CN110806762A - Stage control device and system - Google Patents

Stage control device and system Download PDF

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Publication number
CN110806762A
CN110806762A CN201911166267.7A CN201911166267A CN110806762A CN 110806762 A CN110806762 A CN 110806762A CN 201911166267 A CN201911166267 A CN 201911166267A CN 110806762 A CN110806762 A CN 110806762A
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stage
control
controller
mobile device
embedded
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CN201911166267.7A
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Chinese (zh)
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赵英俊
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Shanghai Hui Yan Intelligent Technology Co Ltd
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Shanghai Hui Yan Intelligent Technology Co Ltd
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00Control of position or direction
    • G05D3/12Control of position or direction using feedback
    • G05D3/20Control of position or direction using feedback using a digital comparing device

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Circuit Arrangement For Electric Light Sources In General (AREA)

Abstract

The invention relates to a stage control device and a system, wherein the stage control device comprises a first embedded control board, a first control board and a second control board, wherein the first embedded control board is used for inputting a stage control instruction to control a stage lighting system; the second embedded control panel is used for controlling instructions of the mobile device; and the controller is respectively connected with the first embedded control panel and the second embedded control panel and is used for controlling the stage lighting system to show a preset effect based on the stage light control instruction and controlling the mobile device to execute a preset action based on the mobile device control instruction. Technical scheme in this application makes a user can control the lighting system and the mobile device of stage simultaneously, is convenient for accomplish closely cooperating of light and mechanical device action, has reduced manpower and material resources cost when having improved the stage performance effect effectively.

Description

Stage control device and system
Technical Field
The invention relates to the technical field of stage control, in particular to a stage control device system.
Background
In the stage performance process, various devices such as light, machinery, sound, video and the like are required to be matched together and matched with the performance of performers to present the effect of the disputed performance together. Each device in the stage has its own independent control system. For example, there is a professional lighting console, which is responsible for controlling lighting equipment on the whole stage, so as to achieve the lighting effect that a lighting designer wants to perform; the mechanical equipment comprises a ground lifting device, a hanging device above the stage and the like, and the mechanical devices are also controlled by an independent control system.
During traditional dance and beauty performance, the control of light and the control of machinery are separately independent, and both sides cooperate through the form of dialogue, can't control in unison, lead to the unable seamless cooperation of action of light and mechanical device, cause the performance in-process to have discontinuous phenomenon to different control system needs different personnel to control, and the cost of labor is high.
Disclosure of Invention
Accordingly, it is necessary to provide a stage control device and a stage control system for a user to control the stage lighting and the mechanical device simultaneously to implement the cooperation between the stage mechanical device and the lighting.
An aspect of the present application provides a stage control device, including:
the first embedded control board is used for inputting stage lamp control instructions to control the stage lamp system;
the second embedded control panel is used for inputting a control instruction of the mobile device; and
and the controller is respectively connected with the first embedded control panel and the second embedded control panel and is used for controlling the stage lighting system to show a preset effect based on the stage light control instruction and controlling the mobile device to execute a preset action based on the mobile device control instruction.
In the stage control device in the above embodiment, by additionally providing the first embedded control panel capable of inputting the stage control instruction and the second embedded control panel capable of inputting the mobile device control instruction, a user can simultaneously control the lighting system and the mobile device of the stage, the mobile device may include one or more of a lifting device, a horizontal movement device, a rotation device and a hanging device, or the mobile device has at least one of lifting, horizontal movement, rotation and hanging functions, so that the light and the mechanical device act in close cooperation, the stage performance effect is effectively improved, and the cost of manpower and material resources is reduced.
In one embodiment, the stage control apparatus further includes:
and the display screen is connected with the controller.
In one embodiment, the first embedded control board comprises:
the push rod is connected with the controller and used for triggering the controller to execute the stage lamp control instruction;
the encoder is connected with the controller and used for rotating to generate pulse signals and controlling the rotating angle and/or direction of the stage lamp through the pulse signals;
and the key is used for inputting a stage lamp control instruction.
In one embodiment, the second embedded control board comprises:
the rocker is connected with the controller and used for inputting a mobile device control command to control the motion of the mobile device;
the pedal is connected with the controller and is used for connecting the controller with a power supply;
and the emergency stop switch is connected with the controller and is used for controlling the on-off between the mobile device and the power supply.
In one embodiment, the push rod is a motor-driven potentiometer or a manual potentiometer.
In one embodiment, the motor-driven potentiometer or the manual potentiometer comprises a button, and the resistance value of the resistor disc is adjusted by moving the position of the button so as to change the magnitude of the output voltage, thereby triggering the controller to execute the stage lamp control command.
In one embodiment, the rocker is at least one of a single axis, a dual axis, a triple axis, or a belt press.
In one embodiment, the stage control apparatus further includes:
and the signal exchange board is connected with the controller and is used for inputting or outputting signals.
In one embodiment, the signal exchange board comprises:
an output/output interface;
the information conversion controller is connected with the controller and is used for encoding or decoding the information exchanged with the controller;
and the serial port expansion board is connected with the controller.
In one embodiment, the communication protocol between the signal exchange board and the controller includes at least one of a DMX512 protocol, a MIDI protocol, and an LTC protocol.
Another aspect of the present application provides a stage control system, comprising:
a stage lighting system;
a mobile device; and
the stage control device according to any one of the embodiments of the present application, configured to control the stage lighting system and the mobile device to perform corresponding actions based on a control instruction of a user.
In the stage control system in the above embodiment, the first embedded control board capable of inputting stage control instructions and the second embedded control board capable of inputting mobile device control instructions are additionally provided. Because first embedded control panel and second embedded control panel are connected with the controller, the controller can be controlled based on user's control command stage lighting system and mobile device carry out corresponding action for a user can control the lighting system and the mobile device of stage simultaneously, is convenient for accomplish closely cooperating of light and mechanical device action, has reduced manpower and material resources cost when having improved stage performance effect effectively.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain drawings of other embodiments based on these drawings without any creative effort.
Fig. 1 is a schematic structural diagram of a stage control device provided in an embodiment of the present application.
Fig. 2 is a schematic structural diagram of an encoder provided in an embodiment of the present application.
Fig. 3 is a system architecture diagram of a stage control apparatus provided in one embodiment of the present application.
Fig. 4 is a schematic structural diagram of a stage control device according to another embodiment of the present application.
FIG. 5 is a schematic structural diagram of a hanger apparatus according to an embodiment of the present application.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Where the terms "comprising," "having," and "including" are used herein, another element may be added unless an explicit limitation is used, such as "only," "consisting of … …," etc. Unless mentioned to the contrary, terms in the singular may include the plural and are not to be construed as being one in number.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present invention.
As shown in fig. 1, a stage control apparatus provided in one embodiment of the present application includes:
the first embedded control board 10 is used for inputting stage control instructions to control the stage lighting system.
And a second embedded control board 20 for inputting mobile device control instructions.
And the controller 30 is respectively connected with the first embedded control board 10 and the second embedded control board 20, and is used for controlling the stage lighting system to show a preset effect based on the stage light control instruction and controlling the mobile device to execute a preset action based on the mobile device control instruction.
Specifically, a user may input a stage control instruction to the controller 30 through the first embedded control board 10 to control the stage lighting system to act, for example, the user may perform programming design through the first embedded control board 10, so that the controller 30 may control attributes such as lighting brightness, projection direction, deflection angle, and lighting color of the lamps in the stage lighting system when executing the program instruction; or a stage light control command can be directly input through the first embedded control board 10 to directly control attributes of stage light such as light brightness, projection direction, deflection angle and light color. A user may input mobile device control instructions to the controller 30 through the second embedded control board 20 to control the mobile device to perform corresponding actions.
In the stage control device in the above embodiment, since the user can input the stage control command through the controller to control the stage lighting system, and can also input the moving device control command through the controller to respectively control the stage moving device, the stage lighting can be controlled to closely match with the mechanical device of the stage according to the requirement of the stage performance effect, so that the stage performance effect is effectively improved, and the cost of manpower and material resources is reduced.
Further, as shown in fig. 1, the stage control device in the above embodiment may further include a display screen 41 and a touch screen 42 respectively connected to the controller 30. Preferably, the touch screen 42 covers the outer side of the display screen 41, and a user can input instructions or information into the controller 30 through the display screen 41. In other embodiments of the present application, a camera device may be disposed at the stage site, and the signal device is configured to be connected to the controller 30, so that a user can view the conditions of the stage site through the display screen 41, so as to better control the lamps and the mobile devices at the stage site.
Further, in the stage control device in the above embodiment, the first embedded control board may include a push rod, an encoder and a button respectively connected to the controller. The push rod is used for triggering the controller to execute the control instruction. The encoder is used for rotating to generate a pulse signal, and the rotation angle and direction of the stage lamp are controlled by the pulse signal, for example, in the embodiment of the present application, a user may generate the pulse signal by rotating the knob 131 of the encoder 13 as shown in fig. 2 clockwise or counterclockwise, and the controller acquires the rotation angle and direction input by the user by recognizing the pulse signal. Because the number of pulses generated by one turn of the rotary encoder is fixed, the user can control the translation, the inclination and the rotation of the stage lamp and the attributes of the brightness, the color and the like of the lamp light by controlling the number of turns of the rotary encoder. The keys are used for inputting control commands or control parameters, the keys can be physical entity keys or touch induction keys, each key is respectively used for triggering different function driving signals, and a user can input the control commands or the control parameters to the controller through the keys.
Further, in the stage control device in the above embodiment, the push rod may be a motor-driven potentiometer or a manual potentiometer, the motor-driven potentiometer or the manual potentiometer may respectively include a button, and the user adjusts the resistance of the resistor sheet inside the push rod by moving the button, so as to change the output voltage of the internal circuit of the push rod, and the internal circuit of the push rod may trigger the controller to execute the control command by detecting the voltage change value.
Further, in the stage control apparatus of the above embodiment, the second embedded control board may include a rocker, a pedal, and a crash stop switch, which are respectively connected to the controller. The rocker is used for inputting control commands to control the movement of the mobile device. In this embodiment, the joystick may be at least one of single axis, dual axis, tri-axis, or with keys. The single-shaft rocker can be respectively controlled in the X-axis direction or the Y-axis direction, the double-shaft rocker can be controlled in the X-axis direction and the Y-axis direction, the three-shaft rocker can be controlled in the X, Y-axis direction and the Z-axis direction, and the rocker can be further provided with a key to increase the control function realized by the rocker. The running-board is connected with the power supply path between the controller and the power supply and is used for safety control, in the embodiment, the running-board is set to be a normally open switch, the power supply path between the controller and the power supply is in a disconnected state under a normal state, and when a user steps on the running-board with a foot and the power supply path between the controller and the power supply is conducted, the controller can control and execute corresponding actions based on control instructions of the user. Namely, when the user is controlling the motion of the stage mechanical device, the user must step on the pedal, otherwise, the user cannot trigger an effective control command, and meanwhile, the misoperation of the stage control device under the unexpected states of syncope and the like of the operator can be avoided. The emergency stop switch is used for connecting the mobile device and the power supply, and when an abnormal condition or an emergency condition occurs, a user can press the emergency stop switch to emergently stop the power supply to the mobile device so as to stop the action of the mobile device and avoid larger economic loss.
In an embodiment of the present application, as shown in fig. 3, there is provided a stage control apparatus including:
the first embedded control board 10 is used for inputting stage control instructions to control the stage lighting system.
The first embedded control board 10 includes a first MCU11, a key 12, an encoder 13, and a push rod 14, wherein the first MCU11 is connected to the controller 30 through a communication bus, and the key 12, the encoder 13, and the push rod 14 are respectively connected to the first MCU 11. The push rod 14 is used for triggering the controller 30 to execute a control instruction through the first MCU 11. The encoder 13 is configured to rotate to generate a pulse signal, and control a rotation angle and a direction of the stage lamp through the pulse signal, and a user may generate the pulse signal by rotating the encoder 13 clockwise or counterclockwise, and the rotation angle and the direction input by the user are obtained by recognizing the pulse signal through the first MCU 11. Because the number of pulses generated by one turn of the rotary encoder is fixed, the user can control the translation, the inclination and the rotation of the stage lamp and the attributes of the brightness, the color and the like of the lamp light by controlling the number of turns of the rotary encoder. The keys 12 are used for inputting control commands or control parameters, the keys may be physical entity keys or touch sensing keys, each key is used for triggering different function driving signals, and a user can input control commands or control parameters to the first MCU11 through each key, and then control and execute corresponding actions through the controller 30. In other embodiments of the present application, a control button for controlling the mobile device may be further provided on the first embedded control board 10 to input a parameter for controlling the mobile device to control the mobile device.
And a second embedded control board 20 for inputting mobile device control instructions.
The second embedded control board 20 comprises a second MCU 21, a rocker 22, a pedal 23 and an emergency stop switch 24, wherein the rocker 22, the pedal 23 and the emergency stop switch 24 are respectively connected with the second MCU 21, and the second MCU 21 is connected with the controller 30 through a communication bus. The rocker 22 is used for inputting a control command to control the movement of a moving device such as a lifting device, a horizontal moving device, a rotating device or a hanging device, and the rocker may be at least one of a single shaft, a double shaft, a triple shaft or a belt button. The running-board 23 is connected with the power supply path between the controller and the power supply and is used for safety control, in the embodiment, the running-board 23 is set to be a normally open switch, when a user controls the motion of the stage mechanical device, the running-board 23 must be stepped on, otherwise, an effective control command cannot be triggered, and meanwhile, misoperation of the stage control device under the accident states of syncope and the like of an operator can also be avoided. The emergency stop switch 24 is used for connecting the mobile device and a power supply, and when an abnormal condition or an emergency condition occurs, a user can press the emergency stop switch 24 to emergently stop the power supply to the mobile device so as to stop the action of the mobile device, thereby avoiding larger economic loss. And the controller 30 is respectively connected with the first embedded control board and the second embedded control board, and is used for controlling the stage lighting system to show a preset effect based on the stage light control instruction and controlling the mobile device to move and execute a preset action based on the mobile device control instruction.
The controller 30 may include a video card, a USB interface, a network interface, a peripheral component Interconnect express (PCIe) interface, and the like, in this embodiment, a user may view information through a display screen 41 connected to the controller 30, and may also input instructions or information to the controller through a touch screen 42 connected to the controller 30, preferably, the touch screen 42 covers an outer side of the display screen 41, the display screen 41 may include one or more color liquid crystal screens, a touch screen is covered outside each screen, the touch screen may be a resistive touch screen or a capacitive touch screen, and the user may input control instructions or information to the controller 30 through a finger touch screen interface.
And a signal exchange board 50 connected to the controller 30 for inputting or outputting signals to exchange with the controller 30. In this embodiment, the communication protocol adopted by the signal exchange board includes at least one of a Digital Multiplex512 (DMX 512) protocol, a Musical Instrument Digital Interface (MIDI) protocol, and a Linear Time Code (LTC) protocol. The controller 30 communicates with the signal exchange board 50 through an RS232 transceiver, either a MIDI protocol or a DMX512 protocol, and the controller 30 communicates with the signal exchange board 50 through an audio decoder using an LTC protocol.
In particular, in the stage control apparatus in the above embodiment, the DMX512 is a standard of a digital communication network, which is generally used for controlling stage lighting and effects, and it has been a main method for controlling special effect devices such as a fog machine and a smart lamp from the beginning as a standardized method for controlling a dimmer to now. The MIDI performance control protocol is an industry standard for MIDI, established by the MIDI industry association in 1991, and allows communication between heterogeneous media control devices, which can control live performance via a computer. LTC is The encoding of time code data (SMPTE) in an audio signal, as defined in The SMPTE 12M specification. Audio signals are typically recorded on VTR tracks or other storage media. These bits are encoded using a bi-phase mark code, also known as FM, with 0 bits having a single transition at the beginning of the period and 1 bit having two transitions at the beginning and in the middle of the period, the encoding being self-clocking, each frame being terminated by a "sync word" having a special pre-definition to synchronize the relationship with the video or movie content.
Further, in the above embodiment, the signal exchange board may include an input/output interface, an information conversion controller, and a serial port expansion board. The input/output interface is arranged on a metal plate behind the console and used for realizing physical communication connection with the outside, the information conversion controller is used for decoding MIDI or LTC signals received by the transceiver and then transmitting the decoded signals to the controller, or reversely transmitting the MIDI or LTC signals on the controller to the input/output interface for signal output, and the information conversion controller is connected with the controller through a Universal Serial Bus (USB). The serial port expansion board can be an RS485/232 serial port expansion board, is connected with the controller through a PCIe (peripheral component interconnect express) interface and is used for realizing a plurality of serial ports and realizing DMX512 communication through the serial ports, the PCIe communication interface is adopted between the serial port expansion board and the controller, the controller sends DMX512 data to the serial port expansion board, and the serial port expansion board can send the DMX512 data to a corresponding transceiver on the signal output board for output, or vice versa.
In the stage control device in the above embodiment, by additionally providing the first embedded control panel capable of inputting the stage control instruction and the second embedded control panel capable of inputting the mobile device control instruction, a user can simultaneously control the lighting system and the mobile device of the stage, so that the lighting and the mechanical device can be conveniently and closely matched, the stage performance effect is effectively improved, and the labor and material costs are reduced.
Further, in the stage control device in the above embodiment, the first embedded control board, the second embedded control board, the display screen and the touch screen are in communication connection with the controller, the communication mode may be (Universal asynchronous receiver/Transmitter, UART) serial port communication, ethernet communication or Universal Serial Bus (USB) communication, and preferably USB communication is adopted, so as to facilitate assembly and disassembly of the electronic devices.
As shown in fig. 4, a stage control system provided in an embodiment of the present application includes:
the stage lighting system 60 is provided with,
a moving device 70, and
according to any of the stage control devices described in the embodiments of the present application, the stage lighting system 60 and the moving device 70 are controlled to perform corresponding actions based on the control instructions of the user.
Specifically, in the stage control system in the above embodiment, the stage lighting system 60 is connected to a first embedded control panel in the stage control device, and a user can input a stage lighting control command to the controller through the first embedded control panel to control the stage lighting system to operate, for example, the user can perform programming design through the first embedded control panel, so that the controller can control attributes such as lighting brightness, projection direction, deflection angle, lighting color, and the like of the lamps in the stage lighting system when executing the program command; or the first embedded control board can be directly used for inputting stage lamp control instructions so as to directly control attributes such as the light brightness, the projection direction, the deflection angle and the light color of the stage lamp. In this embodiment, the moving device 70 may include a lifting device 71 and a hanging device 72 connected to a second embedded control panel in the stage control device, and a user may input a lifting device control command to the controller through the second embedded control panel to control the lifting device 71 to perform a corresponding action, or input a hanging device control command to the controller through the second embedded control panel to control the hanging device 72 to perform a corresponding action, so that the stage lighting effect closely matches the action of the moving device 70.
In the stage control system in the above embodiment, the first embedded control board capable of inputting stage control instructions and the second embedded control board capable of inputting mobile device control instructions are additionally provided. Because first embedded control panel and second embedded control panel are connected with the controller, the controller can control stage lighting system and mobile device for example elevating gear and cable suspension device to carry out corresponding action based on user's control command for a user can control the lighting system, elevating gear and the cable suspension device of stage simultaneously, is convenient for accomplish the closely cooperation of light and mechanical device action, has reduced manpower and material resources cost when having improved stage performance effect effectively.
As shown in fig. 5, a hanger 72 provided in one embodiment of the present application includes:
a first hook 721 for connecting a lifting device or a stage moving device;
a second hanger 722 for hanging a performer or an item;
and a rotating device 723 for rotating based on a control signal of the controller to rotate the suspended performer or item.
Specifically, in the suspension device in the above embodiment, the first hook 721 may be connected to the stage lifting device and/or the stage moving device, the position of the suspension device is controlled by the stage lifting device and/or the stage moving device, the performer or the object is suspended by the second hook 722 to bring the suspended performer or object to a proper position in the stage, and the suspended performer or object is rotated by a proper angle by the rotating device 723.
The controller, the first MCU or the second MCU in the above embodiments may include at least one of a single chip microcomputer, a vehicle-mounted PLC, an ARM, a DSP, a programmable logic controller, and the like.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A stage control apparatus, comprising:
the first embedded control board is used for inputting stage lamp control instructions to control the stage lamp system;
the second embedded control panel is used for inputting a control instruction of the mobile device; and
and the controller is respectively connected with the first embedded control panel and the second embedded control panel and is used for controlling the stage lighting system to show a preset effect based on the stage light control instruction and controlling the mobile device to execute a preset action based on the mobile device control instruction.
2. A stage control apparatus as set forth in claim 1 and further comprising:
and the display screen is connected with the controller.
3. Stage control device according to claim 1, characterized in that the first embedded control board comprises:
the push rod is connected with the controller and used for triggering the controller to execute the stage lamp control instruction;
the encoder is connected with the controller and used for rotating to generate pulse signals and controlling the rotating angle and/or direction of the stage lamp through the pulse signals;
and the key is used for inputting a stage lamp control instruction.
4. Stage control device according to claim 1, characterized in that the second embedded control board comprises:
the rocker is connected with the controller and used for inputting a mobile device control command to control the motion of the mobile device;
the pedal is connected with the controller and is used for connecting the controller with a power supply;
and the emergency stop switch is connected with the controller and is used for controlling the on-off between the mobile device and the power supply.
5. Stage control device according to claim 3, wherein the push rod is a motor-driven potentiometer or a manual potentiometer.
6. The stage control device according to claim 5, wherein the motor-driven potentiometer or the manual potentiometer comprises a button, and the output voltage is changed by adjusting the resistance value of the resistor disc by moving the position of the button, so as to trigger the controller to execute the stage control command.
7. A stage control apparatus as set forth in any one of claims 1-6 and further comprising:
and the signal exchange board is connected with the controller and is used for inputting or outputting signals.
8. Stage control device according to claim 7, characterized in that the signal exchange panel comprises:
an output/output interface;
the information conversion controller is connected with the controller and is used for encoding or decoding the information exchanged with the controller; and
and the serial port expansion board is connected with the controller.
9. Stage control apparatus according to claim 8, wherein the communication protocol between the signal exchange board and the controller includes at least one of a DMX512 protocol, a MIDI protocol and an LTC protocol.
10. A stage control system, comprising:
a stage lighting system;
a mobile device; and
stage control device according to any one of claims 1-9, for controlling the stage lighting system and the moving device on the basis of control instructions of a user.
CN201911166267.7A 2019-11-25 2019-11-25 Stage control device and system Pending CN110806762A (en)

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CN107450410A (en) * 2017-09-11 2017-12-08 高晓东 A kind of stage equipment control system

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Application publication date: 20200218