JPH07220505A - Remote controlled spotlight - Google Patents

Abstract

PURPOSE:To rapidly focus light from the present position on a target position to enhance control responding capability by reading the conversion completion data of other A/D converter with an arithmetic processing unit during conversion operation by an optional A/D converter. CONSTITUTION:An A/D converter T1 receives a conversion starting instruction from an arithmetic processing unit 10 at time t0, latches the output sensor S1, and converts the latched output into digital position data by time t1. The unit 10 reads the digital position data corresponding to focus operation from an A/D converter T3 which finishes conversion into the digital position data by time t0, and operates the deviation of the present position of focusing operation and a target value instruction from a remote control unit 2, then sends a control instruction to a driving unit U3 so as to minimize the deviation by the time t1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control type spotlight using a digital servo mechanism.

[0002]

2. Description of the Related Art Various luminaires are used in theaters, studios, etc. to enhance the effect of production. Among these various luminaires, there is a spotlight, etc. that enhances the effect by tracking and illuminating a moving director. In the tracking lighting operation and the focus operation by such a spotlight, the operator may go to the installation position of the spotlight and directly operate the spotlight from the installation position. In many cases, spotlights as well as various lighting fixtures such as foot lights and border lights are being remotely controlled from a centralized monitoring control device or the like while trying to harmonize the entire scene according to the development of the production scene.

In this remote operation, an operator may directly operate in real time from a distant centralized monitoring control device, but a computer program based on a schedule stored in advance in the centralized monitoring control device. It may be done by control.

FIG. 3 is an external perspective view showing an essential part of the above remote control type spotlight, FIG. 4 is a block diagram showing the remote control type spotlight, and FIG. 5 is a timing showing the operation of the remote control type spotlight. It is a chart.

As shown in FIG. 3, the remote control type spotlight floodlighting device section 1 performs a pan operation (azimuth direction rotation operation) indicated by an arrow X and a tilt operation (elevation direction rotation operation) indicated by an arrow Y. , And a focus operation (forward / backward operation) indicated by an arrow Z are enabled.

As shown in FIG. 4, the remote control type spotlight includes a light projecting device section 1 and a remote control device section 2. The projector unit 1 includes a motor M for pan operation.
_1, to drive the position sensor S ₁ for outputting an analog value corresponding to the panning operation position, an A / D converter T ₁ for converting an analog value to a digital value output of the position sensor S _1, the motor M ₁ A drive unit U ₁ , a motor M ₂ for tilt operation, a position sensor S ₂ that outputs an analog value corresponding to a tilt operation position, and an A / D that converts the analog value output by the position sensor S ₂ into a digital value. Transducer T
_2, a drive unit U ₂ which drives the motor M _2, a motor M ₃ for focusing operation, a position sensor S ₃ for outputting an analog value corresponding to the focus operation position, the analog value output by the position sensor S ₃ A / D converter T ₃ for converting the digital value into a digital value, and a drive unit U for driving the motor M _3
3 and the arithmetic processing unit 10. A variable resistor or the like is used as the position sensors S _1, S _2, S ₃ .

The arithmetic processing unit 10 operates with a current position recognizing means, a minimum deviation control means, and the like. Position recognizer, to the A / D converter _{T 1, T 2, T 3} , and the latch with latching (sampling) fetches the analog value output of the position sensor S _1, S _2, S ₃ An instruction to convert an analog value to a digital value is given, and the digital position data output from the A / D converters T _1, T _{2 and} T _{3 that have been} converted are read, and the current position of the light projecting device unit 1 This is software that recognizes the light direction and focus state. The minimum deviation control means is a remote operation device section 2 installed at a distant place.
The target position data (target light projecting direction and target focus state) output by the driver is received and stored, and a control instruction for calculating the deviation between the current position and the target position to reduce the deviation is given to the drive unit U _{1 is} software that outputs the U _2, U _3. The arithmetic processing unit 10 converges the current position of the light projecting device unit 1 to the target position while alternately executing the current position recognition unit and the minimum deviation control unit at high speed.

However, conventional remote-controlled spots
For the light, follow the procedure below to check the current position.
It had converged to the standard position. That is, as shown in FIG.
The arithmetic processing unit 10 first sets time t₀On the first axis (pan movement
A / D converter T corresponding to ₁Conversion start instruction to
give. Then, the A / D converter T₁At time t₀On top
Position sensor S₁Latch the analog value output by
Time t which requires conversion time of₁By the latch
Complete the conversion of the analog value to the digital value.

The arithmetic processing unit 10 starts reading the digital position data of the first axis (pan operation) from the A / D converter T _{1 at} time t ₀ at time t ₁ , and then the A / D converter T ₁
The current position of the first axis is recognized based on the digital position data read from, and the deviation between the current position of the first axis and the target position instructed from the remote control device section 2 is calculated, and the drive unit U ₁ On the other hand, the control instruction for minimizing the deviation is completed by time t ₂ .

Next, the arithmetic processing unit 10 gives a conversion start instruction to the A / D converter T ₂ corresponding to the second axis (tilt operation) at time t ₂ . Then, the A / D converter T
₂ latches the analog value output from the position sensor S ₂ at time t ₂ , and completes the conversion of the latched analog value into a digital value by time t ₃ although some conversion time is required.

The arithmetic processing unit 10 starts reading the digital position data of the second axis (tilt operation) from the A / D converter T _{2 at} time t ₂ at time t ₃ , and the A / D converter T 2
The current position of the second axis is recognized based on the digital position data read from _2, and the deviation between the current position of the second axis and the target position instructed from the remote control device section 2 is calculated, and the drive unit U The control instruction for minimizing the deviation for ₂ is completed by time t ₄ .

Further, the arithmetic processing unit 10 gives a conversion start instruction to the A / D converter T ₃ corresponding to the third axis (focus operation) at time t ₄ . Then, the A / D converter T
₃ latches the analog value output of the position sensor S ₃ at time t _4, the up time t ₅ of those requiring some conversion time to complete the conversion of the analog values the latch into a digital value.

The arithmetic processing unit 10 includes an A / D converter T₃Or
Time t_FourDigital position of the 3rd axis (focus operation) of
Read data at time t_FiveStart from the A / D conversion
Bowl T ₃Based on the digital position data read from
Recognizing the current position of the 3rd axis, and also the current position of the 3rd axis
And the deviation from the target position instructed from the remote control unit 2
Calculate and drive U₃To minimize the deviation
Control instructions at time t₆Complete by

That is, in the conventional remote control type spotlight, the current position of the light projecting device section 1 is converged to the target position by sequentially repeating the above-mentioned procedure at high speed.

[0015]

That is, in the conventional remote control type spotlight, in the case of the pan operation, the analog position output in the pan operation is latched (sampled) and the latched analog position output is digitally output. A / D conversion step for converting to position data,
The panning operation position converted into digital position data is read, the deviation between the current position and the target position in the panning operation is calculated, and a calculation control step for giving a control instruction to the drive device to minimize the deviation is continued. A procedure has been used in which, after being executed as steps, the A / D conversion step and the arithmetic control step related to the next axis (tilt operation) are similarly executed as continuous steps. Therefore, it takes a long time to converge from the current position to the target position,
There is a problem that the control operation is slow and the control response is poor.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a remote control type spotlight which quickly converges from a current position to a target position and has good control response. To provide.

[0017]

In order to solve the above problems, the present invention provides a plurality of actuators and respective position sensors corresponding to the respective actuators.
A / D converters for converting the analog position outputs output by the respective position sensors into digital position data, and the actuators corresponding to the digital position data output by the respective A / D converters, which are sequentially and cyclically read. And an arithmetic processing unit that sequentially gives a control instruction to the arithmetic processing unit, and the arithmetic processing unit obtains a deviation between a current position and a target position recognized from the digital position data,
In the remote-controlled spotlight that converges the current position to the target position by repeating the cyclic drive of each of the actuators in order to reduce the deviation, digital position data will be read eventually. It is characterized in that a preceding A / D conversion instructing means is provided for reading the digital position data of the A / D converter which has already given the conversion start instruction after giving the conversion start instruction to the D converter. .

[0018]

With the above-described configuration, the arithmetic processing device, for example, during the time period when the tilt operation A / D converter is converting the analog value output from the tilt operation position sensor into a digital value, Digital position data can be read from the A / D converter for pan operation and arithmetic processing can be performed. Therefore, the time can be effectively used, and the current position can be quickly converged to the target position.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a remote control type spotlight according to the present invention will be described in detail below with reference to FIGS. FIG. 1 is a timing chart showing the operation of the remote operation type spotlight, and FIG. 2 is a flow chart showing the operation of the remote operation type spotlight. In the remote operation type spotlight described below, the characteristic configuration is different from the conventional one in software, and the hardware configuration is the same as the block diagram shown in FIG. 4 used in the conventional technique. is there. Therefore, a description will be given also with reference to FIG.

This remote operated spotlight converges the current position to the target position at the timing shown in FIG. That is, as shown in FIG. 1, the first axis (pan operation)
The A / D converter T ₁ for use in the processing unit 10 at time t ₀
A conversion start instruction is received from the position sensor S for pan operation.
_The analog position output output from ₁ is latched (sampled), and by the time t ₁ , the conversion of the latched analog position output into digital position data is completed.
Further, the arithmetic processing unit 10 has already given the conversion start instruction immediately after the time t ₀ when the conversion start instruction is given to the A / D converter T ₁ , so that the conversion to digital position data is performed at the time t _0. A / for the 3rd axis (focus operation)
The digital position data corresponding to the focus operation is read from the D converter T ₃ , the deviation between the current position of the focus operation and the target position instructed from the remote control device section 2 is calculated, and the deviation is minimized by time t _1. The control instruction such as is completed to the drive unit U ₃ .

Next, the A / D converter T ₂ for the second axis (tilt operation) receives a conversion start instruction from the arithmetic processing unit 10 at time t ₁ and is output from the position sensor S ₂ for tilt operation. The latched analog position output is latched, and the latched analog position output is converted into digital position data by time t ₂ . Further, the arithmetic processing device 10 is
Immediately after the time t ₁ when the conversion start instruction is given to the A / D converter T ₂ , the conversion start instruction is given at the time t ₀ , so that the conversion to the digital position data is already completed at the time t ₁ . The digital position data corresponding to the pan operation is read from the A / D converter T ₁ for the first axis (pan operation), and the deviation between the current position of the pan operation and the target position instructed from the remote control device section 2 is calculated. Then, the control instruction for minimizing the deviation is completed to the drive unit U ₁ by the time t ₂ .

Further, A / for the third axis (focusing operation)
The D converter T ₃ receives the conversion start instruction from the arithmetic processing unit 10 at time t ₂ , and receives the position sensor S ₃ for focus operation.
It latches the analog position output that is being output from, and finishes converting the latched analog position output into digital position data by time t ₃ . Further, since the arithmetic processing unit 10 gives the conversion start instruction at time t ₁ immediately after the time t ₂ at which the conversion start instruction is given to the A / D converter T ₃ , the digital position has already been given at time t _2. A / D converter T ₂ for the second axis (tilt operation) that has finished conversion to data
From the digital position data corresponding to the tilting operation, the deviation between the current position of the tilting operation and the target position instructed from the remote control unit 2 is calculated, and control is performed to minimize the deviation by time t _3. The instructions are completed for drive U ₂ .

While repeating the above-described operation cyclically in sequence, this remote-controlled spotlight is designed such that the present position of the projector unit 1 of the remote-controlled spotlight is the target position received from the remote-control unit 2. Converge to. This convergence operation is shown as a flowchart in FIG. That is, when the arithmetic processing unit 10 receives the target position transmitted from the remote control device unit 2 and completes the storage of the target position, it executes step 100 of the flowchart shown in FIG. Normally, a remote-controlled spotlight has three axes (pan operation, tilt operation, focus operation). Therefore, the parameter N in FIG.
Becomes N = 3, and the arithmetic processing unit 10 executing step 100 gives a conversion instruction to the third axis A / D converter T ₃ . The A / D converter T ₃ immediately starts the work of latching the analog position output from the position sensor S ₃ and converting it into digital position data.

After that, the arithmetic processing unit 10 performs step 1
01 is executed to set the parameter P to P = 0, and then step 102 is executed. The processor 10 that executes step 102 increments the parameter P to P =
After setting to 1, step 103 is executed. Step 10
The arithmetic processing unit 10 that executes 3 selects “y” because P = 1, executes step 104 to set the parameter Q to Q = 3, and then executes step 106. The arithmetic processing unit 10 that executes step 106 determines that the first axis A
After giving a conversion instruction to the / D converter T ₁ , step 107
To execute.

Arithmetic processing device 1 for executing step 107
0, A / D converter T ₃ requests digital position data converted by the conversion instruction step 100 the A / D converter T _3. Then, since the A / D converter T ₃ has already completed the conversion by the time the arithmetic processing unit 10 executes step 107, the arithmetic processing unit 10 can read the digital position data without waiting time. Step 108 can be performed immediately.

Arithmetic processing device 1 for executing step 108
0 calculates a deviation from the current position read in step 107 and the target position received from the remote control device unit 2, and gives a control instruction to the drive unit U ₃ to reduce the deviation based on the calculation result. . Then, the motor M ₃ corresponding to the actuator of the third axis operates so as to reduce the deviation of the third axis.

Arithmetic processing device 1 that has executed step 108
0 executes step 109. The arithmetic processing unit 10 that executes Step 109 selects “n” because P = 1 and P ≧ 3 is not established, executes Step 102, sets the parameter P to P = 2, and then executes Step 103. To do. The arithmetic processing unit 10 that executes step 103 uses P
= 2 and P = 1 is not established, so "n" is selected, step 105 is executed to set the parameter Q to Q = 1, and then step 106 is executed. The arithmetic processing unit 10 that executes step 106 executes step 107 after giving a conversion instruction to the A / D converter T ₂ of the second axis.

Arithmetic processing device 1 for executing step 107
0, A / D converter T ₁ is requesting digital position data converted by the conversion instruction step 106 the A / D converter T _1. Then, since the A / D converter T ₁ has already completed the conversion by the time the arithmetic processing unit 10 executes step 107, the arithmetic processing unit 10 can read the digital position data without waiting. Step 108 can be performed immediately.

Arithmetic processing unit 1 for executing step 108
0 calculates the deviation from the current position read in step 107 and the target position received from the remote control device section 2, and gives the drive unit U ₁ a control instruction to reduce the deviation based on the calculation result. . Then, the motor M ₁ corresponding to the actuator of the first axis operates so as to reduce the deviation of the first axis.

As described above, in this remote control type spotlight, the deviation is sequentially reduced in the order of the third axis → the first axis → the second axis → the third axis → the first axis → .... By cyclically operating the motors M _1, M _{2 and} M ₃
The current position of the remote controlled spotlight is converged to the target position.

[0031]

Since the remote control type spotlight of the present invention is configured as described above, after the conversion start instruction is given to the A / D converter which will read the digital position data, The digital position data of the A / D converter to which the conversion start instruction has already been given is read. Therefore, while a certain A / D converter is performing the conversion work, the arithmetic processing unit reads the already-converted data from the other A / D converter and calculates the deviation between the current position and the target position. There is an effect that it is possible to provide a remote operation type spotlight that can perform calculations and control instructions to actuators, can quickly converge from a current position to a target position, and has good control response.

[Brief description of drawings]

FIG. 1 is a timing chart showing the operation of an embodiment of a remote control type spotlight according to the present invention.

FIG. 2 is a flowchart showing an operation of the remote control type spotlight.

FIG. 3 is an external perspective view showing a main part of a remote control type spotlight.

FIG. 4 is a block diagram showing a remote control type spotlight.

FIG. 5 is a timing chart showing the operation of a conventional remote-controlled spotlight.

[Explanation of symbols]

M _n actuator (where n is an integer of 1, 2, 3) S _n position sensor (where n is an integer of 1, 2, 3) T _n A / D converter (where n is an integer of 1, 2, 3) 10 Processing device

Claims (1)

[Claims] 1. A plurality of actuators and respective position sensors corresponding to the respective actuators,
A / D converters for converting the analog position outputs output by the respective position sensors into digital position data, and the actuators corresponding to the digital position data output by the respective A / D converters, which are sequentially and cyclically read. And an arithmetic processing unit that sequentially gives a control instruction to the arithmetic processing unit, and the arithmetic processing unit obtains a deviation between a current position and a target position recognized from the digital position data,
In the remote-controlled spotlight that converges the current position to the target position by repeating the cyclic drive of each of the actuators in order to reduce the deviation, digital position data will eventually be read. D
A remote control characterized by comprising a preceding A / D conversion instruction means for reading the digital position data of the A / D converter which has already given the conversion start instruction after giving the conversion start instruction to the converter. Operated spotlight.