
The stage location-server object machine is calculated according to the time difference and is mounted on around stage several
The distance between each satellite of satellite；
The stage location-server measurement is tracked coordinate of the target in three-dimensional satellite coordinate system, specifically:
The stage location-server is according to each satellite of the object machine and several satellites being mounted on around stage
The distance between, it obtains being tracked coordinate of the target in three-dimensional satellite coordinate system.
5. according to the method described in claim 4, it is characterized in that, the stage location-server is according to the object machine and peace
The distance between each satellite of several satellites around stage obtains being tracked target in three-dimensional satellite coordinate system
In coordinate after, it is further comprising the steps of:
The stage location-server calculates each satellite being mounted on around stage and each lamps and lanterns is defended in the three-dimensional
The position compensation of coordinate in star coordinate system；
The stage location-server is defended according to each satellite and each lamps and lanterns for being mounted on around stage in the three-dimensional
The position compensation of coordinate in star coordinate system is adjusted to coordinate of the target in three-dimensional satellite coordinate system is tracked, obtains
It is tracked coordinates of targets of the target in three-dimensional satellite coordinate system；
The stage location-server, which will be tracked coordinate of the target in three-dimensional satellite coordinate system and be mapped onto, is tracked target pair
In the lamps and lanterns coordinate system for the target lamps and lanterns answered, obtain being tracked coordinate of the target in the lamps and lanterns coordinate system of the target lamps and lanterns,
Specifically:
The stage location-server, which will be tracked coordinates of targets of the target in three-dimensional satellite coordinate system and be mapped onto, is tracked mesh
In the lamps and lanterns coordinate system for marking corresponding target lamps and lanterns, obtain being tracked seat of the target in the lamps and lanterns coordinate system of the target lamps and lanterns
Mark.
6. a kind of stage follow spotlight automatic control system, which is characterized in that fixed including light control console, tracking controller, stage
Position server:
Wherein, the light control console includes:
Instruction sending unit, for sending signal light control instruction to tracking controller；
Wherein, the tracking controller includes:
Request transmitting unit, for sending the position acquisition request for being tracked target to the stage location-server；
Wherein, the stage location-server includes:
Coordinates of targets measuring unit, for measuring the coordinate for being tracked target in three-dimensional satellite coordinate system；
Coordinate hints obliquely at unit, is mapped onto that be tracked target corresponding for will be tracked coordinate of the target in three-dimensional satellite coordinate system
Target lamps and lanterns lamps and lanterns coordinate system in, obtain being tracked coordinate of the target in the lamps and lanterns coordinate system of the target lamps and lanterns；
Computing unit, the light for calculating the target lamps and lanterns, which is directed toward, to be tended to be tracked target in the lamps and lanterns of the target lamps and lanterns
Pan (translation) value and Tilt (inclination) value of coordinate points in coordinate system, and by the Pan (translation) value and Tilt (inclination) value
It is sent to the tracking controller；
The tracking controller further include:
First control unit, for the Pan (translation) value and Tilt (inclination) value to be sent to the target lamps and lanterns, so that institute
The light for stating target lamps and lanterns, which is got to, is tracked target.
7. system according to claim 6, which is characterized in that the tracking controller further include:
Judging unit is used for after described instruction transmission unit sends signal light control instruction to tracking controller, described in judgement
Whether signal light control instruction is the control instruction followed spot for controlling lamps and lanterns；
The request transmitting unit, specifically for judging that the signal light control instruction is for controlling lamps and lanterns in the judging unit
When the control instruction followed spot, Xiang Suoshu stage location-server sends the position acquisition request for being tracked target；
Second control unit, for judging that the signal light control instruction is not used for the control that control lamps and lanterns are followed spot in the judging unit
When system instruction, signal light control instruction is sent in the lamps and lanterns of installation before the lights, so that the lamps and lanterns on stage are according to lamp
Have original function to use.
8. system according to claim 7, which is characterized in that the stage location-server further include:
Co-ordinates of satellite system establishes unit, instructs it for sending signal light control to tracking controller in described instruction transmission unit
Before, using the main satellite in several satellites being mounted on around stage as origin, establish three-dimensional satellite coordinate system；
Coordinate setting unit is used for according to the three-dimensional satellite coordinate system, to each satellite being mounted on around stage and often
One lamps and lanterns carries out coordinate setting；
Lamps and lanterns subcoordinate system establishes unit, for being built using coordinate of each lamps and lanterns in the three-dimensional satellite coordinate system as origin
Found the lamps and lanterns subcoordinate system of each lamps and lanterns.
9. system according to claim 8, which is characterized in that further include UWB data collector:
Wherein, the UWB data collector includes:
Signal transmitting unit, for being sent to several satellites for being tracked the object machine of target carrying and being mounted on around stage
Radio signal；
Feedback signal reception unit, for receive be tracked target carrying object machine and be mounted on around stage several defend
The radio signal of star feedback；
Time difference transmission unit, for the time difference of radio signals to be sent to the stage location-server；
The stage location-server further include:
Metrics calculation unit is defended for calculating the object machine according to the time difference with several being mounted on around stage
The distance between each satellite of star；
The coordinates of targets measuring unit, specifically for according to the object machine and several satellites being mounted on around stage
The distance between each satellite obtains being tracked coordinate of the target in three-dimensional satellite coordinate system.
10. system according to claim 9, which is characterized in that the stage location-server further include:
Position compensation computing unit, for according to the object machine and being mounted on around stage in the coordinates of targets measuring unit
The distance between each satellite of several satellites, obtain being tracked coordinate of the target in three-dimensional satellite coordinate system it
Afterwards, the position for being mounted on each satellite around stage He coordinate of each lamps and lanterns in the three-dimensional satellite coordinate system is calculated
Set compensation；
Coordinates of targets adjustment unit is mounted on each satellite around stage with each lamps and lanterns in the three-dimensional for basis
The position compensation of coordinate in co-ordinates of satellite system is adjusted to coordinate of the target in three-dimensional satellite coordinate system is tracked, obtains
To being tracked coordinates of targets of the target in three-dimensional satellite coordinate system；
The coordinate hints obliquely at unit, specifically for will be tracked coordinates of targets of the target in three-dimensional satellite coordinate system be mapped by
In the lamps and lanterns coordinate system for tracking the corresponding target lamps and lanterns of target, obtain being tracked target in the lamps and lanterns coordinate system of the target lamps and lanterns
In coordinate.
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| CN201910034022.2A CN109661086A (en) | 2019-01-15 | 2019-01-15 | A kind of stage follow spotlight autocontrol method and system |
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