WO2019062423A1 - 一种舞台灯光自动跟踪系统及其控制方法 - Google Patents

一种舞台灯光自动跟踪系统及其控制方法 Download PDF

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Publication number
WO2019062423A1
WO2019062423A1 PCT/CN2018/102573 CN2018102573W WO2019062423A1 WO 2019062423 A1 WO2019062423 A1 WO 2019062423A1 CN 2018102573 W CN2018102573 W CN 2018102573W WO 2019062423 A1 WO2019062423 A1 WO 2019062423A1
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Prior art keywords
target
stage
image
light source
stage light
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PCT/CN2018/102573
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English (en)
French (fr)
Inventor
蒋伟楷
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广州市浩洋电子股份有限公司
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Application filed by 广州市浩洋电子股份有限公司 filed Critical 广州市浩洋电子股份有限公司
Priority to EP18861335.0A priority Critical patent/EP3691417B1/en
Priority to DK18861335.0T priority patent/DK3691417T3/da
Publication of WO2019062423A1 publication Critical patent/WO2019062423A1/zh
Priority to US16/831,173 priority patent/US11324095B2/en

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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/105—Controlling the light source in response to determined parameters
    • H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
    • H05B47/125—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings by using cameras
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V23/00—Arrangement of electric circuit elements in or on lighting devices
    • F21V23/003—Arrangement of electric circuit elements in or on lighting devices the elements being electronics drivers or controllers for operating the light source, e.g. for a LED array
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/105—Controlling the light source in response to determined parameters
    • H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
    • H05B47/13—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings by using passive infrared detectors
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/155—Coordinated control of two or more light sources
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/175—Controlling the light source by remote control
    • H05B47/18—Controlling the light source by remote control via data-bus transmission
    • H05B47/184—
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21W—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO USES OR APPLICATIONS OF LIGHTING DEVICES OR SYSTEMS
    • F21W2131/00—Use or application of lighting devices or systems not provided for in codes F21W2102/00-F21W2121/00
    • F21W2131/40—Lighting for industrial, commercial, recreational or military use
    • F21W2131/406—Lighting for industrial, commercial, recreational or military use for theatres, stages or film studios
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO THE FORM OR THE KIND OF THE LIGHT SOURCES OR OF THE COLOUR OF THE LIGHT EMITTED
    • F21Y2115/00—Light-generating elements of semiconductor light sources
    • F21Y2115/10—Light-emitting diodes [LED]

Definitions

  • the invention relates to a stage lighting control system, in particular to a stage lighting automatic tracking system and a control method thereof.
  • the existing stage lighting equipment has the following types:
  • Stage light automatic tracking system with multiple pressure sensors detecting target position This type of system operation mainly uses multiple detection devices (pressure sensors) on the stage to detect the position of the target in real time, control the illumination direction of the light, and realize the automatic follow of the stage light.
  • Target movement for automatic unmanned operation For example, the utility model patent (stage lighting automatic tracking system) with patent number CN201689343U can realize automatic tracking target function.
  • the disadvantage of this type of system is the need to lay out a pressure sensor array on the stage, and when the tracked performer's feet are off the stage, they can't be tracked, and they are also disturbed by other heavy objects on the stage.
  • Stage lighting automatic tracking system for detecting target positions by multiple positioning base stations: This type of system operation mainly sets up multiple positioning base stations on the stage, detects the distance from the tracking target (positioning unit) in real time, and calculates the position of the tracked target through the positioning algorithm. According to the position of the base station, the illumination direction of the control light is calculated, and the stage light automatically follows the target motion to achieve the purpose of automatic unmanned operation.
  • the patent number is CN205320339U (a kind of intelligent stage chasing light control device), which communicates with the positioning base station arranged on the stage in real time through the positioning device installed in the microphone to dynamically locate the target person and realize the automatic tracking target function.
  • the disadvantage of this type of system is that multiple positioning base stations need to be arranged on the stage, and the distance between the positioning base stations should be accurately measured.
  • the positioning base station or the microphone (positioning device) encounters an obstacle, the position of the positioning target is disturbed.
  • there is an error in the measurement distance of the wireless communication positioning module which leads to the occurrence of inaccurate positioning, which affects the accuracy of the light following the target motion.
  • the present invention provides a stage lighting capable of realizing a full-automatic tracking of the stage actors, automatically gathering the lights on the actors, and having simple operation, practicality and good anti-interference performance. Automatic tracking system.
  • a stage lighting automatic tracking system comprising: a launching device, a stage light source device, a host computer software and a camera device; the launch device is detachably mounted on a target to be tracked; the stage light source device is used for illumination tracking
  • the camera device is configured to detect the position of the transmitting device and the image of the shooting target, and transmit the image and position signals to the upper computer software, wherein the upper computer software is provided with an OpenCV computer vision library and a DMX512 console, and the OpenCV computer
  • the vision library is used to process the image transmitted by the camera device, and extract, identify and track the target according to the color in the image, and then calculate the offset position of the target relative to the illumination direction of the stage light source, and send it to the stage light source device through the DMX512 console, the stage light source
  • the device controls the illumination direction to the target, and realizes the stage light to automatically track the target motion.
  • the camera device can detect the position of the target according to the transmitting device, and then transmit the position information of the target to the upper computer software, and the OpenCV computer vision library in the upper computer software is transported according to the imaging device in advance. The image coming in is used to identify the target and determine the coordinates of the target.
  • the OpenCV computer vision library can determine the coordinates of the target according to the current real-time position of the target, and then compare the current real-time coordinates of the target with the previous one. The coordinates determine the displacement information of the target.
  • the displacement information is transmitted to the stage light source device through the DMX512 console, and the illumination direction of the stage light source device is controlled to the target, so that the stage light automatically tracks the target motion.
  • the emitting device is an infrared emitting device for emitting infrared invisible light.
  • the infrared emitting device is used for emitting infrared invisible light
  • the camera device can detect infrared invisible light
  • the target or stage performer carries the infrared emitting device
  • the camera device can detect the target position according to the infrared invisible light emitted by the infrared emitting device. And then pass the location information of the target to the host computer software.
  • the OpenCV computer vision library is provided with a camshift tracking algorithm, the OpenCV computer vision library sends the recognized target color to the camshift tracking algorithm, the camshift tracking algorithm tracks the target motion, acquires the coordinate information of the target, and sends the coordinate information to the upper position.
  • Machine software is provided with a camshift tracking algorithm, the OpenCV computer vision library sends the recognized target color to the camshift tracking algorithm, the camshift tracking algorithm tracks the target motion, acquires the coordinate information of the target, and sends the coordinate information to the upper position.
  • Camshift tracking algorithm OpenCV color-based tracking algorithm, its basic idea is to make MeanShift operation on all frames of the video image, and the result of the previous frame (ie the center and size of the Search Window) as the Search Window of the next frame MeanShift algorithm The initial value, so iterative.
  • the image pickup device is mounted on the stage light source device, and the image pickup device is parallel to the light-emitting optical axis of the stage light source device, and rotates together to change the tracking shooting angle as the illumination direction of the stage light source device changes.
  • the detection range of the imaging device can be effectively reduced, the transmitting device to be detected can be found more easily and quickly, and on the other hand, the stage light source device is rotated at any time, thereby expanding the imaging device.
  • the range of possible shots can be effectively reduced, the transmitting device to be detected can be found more easily and quickly, and on the other hand, the stage light source device is rotated at any time, thereby expanding the imaging device. The range of possible shots.
  • the stage light source device comprises a stage light and a signal transmission between the stage and the DMX512 console through a DMX512 converter
  • the camera device is mounted on the stage light
  • the control device host computer software transmits the control signal to the DMX512 conversion.
  • the console is controlled by the DMX512 converter to control the illumination direction of the stage lights through the DMX512 converter, so that the stage lights automatically track the target motion.
  • the DMX512 console is used to execute the execution signal transmitted by the host computer software, and then the control signal is transmitted to the stage light source device through the DMX512 converter, and the stage light source device controls the illumination direction of the stage light to illuminate the target body to realize the automatic tracking target of the stage light. motion.
  • the camera device includes a camera and a filter mounted in the camera for blocking the transmission of visible light.
  • the filter can effectively remove the interference of visible light to the tracking target infrared emitting device.
  • the infrared emitting device comprises a light emitting driving circuit and a plurality of infrared LEDs of 940 nm wavelength, and the infrared LEDs are respectively connected to the light emitting driving circuit.
  • the wavelength of the infrared invisible light generally has two kinds of 850 nm and 940 nm, and the infrared light of the 940 nm wavelength has a longer life span, is less likely to be seen by the naked eye, and has a better stage effect.
  • the plurality of infrared LEDs having a wavelength of 940 nm are preferably plural, and installing a plurality of infrared LEDs can further expand the illumination range of the infrared emission device, improve the illumination brightness of the infrared invisible light, and enable the imaging device to find the infrared invisible light more quickly.
  • a plurality of infrared LEDs are provided.
  • the other infrared LEDs can continue to work, avoiding the failure of the infrared LED, and the imaging device cannot detect the infrared invisible light, thereby improving The life and practicality of the stage lighting automatic tracking system.
  • a control method applied to the above-mentioned stage light automatic tracking system the control steps of which include:
  • the launching device is detachably mounted on the target to be tracked;
  • the camera device detects the position of the transmitting device and the image of the shooting target, and transmits the image and the position signal to the upper computer software;
  • the upper computer software identifies the transmitting device from the image, and then controls the illumination direction of the stage light source device to illuminate the target according to the position signal, so that the stage light automatically tracks the target motion.
  • the implementation method of the step S2 is: firstly, the illumination direction of the stage light is directed to the target, the lighting effect of the stage light is adjusted, and then the camera device captures the target image and monitors the position of the target in real time, and the image and position are The information is transmitted to the OpenCV computer vision library in the host computer software of the control device.
  • the implementation method of the step S3 is: the OpenCV computer vision library receives the image and the position signal transmitted by the camera device, first extracts and identifies the target from the image, determines the coordinates of the target in the image according to the position information of the target, and then The target motion is tracked in real time, and the position information of the original offset of the target in the image is calculated in real time according to the position of the target motion, and the position information of the offset is transmitted to the stage light source device through the DMX512 console; finally, the stage light is controlled by the stage light source device.
  • the illumination direction is directed toward the target, and the stage lighting automatically tracks the target motion.
  • the camera device needs to collect images from the transmitting device, so the target to be tracked on the stage needs to carry the transmitting device, preset the illumination direction of the stage light to point to the target, and adjust the lighting of the stage lighting. effect. Fix the camera on the stage light, and the angle of the camera's shooting angle is the same as the direction of the stage light.
  • the PC software calculates the position of the target person's position in the image in real time through the OpenCV computer vision library and the camshift tracking algorithm.
  • the camera device obtains the target center coordinates by detecting the launch device in real time.
  • the camera device changes the shooting angle as the direction of the stage lamp changes. Since the camera can be rotated, the detectable target range of motion can be outside the stage and is very flexible.
  • Patent No. CN97117445.8 is an automatic tracking lighting device, a lighting controller and a tracking device.
  • the tracking device uses an image capturing device to capture an image in the illumination space of the lighting device, and the image identifying device identifies the illuminated target and determines the target.
  • the coordinates are calculated by the computing device to calculate the amount of movement of the illumination direction by calculating the position of the illumination target and the positional relationship of the illumination device.
  • the control device controls the driving of the driving device to control the illumination direction of the illumination device.
  • This kind of equipment is cumbersome and complicated, and it is cumbersome to install and implement.
  • the computer PC software will realize the recognition and motion tracking of the target object, determine the coordinates of the target and the offset position of the calculation target relative to the illumination direction of the stage light source.
  • the DMX512 console is integrated on the computer software of the computer, and the computer directly converts through DMX512.
  • the output channel value of the stage light source device in the horizontal direction or the vertical direction controls the illumination direction of the stage light source device to track the moving target, and the operation is simple and practical.
  • the operator only needs to operate the PC software on the computer, and the control method is applicable to all stage lights controlled by the DMX512 console, which is flexible.
  • the stage lighting automatic tracking system and the control method thereof provided by the invention have the advantages of simple operation, strong practicability, wide application range and good anti-interference performance.
  • FIG. 1 is a schematic view showing the structure of an automatic stage tracking system in the present invention.
  • Figure 2 is a working flow chart of the stage lighting automatic tracking system.
  • a stage lighting automatic tracking system includes a transmitting device, a camera device, a host computer software, and a stage light source device.
  • the upper computer software is a PC
  • the PC is equipped with an OpenCV computer vision library
  • the OpenCV computer vision library is provided with a camshift tracking algorithm
  • the stage light source device includes a DMX512 converter and a stage light
  • the camera device includes a camera and is mounted on the camera.
  • the emitting device is an infrared emitting device for emitting infrared invisible light
  • the infrared emitting device is provided with an illumination driving circuit and a plurality of infrared LEDs of 940 nm wavelength.
  • the infrared emitting device is detachably mounted on the target to be tracked on the stage, the camera device collects the image from the infrared transmitting device, and sends the image to the PC, the PC extracts the recognition target, and monitors the infrared light through the camshift tracking algorithm in real time.
  • Target obtain the center coordinate of the target.
  • the PC connects to the DMX512 converter, adjusts the output horizontal direction scanning channel value, drives the stage lamp motor to rotate, and makes the light to the target position level.
  • the control flow of the stage lighting automatic tracking system includes: First, start the PC software of the PC, preset the illumination direction of the stage light to the target through the DMX512 console, and adjust the lighting effect of the stage lighting. Enable the camera device, find the infrared light device that needs to be tracked, take a picture, save the color of the infrared light device as a picture; then, start the automatic tracking mode, the upper position will first load the picture of the target color, and the camera The image acquired by the device is compared, the recognition target is extracted therefrom, the infrared illumination target is tracked in real time through the camshift tracking algorithm, and the coordinates of the target are determined.
  • the PC When the target deviates from the center position of the acquired image in the X-axis direction, the PC is connected to the DMX512 converter, and the adjustment is performed.
  • the output horizontal direction scans the channel value to control the illumination direction of the stage light to move horizontally to the target position; when the target deviates from the center position of the captured image in the Y-axis direction, the output vertical direction scan channel value is adjusted to control the illumination direction of the stage light. Move vertically to the target position until the target In the vicinity of the center position of the image acquisition, in order to achieve moving object automatic tracking stage lighting function.
  • a control method applied to the above-mentioned stage light automatic tracking system the control steps of which include:
  • the infrared emitting device is detachably mounted on the target to be tracked, and emits infrared invisible light
  • the camera detects the position of the infrared invisible light and images the infrared invisible light, and transmits the image and the position signal to the upper computer software;
  • the OpenCV computer vision library in the host computer software receives the image and identifies the tracking target from the image, calculates the offset position of the target relative to the illumination direction of the stage light source, and sends it to the stage light source device through the DMX512 console, and the stage light source device controls the illumination direction. To the target, the stage lighting automatically tracks the target movement.
  • the implementation method of the step S2 is: firstly, the illumination direction of the stage light is directed to the target, the lighting effect of the stage light is adjusted, and then the camera device captures the target image and monitors the position of the target in real time, and the image and position information are Transfer to the OpenCV computer vision library in the PC software.
  • the implementation method of the step S3 is: the OpenCV computer vision library receives the image and the position signal transmitted by the camera device, first extracts and identifies the target from the image, determines the coordinates of the target in the image according to the position information of the target, and then real-time. Tracking the target motion, and calculating the position information of the original offset of the target in the image according to the position of the target motion, and transmitting the position information of the deviation to the stage light source device through the DMX512 console; finally, the stage light source device controls the illumination of the stage light Direction, the stage lighting automatically tracks the target movement.

Abstract

一种舞台灯光自动跟踪系统及其控制方法，包括：发射装置、舞台光源装置、上位机软件和摄像装置；所述发射装置可拆卸安装在所要跟踪的目标上；舞台光源装置用于照射所跟踪的目标；摄像装置用于检测发射装置的位置和拍摄目标的图像，并把图像和位置信号传递给上位机软件，所述上位机软件设有OpenCV计算机视觉库和DMX512控台，所述OpenCV计算机视觉库用于处理摄像装置传输过来的图像，并根据图像中的颜色提取、识别和跟踪目标，再计算目标相对舞台光源照射方向的偏移位置，通过DMX512控台发送给舞台光源装置，舞台光源装置控制照射方向照向目标，实现舞台灯光自动跟踪目标运动。与现有技术比较，该舞台灯光自动跟踪系统及其控制方法具有操作简单、实用性强、适用范围广、抗干扰性好的有益效果。

Description

一种舞台灯光自动跟踪系统及其控制方法 技术领域
本发明涉及舞台灯光控制系统，具体涉及一种舞台灯光自动跟踪系统及其控制方法。
 背景技术
现有的舞台灯光照明设备大致有以下几种：
普通手动控制方向的灯光设备组：这类设备在操作时需要人员手工调节灯光的照射方向及亮度，不同灯组需要不同人员控制，由于人员疲劳或反应延迟等原因，导致使用时精确度较差，且需要耗费大量人力。
多个压力传感器检测目标位置的舞台灯光自动跟踪系统：这类系统操作主要通过在舞台上布设多个检测装置（压力传感器），实时检测目标的位置，控制灯光的照射方向，实现舞台灯光自动跟随目标运动，达到自动无人操作的目的。如专利号为CN201689343U的实用新型专利（舞台灯光自动跟踪系统），能够实现自动跟踪目标功能。这类系统的缺点是需要在舞台上布设压力传感器阵列，以及当跟踪的表演者双脚离开舞台上时，就会无法跟踪，同时也会受到舞台上其它有重量物体的干扰。
多个定位基站检测目标位置的舞台灯光自动跟踪系统：这类系统操作主要通过在舞台上布设多个定位基站，实时检测与跟踪目标（定位单元）的距离，通过定位算法计算出所跟踪目标的位置，根据基站摆放位置，计算出控制灯光的照射方向，实现舞台灯光自动跟随目标运动，达到自动无人操作的目的。如专利号为CN205320339U（一种智能舞台追光灯控制装置），它通过话筒内装的定位装置与舞台上布设的定位基站实时通讯，对目标人物的动态定位，实现自动跟踪目标功能。这类系统的缺点是需要在舞台上布设多个定位基站，而且定位基站之间的距离要准确测量，当定位基站或话筒（定位装置）遇到阻碍物时，定位目标的位置会受到干扰，加上无线通讯定位模块测量间距本身存在误差，从而导致出现定位不准的情况，影响灯光跟随目标运动的准确性。
上述现有的舞台灯光控制系统需要人工监控手动操作外，还有一些自动追踪方案，不过存在应用局限性，以及容易受到外界干扰。
 技术问题
为克服现有的技术缺陷，本发明提供了一种能够实现全自动的追踪舞台演员的实时位置，自动将灯光聚点聚集在演员身上，操作简单、实用性强且抗干扰性好的舞台灯光自动跟踪系统。
 技术解决方案
为实现本发明的目的，采用以下技术方案予以实现：
一种舞台灯光自动跟踪系统，其特征在于，包括：发射装置、舞台光源装置、上位机软件和摄像装置；所述发射装置可拆卸安装在所要跟踪的目标上；舞台光源装置用于照射所跟踪的目标；摄像装置用于检测发射装置的位置和拍摄目标的图像，并把图像和位置信号传递给上位机软件，所述上位机软件设有OpenCV计算机视觉库和DMX512控台，所述OpenCV计算机视觉库用于处理摄像装置传输过来的图像，并根据图像中的颜色提取、识别和跟踪目标，再计算目标相对舞台光源照射方向的偏移位置，通过DMX512控台发送给舞台光源装置，舞台光源装置控制照射方向照向目标，实现舞台灯光自动跟踪目标运动。
目标或舞台表演者身上携带了发射装置后，摄像装置能根据发射装置检测到目标的位置，进而把目标的位置信息传递给上位机软件，上位机软件中的OpenCV计算机视觉库提前根据摄像装置输送过来的图像进行识别目标，并确定目标的坐标，当摄像装置把目标的位置信息传递过来后，OpenCV计算机视觉库可以根据目标现在实时的位置确定目标的坐标，再对比目标现在实时的坐标与先前坐标，确定目标的位移信息，最后将位移信息通过DMX512控台传递给舞台光源装置，控制舞台光源装置的照射方向照向目标，实现舞台灯光自动跟踪目标运动。
进一步地，所述发射装置为红外发射装置，用于发出红外不可见光。
红外发射装置用于发出红外不可见光，摄像装置能检测出红外不可见光，目标或舞台表演者身上携带了红外发射装置后，摄像装置能根据红外发射装置所发出的红外不可见光检测到目标的位置，进而把目标的位置信息传递给上位机软件。
所述OpenCV计算机视觉库设有camshift跟踪算法，所述OpenCV计算机视觉库将识别到的目标颜色发送给camshift跟踪算法，camshift跟踪算法跟踪目标运动，获取目标的坐标信息，并把坐标信息发送给上位机软件。
camshift跟踪算法OpenCV中基于颜色的跟踪算法，它的基本思想是视频图像的所有帧作MeanShift运算，并将上一帧的结果（即Search Window的中心和大小）作为下一帧MeanShift算法的Search Window的初始值，如此迭代下去。   
进一步地，所述摄像装置安装在舞台光源装置上，摄像装置平行于舞台光源装置的发光光轴，并且一起转动，随着舞台光源装置照射方向的改变而改变跟踪拍摄角度。
通过将摄像装置安装在舞台光源装置上，能有效缩小摄像装置的检测范围，更容易且更快捷地找到所要检测的发射装置，另一方面，因为舞台光源装置随时转动，从而也扩大了摄像装置的可拍摄范围。
进一步地，所述舞台光源装置包括舞台灯和与DMX512控台之间通过DMX512转换器实现信号传递，所述摄像装置安装在舞台灯上，所述控制装置上位机软件将控制信号传递给DMX512转换器控台，再由DMX512转换器控台通过DMX512转换器执行控制命令控制舞台灯的照射方向，实现舞台灯光自动跟踪目标运动。
DMX512控台用于执行上位机软件传送过来的执行信号，然后将控制信号通过DMX512转换器传递给舞台光源装置，由舞台光源装置控制舞台灯的照射方向照射到目标身上，实现舞台灯光自动跟踪目标运动。
进一步地，所述摄像装置包括摄像机和安装在摄像机内用于截止可见光透过的滤光片。
滤光片可以有效的去除可见光对跟踪目标红外发射装置的干扰。
进一步地，所述红外发射装置包括发光驱动电路和若干个940nm波长的红外LED，所述红外LED分别与发光驱动电路连通。
红外不可见光的波长一般有850nm和940nm两种，940nm波长的红外光不可见光的寿命更长、更不容易被肉眼看见、舞台效果更好。进一步地，所述若干个940nm波长的红外LED优选为多个，安装多个红外LED能进一步扩大红外发射装置的发光范围，提高红外不可见光的发光亮度，使摄像装置更快速地找到红外不可见光的发光源；另一方面，设置多个红外LED，当其中一个红外LED出现故障时，其它红外LED还可以继续工作，避免因红外LED出现故障，摄像装置检测不到红外不可见光的情况，提高了舞台灯光自动跟踪系统的使用寿命和实用性。
一种应用于上述的舞台灯光自动跟踪系统的控制方法，其控制步骤包括：
S1：发射装置可拆卸安装在所要跟踪的目标上；
S2：摄像装置检测发射装置的位置和拍摄目标的图像，并把图像和位置信号传递给上位机软件；
S3：上位机软件从图像中识别发射装置，再根据位置信号控制舞台光源装置的照射方向照向目标，实现舞台灯光自动跟踪目标运动。
进一步地，所述步骤S2的实现方法为：首先预设好舞台灯光的照射方向指向目标，调整好舞台灯光的灯光效果，然后摄像装置拍摄目标图像和实时监测目标的位置，并将图像和位置信息传送给控制装置上位机软件中的OpenCV计算机视觉库。
进一步地，所述步骤S3的实现方法为：OpenCV计算机视觉库接收摄像装置传送过来的图像和位置信号，首先从图像中提取并识别目标，根据目标的位置信息确定目标在图像中的坐标，然后实时跟踪目标运动，并根据目标运动的位置实时计算出图像中目标偏移原坐标的位置信息，并通过DMX512控台将偏移的位置信息传递给舞台光源装置；最后由舞台光源装置控制舞台灯光的照射方向照向目标，实现舞台灯光自动跟踪目标运动。
在上述舞台灯光自动跟踪控制方法中，摄像装置需要采集来自发射装置的图像，所以舞台上要跟踪的目标上需要携带发射装置，预设好舞台灯光的照射方向指向目标，调整好舞台灯光的灯光效果。将摄像装置固定在舞台灯上，摄像装置拍摄角度方向与舞台灯照射方向一致。上位机软件通过OpenCV计算机视觉库和camshift跟踪算法实时计算目标人物位置在图像中的位置，摄像装置通过实时检测发射装置，获取目标中心坐标，如果不在图像中心位置（包括X轴和Y轴），则控制改变舞台灯在水平方向和垂直方向的扫描通道数值，使灯光向目标位置方向移动，直至目标位于采集图片的中心位置附近。由于摄像装置与舞台光源装置安装在一起，方向一致，摄像装置会随着舞台灯照射方向的改变而改变拍摄角度。由于摄像装置可以转动，所以可检测的目标运动范围可以是舞台之外，灵活性很强。
专利号为CN97117445.8的自动跟踪照明设备、照明控制器和跟踪设备，这类跟踪设备是利用图像拍摄装置在照明装置的照明空间内拍摄图像，经过图像鉴别装置鉴定被照明目标并确定目标的坐标，再经过计算装置计算被照明目标的坐标和照明装置的位置关系计算出照明方向的移动量，最后通过控制装置控制驱动装置的驱动，从而控制照明装置的照明方向。这类设备装置较为繁琐复杂，安装实施起来麻烦，而我们是利用目前计算机高速的运算能力，以及在图像处理领域被广泛利用的OpenCV计算机视觉库，只需要将摄像装置拍摄的图像传输给计算机，计算机上位机软件上会实现目标物体的识别、运动跟踪，确定目标的坐标及计算目标相对舞台光源照射方向的偏移位置，同时，在计算机上位机软件上集成DMX512控制台，计算机直接通过DMX512转换器输出舞台光源设备在水平方向或垂直方向的扫描通道数值，控制舞台光源设备的照明方向跟踪运动的目标，操作简单，实用性强。操作者只需要操作计算机上的上位机软件，并且该控制方法适用于所有可用DMX512控制台控制的舞台灯，灵活性强。
 有益效果
与现有技术比较，本发明提供的一种舞台灯光自动跟踪系统及其控制方法具有操作简单、实用性强、适用范围广、抗干扰性好的有益效果。
 附图说明
图1为本发明中舞台灯光自动跟踪系统的构成示意图。
图2为舞台灯光自动跟踪系统的工作流程图。
 本发明的最佳实施方式
如图1和图2所示，一种舞台灯光自动跟踪系统，包括发射装置、摄像装置、上位机软件和舞台光源装置。其中，上位机软件为PC机，PC机设有采用OpenCV计算机视觉库，OpenCV计算机视觉库设有camshift跟踪算法；舞台光源装置包括DMX512转换器和舞台灯；摄像装置包括摄像机和安装在摄像机上可截止所有可见光的滤光片；发射装置为红外发射装置，用于发出红外不可见光，红外发射装置设有发光驱动电路和多个940nm波长的红外LED。
其中，红外发射装置可拆卸安装在舞台上所要跟踪的目标上，摄像装置采集来自红外发射装置的图像，并将图像发送给PC机，PC机从中提取识别目标，通过camshift跟踪算法实时监测红外发光目标，获得目标的中心坐标，当目标在X轴方向上偏离了采集图像的中心位置，PC机连接DMX512转换器，调整输出水平方向扫描通道数值，驱动舞台灯电机转动，使灯光向目标位置水平方向移动；当目标在Y轴方向上偏离了采集图像的中心位置，则调整输出垂直方向扫描通道数值，使灯光向目标位置垂直方向移动，直至目标位于采集图像的中心位置附近，从而实现舞台灯光自动跟踪运动目标的功能。
如图2所示，舞台灯光自动跟踪系统的控制流程包括：首先，启动PC机的上位机软件，通过DMX512控制台预设好舞台灯光的照射方向指向目标，调整好舞台灯光的灯光效果，同时启用摄像装置，找到需要跟踪的红外发光装置拍一张图片，将红外发光装置的拍摄颜色保存为一张图片；然后，启动自动跟踪模式，上位机会先加载那张目标颜色的图片，并与摄像装置采集的图像比对，从中提取识别目标，通过camshift跟踪算法实时跟踪红外发光目标，确定目标的坐标，当目标在X轴方向上偏离了采集图像的中心位置，PC机连接DMX512转换器，调整输出水平方向扫描通道数值，控制舞台灯的照射方向向目标位置水平方向移动；当目标在Y轴方向上偏离了采集图像的中心位置，则调整输出垂直方向扫描通道数值，控制舞台灯的照射方向向目标位置垂直方向移动，直至目标位于采集图像的中心位置附近，从而实现舞台灯光自动跟踪运动目标的功能。
一种应用于上述的舞台灯光自动跟踪系统的控制方法，其控制步骤包括：
S1：红外发射装置可拆卸安装在所要跟踪的目标上，发出红外不可见光；
S2：摄像装置检测红外不可见光的位置和拍摄红外不可见光的图像，并把图像和位置信号传递给上位机软件；
S3：上位机软件中的OpenCV计算机视觉库接收图像并从图像中识别跟踪目标，计算目标相对舞台光源照射方向的偏移位置，通过DMX512控台发送给舞台光源装置，舞台光源装置控制照射方向照向目标，实现舞台灯光自动跟踪目标运动。
其中，所述步骤S2的实现方法为：首先预设好舞台灯光的照射方向指向目标，调整好舞台灯光的灯光效果，然后摄像装置拍摄目标图像和实时监测目标的位置，并将图像和位置信息传送给上位机软件中的OpenCV计算机视觉库。
其中，所述步骤S3的实现方法为：OpenCV计算机视觉库接收摄像装置传送过来的图像和位置信号，首先从图像中提取并识别目标，根据目标的位置信息确定目标在图像中的坐标，然后实时跟踪目标运动，并根据目标运动的位置实时计算出图像中目标偏移原坐标的位置信息，并通过DMX512控台将偏离的位置信息传递给舞台光源装置；最后由舞台光源装置控制舞台灯光的照射方向，实现舞台灯光自动跟踪目标运动。

Claims (10)

  1. 一种舞台灯光自动跟踪系统，其特征在于，包括：发射装置、舞台光源装置、上位机软件和摄像装置；所述发射装置可拆卸安装在所要跟踪的目标上；舞台光源装置用于照射所跟踪的目标；摄像装置用于检测发射装置的位置和拍摄目标的图像，并把图像和位置信号传递给上位机软件，所述上位机软件设有OpenCV计算机视觉库和DMX512控台，所述OpenCV计算机视觉库用于处理摄像装置传输过来的图像，并根据图像中的颜色提取、识别和跟踪目标，再计算目标相对舞台光源照射方向的偏移位置，通过DMX512控台发送给舞台光源装置，舞台光源装置控制照射方向照向目标，实现舞台灯光自动跟踪目标运动。
  2. 根据权利要求1所述的一种舞台灯光自动跟踪系统，其特征在于，所述发射装置为红外发射装置，用于发出红外不可见光。
  3. 根据权利要求1所述的一种舞台灯光自动跟踪系统，其特征在于，所述OpenCV计算机视觉库设有camshift跟踪算法，所述OpenCV计算机视觉库将识别到的目标颜色发送给camshift跟踪算法，camshift跟踪算法跟踪目标运动，获取目标的坐标信息，并把坐标信息发送给上位机软件。
  4. 根据权利要求1所述的一种舞台灯光自动跟踪系统，其特征在于，所述摄像装置安装在舞台光源装置上，摄像装置平行于舞台光源装置的发光光轴，并且一起转动，随着舞台光源装置照射方向的改变而改变跟踪拍摄角度。
  5. 根据权利要求1所述的一种舞台灯光自动跟踪系统，其特征在于，所述舞台光源装置与DMX512控台之间通过DMX512转换器实现信号传递，所述上位机软件将控制信号传递给DMX512控台，再由DMX512控台通过DMX512转换器执行控制命令控制舞台灯的照射方向照向目标，实现舞台灯光自动跟踪目标运动。
  6. 根据权利要求1所述的一种舞台灯光自动跟踪系统，其特征在于，所述摄像装置包括摄像机和安装在摄像机内用于截止可见光透过的滤光片。
  7. 根据权利要求2所述的一种舞台灯光自动跟踪系统，其特征在于，所述红外发射装置包括发光驱动电路和若干个940nm波长的红外LED，所述红外LED分别与发光驱动电路连通。
  8. 一种应用于权利要求1-7任一项所述的舞台灯光自动跟踪系统的控制方法，其特征在于，其控制步骤包括：
    S1：发射装置可拆卸安装在所要跟踪的目标上；
    S2：摄像装置检测发射装置的位置和拍摄目标的图像，并把图像和位置信号传递给上位机软件；
    S3：上位机软件中的OpenCV计算机视觉库接收图像并从图像中识别跟踪目标，计算目标相对舞台光源照射方向的偏移位置，通过DMX512控台发送给舞台光源装置，舞台光源装置控制照射方向照向目标，实现舞台灯光自动跟踪目标运动。
  9. 根据权利要求7所述的一种舞台灯光自动跟踪系统的控制方法，其特征在于，所述步骤S2的实现方法为：首先预设好舞台灯光的照射方向指向目标，调整好舞台灯光的灯光效果，然后摄像装置拍摄目标图像和实时监测目标的位置，并将图像和位置信息传送给上位机软件中的OpenCV计算机视觉库。
  10. 根据权利要求7所述的一种舞台灯光自动跟踪系统的控制方法，其特征在于，所述步骤S3的实现方法为：OpenCV计算机视觉库接收摄像装置传送过来的图像和位置信号，首先从图像中提取并识别目标，根据目标的位置信息确定目标在图像中的坐标，然后实时跟踪目标运动，并根据目标运动的位置实时计算出图像中目标偏移原坐标的位置信息，并通过DMX512控台将偏移的位置信息传递给舞台光源装置；最后由舞台光源装置控制舞台灯光的照射方向照向目标，实现舞台灯光自动跟踪目标运动。
PCT/CN2018/102573 2017-09-30 2018-08-27 一种舞台灯光自动跟踪系统及其控制方法 WO2019062423A1 (zh)

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