Exhibition intelligent safety control method

Abstract

The invention discloses an intelligent safety control method for an exhibition, and the method comprises the steps: multi-sensor data fusion, real-time modeling and prediction, intelligent obstacle avoidance and planning, emergency braking and safety protection, cooperative control and communication, risk assessment and early warning, learning and self-adaption, and monitoring and manual intervention. The motion states of actors and stage equipment can be monitored and predicted in real time, and collision accidents are effectively avoided. And meanwhile, through the arrangement of an emergency braking system and protective equipment, the safety in the exhibition process is further improved. Besides, the control system has learning ability and adaptive ability, can automatically adjust safety control parameters according to different performance contents and stage arrangements, and improves the flexibility and practicability of the system.

Description

Technical Field

[0001] The invention relates to an intelligent safety control method for a performance. Background Art

[0002] In stage performances, with the increasing number of multi-degree-of-freedom movements of stage equipment and large-scale performances by actors, the risk of collision between the two has also increased. The traditional safety control mode mainly relies on human intervention to avoid collisions by maintaining a safe range between actors and stage equipment. However, with the increasing complexity of the movements of stage mechanical devices, rotating lighting and video equipment, aerial flying devices, etc., as well as the diversity of performance content, the traditional safety control mode has been unable to meet actual needs, and safety accidents have occurred from time to time. Therefore, how to adopt an intelligent safety control method to ensure the safety between actors and stage equipment has become an urgent problem to be solved. Summary of the invention

[0003] In view of the above-mentioned defects of the prior art, the object of the present invention is to provide a performance intelligent safety control method.

[0004] The technical solution of the present invention is: a performance intelligent safety control method, comprising the following steps:

[0005] a) Multi-sensor data fusion: Multiple sensors, including lidar, depth camera, and inertial measurement unit, are installed on actors and stage equipment to collect the position, speed, and posture motion status information of actors and stage equipment in real time, and fusion algorithms are used to fuse and calibrate multi-source data to obtain more accurate and comprehensive motion status monitoring;

[0006] b) Real-time modeling and prediction: Based on the collected data, dynamic models of actors and stage equipment are established, and the future movement trajectories of actors and stage equipment are predicted in real time using machine learning algorithms and historical data;

[0007] c) Intelligent obstacle avoidance and planning: When a possible collision is predicted, the movement path or speed of the stage equipment is automatically adjusted, or a warning is issued to the actors to ensure that collisions are avoided to the greatest extent possible while meeting the performance requirements;

[0008] d) Emergency braking and safety protection: Equipped with an emergency braking system, when the risk of collision is extremely high and cannot be avoided by adjustment, the movement of stage equipment is quickly stopped. At the same time, protective equipment with buffering and sensing functions is provided for actors, and linked with the control system;

[0009] e) Collaborative control and communication: Establish a high-speed, low-latency communication network between actors, stage equipment and the control center to ensure real-time transmission of information and collaborative control. Actors can interact with the control system through handheld devices or wearable devices;

[0010] f) Risk assessment and early warning: Continuously assess the safety risk level during the performance, and issue early warning signals of different levels according to the risk level. For high-risk actions and scenes, conduct simulations and drills in advance;

[0011] g) Learning and adaptation: The control system has the ability to learn and continuously optimize the model and control strategy according to the actual situation of each performance, adapt to different performance content and stage layout, and automatically adjust safety control parameters;

[0012] h) Monitoring and manual intervention: A monitoring center is set up to display the movement status of actors and stage equipment in real time to facilitate manual supervision and intervention when necessary.

[0013] Furthermore, the fusion algorithm in step a) adopts a weighted average method, and the fusion formula is:

[0014]

[0015] Where S fused represents the fused motion state information, S i represents the motion state information of the i-th sensor, w i represents the weight of the i-th sensor, and n represents the number of sensors.

[0016] Furthermore, in step b), based on the collected data, a dynamic model of the actors and stage equipment is established, which specifically includes the following steps:

[0017] (b1) Block division: On the intelligent control terminal, the movement range of stage equipment and the performance movements of actors are divided into different blocks. These blocks are divided according to the stage layout, equipment type and actor movement characteristics. The stage is divided into different performance areas, mechanical device movement areas, and lighting areas. The stage is defined as a two-dimensional plane with coordinates (x, y). Each block is represented as:

[0018] B i ={(x, y)|x1≤x≤x2, y1≤y≤y2},

[0019] Among them, B i represents the i-th block, x1, x2, y1, y2 represent the boundary coordinates of the block on the x-axis and y-axis respectively;

[0020] (b2) Control strategy formation: For each block, the intelligent control terminal forms a corresponding control strategy to manage the safe distance between the stage equipment and the actors at each timing point in real time. These control strategies include setting the safe distance threshold, limiting the movement speed, and sorting the action priorities. The safe distance between the actor and the stage equipment is defined as d, and the control strategy is expressed as:

[0021] d safe ≥d threshold ,

[0022] Among them, d safe Indicates the actual distance between the actor and the stage equipment, d threshold Indicates the preset safety distance threshold;

[0023] (b3) Real-time action judgment and execution: Based on the control strategy, the intelligent control terminal performs real-time action judgment and action execution on the performance, including real-time monitoring of the actions of the actors and stage equipment, and pre-processing of unsafe actions according to the control strategy. The pre-processing includes deletion, replacement, and interruption to ensure the safety between the actors and stage equipment. The action sequence of the actor is defined as A, and the action sequence of the stage equipment is defined as B. The real-time action judgment and execution is expressed as:

[0024]

[0025] Then preprocess(a i , b j ),

[0026] Among them, d(a i , b j ) represents the actor action a i Action with stage equipment j The distance between preprocess(a i , b j ) indicates the operation of preprocessing unsafe actions.

[0027] Furthermore, in step c), when a new collision risk is found or the original obstacle avoidance plan cannot be effectively implemented, the plan is adjusted immediately and the obstacle avoidance process is re-executed.

[0028] Furthermore, the risk assessment formula in step f) is:

[0029]

[0030] Where R risk represents the total risk, P i represents the probability of the ith risk factor, L i represents the loss degree of the ith risk factor, and m represents the number of risk factors.

[0031] Furthermore, the learning algorithm in step g) includes reinforcement learning and deep learning, and the learning formula is:

[0032] M updated =M current +ΔM,

[0033] Among them, M updated represents the updated model, M current represents the current model, and ΔM represents the improvement of the model obtained through learning.

[0034] Furthermore, the monitoring center in step h) includes a display device and an operation interface, which can display the movement status of the actors and stage equipment in real time and allow the operator to perform manual intervention.

[0035] The beneficial effects of the present invention are as follows: the present invention can realize real-time monitoring and prediction of the motion status of actors and stage equipment, effectively avoiding the occurrence of collision accidents. At the same time, the safety of the performance process is further improved by setting up an emergency braking system and protective equipment. In addition, the control system of the present invention has learning and adaptive capabilities, and can automatically adjust safety control parameters according to different performance content and stage layout, thereby improving the flexibility and practicality of the system. DETAILED DESCRIPTION

[0036] In order to more intuitively and completely understand the technical solution of the present invention, a non-limiting feature description is now provided as follows: A method for performing intelligent safety control comprises the following steps:

[0037] a) Multi-sensor data fusion: Multiple sensors, including lidar, depth camera, and inertial measurement unit, are installed on actors and stage equipment to collect the position, speed, and posture motion status information of actors and stage equipment in real time, and fusion algorithms are used to fuse and calibrate multi-source data to obtain more accurate and comprehensive motion status monitoring;

[0038] b) Real-time modeling and prediction: Based on the collected data, dynamic models of actors and stage equipment are established, and the future movement trajectories of actors and stage equipment are predicted in real time using machine learning algorithms and historical data;

[0039] c) Intelligent obstacle avoidance and planning: When a possible collision is predicted, the movement path or speed of the stage equipment is automatically adjusted, or a warning is issued to the actors to ensure that collisions are avoided to the greatest extent possible while meeting the performance requirements;

[0040] d) Emergency braking and safety protection: Equipped with an emergency braking system, when the risk of collision is extremely high and cannot be avoided by adjustment, the movement of stage equipment is quickly stopped. At the same time, protective equipment with buffering and sensing functions is provided for actors, and linked with the control system;

[0041] e) Collaborative control and communication: Establish a high-speed, low-latency communication network between actors, stage equipment and the control center to ensure real-time transmission of information and collaborative control. Actors can interact with the control system through handheld devices or wearable devices;

[0042] f) Risk assessment and early warning: Continuously assess the safety risk level during the performance, and issue early warning signals of different levels according to the risk level. For high-risk actions and scenes, conduct simulations and drills in advance;

[0043] g) Learning and adaptation: The control system has the ability to learn and continuously optimize the model and control strategy according to the actual situation of each performance, adapt to different performance content and stage layout, and automatically adjust safety control parameters;

[0044] h) Monitoring and manual intervention: A monitoring center is set up to display the movement status of actors and stage equipment in real time to facilitate manual supervision and intervention when necessary.

[0045] The fusion algorithm in step a) adopts the weighted average method, and the fusion formula is:

[0046]

[0047] Where S fused represents the fused motion state information, S i represents the motion state information of the i-th sensor, w i represents the weight of the i-th sensor, and n represents the number of sensors. Fusion of data from multiple sensors can improve the monitoring accuracy of the motion status of actors and stage equipment, thereby more effectively implementing safety control strategies. This is a motion status information obtained by integrating data from multiple sensors, including key parameters such as position, speed, acceleration, etc., which is used to describe the motion status of actors or stage equipment in real time.

[0048] Step b): Building a dynamic model of actors and stage equipment based on the collected data specifically includes the following steps:

[0049] (b1) Block division: On the intelligent control terminal, the movement range of stage equipment and the performance movements of actors are divided into different blocks. These blocks are divided according to the stage layout, equipment type and actor movement characteristics. The stage is divided into different performance areas, mechanical device movement areas, and lighting areas. The stage is defined as a two-dimensional plane with coordinates (x, y). Each block is represented as:

[0050] B i ={(x, y)|x1≤x≤x2, y1≤y≤y2},

[0051] Among them, B i represents the i-th block, x1, x2, y1, y2 represent the boundary coordinates of the block on the x-axis and y-axis respectively;

[0052] (b2) Control strategy formation: For each block, the intelligent control terminal forms a corresponding control strategy to manage the safe distance between the stage equipment and the actors at each timing point in real time. These control strategies include setting the safe distance threshold, limiting the movement speed, and sorting the action priorities. The safe distance between the actor and the stage equipment is defined as d, and the control strategy is expressed as:

[0053] d safe ≥d threshold ,

[0054] Among them, d safe Indicates the actual distance between the actor and the stage equipment, d threshold Indicates the preset safety distance threshold;

[0055] Regarding movement speed limits and action priority, different movement speed limits and action priorities can be set according to the type and movement characteristics of the stage equipment. For example, for high-speed mechanical devices, a lower speed limit and a higher action priority can be set to ensure that they can respond quickly to control instructions and avoid collisions with actors.

[0056] (b3) Real-time action judgment and execution: Based on the control strategy, the intelligent control terminal performs real-time action judgment and action execution on the performance, including real-time monitoring of the actions of the actors and stage equipment, and pre-processing of unsafe actions according to the control strategy. The pre-processing includes deleting, replacing, and interrupting the actions or instructions of the actors and stage equipment to ensure the safety between the actors and stage equipment. The action sequence of the actor is defined as A, and the action sequence of the stage equipment is defined as B. The real-time action judgment and execution is expressed as:

[0057] Then preprocess(a i , b j ),

[0058] Among them, d(a i , b j ) represents the actor action a i Action with stage equipment j The distance between preprocess(a i , b j ) indicates the operation of preprocessing unsafe actions.

[0059] The present invention divides the range of motion of stage equipment and the performance actions of actors into different blocks, forms a corresponding control strategy, manages the safe distance between stage equipment and actors at each timing point in real time, and effectively avoids the occurrence of collision accidents. The present invention divides the range of motion of stage equipment and the performance actions of actors into blocks and preprocesses them. The present invention realizes operations such as deletion, replacement, and interruption of unsafe actions, thereby ensuring the safety between actors and stage equipment and realizing the expansion of the freedom of performance actions.

[0060] When the intelligent control terminal detects that the action to be performed by the actor or stage equipment has potential safety hazards (such as possible collision, beyond the safety range, etc.), these unsafe action instructions can be deleted to avoid potential dangers. In addition, if an action instruction is redundant or no longer needs to be executed (such as the actor has changed the performance route), it can also be deleted.

[0061] When the intelligent control terminal finds that a certain action instruction may cause safety problems or inefficiency, it can be replaced with a safer and more efficient instruction. For example, if the original action path planning of the actor has a collision risk, it can be replaced with a new, collision-free path. Similarly, if the motion trajectory of the stage equipment is not optimized enough, it can be replaced with a smoother and more time-saving trajectory.

[0062] When the intelligent control terminal detects that an action being performed is in immediate danger (such as an actor suddenly entering a dangerous area, stage equipment losing control, etc.), it can immediately interrupt the execution of the action to prevent accidents. The interruption operation is usually used for emergency braking or stopping in emergency situations.

[0063] In step c), when a new collision risk is discovered or the original obstacle avoidance plan cannot be effectively implemented, the plan is adjusted immediately and the obstacle avoidance process is re-executed.

[0064] The risk assessment formula in step f) is:

[0065]

[0066] Where R risk represents the total risk, P i represents the probability of the ith risk factor, L i represents the loss degree of the ith risk factor, and m represents the number of risk factors.

[0067] The learning algorithm in step g) includes reinforcement learning and deep learning, and the learning formula is:

[0068] M updated =M current +ΔM,

[0069] Among them, M updatedrepresents the updated model, M current represents the current model, and ΔM represents the improvement of the model obtained through learning.

[0070] The monitoring center in step h) includes a display device and an operation interface, which can display the movement status of actors and stage equipment in real time and allow operators to perform manual intervention.

[0071] The present invention can realize real-time monitoring and prediction of the motion status of actors and stage equipment, effectively avoiding the occurrence of collision accidents. At the same time, the safety of the performance process is further improved by setting up an emergency braking system and protective equipment. In addition, the control system of the present invention has learning and adaptive capabilities, and can automatically adjust safety control parameters according to different performance content and stage layout, thereby improving the flexibility and practicality of the system.

[0072] Of course, the above are only preferred embodiments of the present invention, and the patent scope of the present invention is not limited thereto. All simple modifications and equivalent structural changes made using the contents of the present invention specification should be included in the patent protection scope of the present invention.

Claims

1. A performance intelligent safety control method, characterized in that: The following steps are involved: a) Multi-sensor data fusion: Multiple sensors, including lidar, depth camera, and inertial measurement unit, are installed on actors and stage equipment to collect the position, speed, and posture motion status information of actors and stage equipment in real time, and fusion algorithms are used to fuse and calibrate multi-source data to obtain more accurate and comprehensive motion status monitoring; b) Real-time modeling and prediction: Based on the collected data, dynamic models of actors and stage equipment are established, and the future movement trajectories of actors and stage equipment are predicted in real time using machine learning algorithms and historical data; c) Intelligent obstacle avoidance and planning: When a possible collision is predicted, the movement path or speed of the stage equipment is automatically adjusted, or a warning is issued to the actors to ensure that collisions are avoided to the greatest extent possible while meeting the performance requirements; d) Emergency braking and safety protection: Equipped with an emergency braking system, when the risk of collision is extremely high and cannot be avoided by adjustment, the movement of stage equipment is quickly stopped. At the same time, protective equipment with buffering and sensing functions is provided for actors, and linked with the control system; e) Collaborative control and communication: Establish a high-speed, low-latency communication network between actors, stage equipment and the control center to ensure real-time transmission of information and collaborative control. Actors can interact with the control system through handheld devices or wearable devices; f) Risk assessment and early warning: Continuously assess the safety risk level during the performance, and issue early warning signals of different levels according to the risk level. For high-risk actions and scenes, conduct simulations and drills in advance; g) Learning and adaptation: The control system has the ability to learn and continuously optimize the model and control strategy according to the actual situation of each performance, adapt to different performance content and stage layout, and automatically adjust safety control parameters; h) Monitoring and manual intervention: A monitoring center is set up to display the movement status of actors and stage equipment in real time to facilitate manual supervision and intervention when necessary.

2. The intelligent safety control method for performance according to claim 1, characterized in that: The fusion algorithm in step a) adopts the weighted average method, and the fusion formula is: ， in represents the fused motion state information, Indicates The motion status information of each sensor, Indicates The weight of each sensor, Indicates the number of sensors.

3. The intelligent safety control method for performance according to claim 1, characterized in that: The step b): establishing a dynamic model of the actors and stage equipment based on the collected data specifically includes the following steps: (b1) Block division: On the intelligent control terminal, the movement range of stage equipment and the performance movements of actors are divided into different blocks. These blocks are divided according to the stage layout, equipment type and actor movement characteristics. The stage is divided into different performance areas, mechanical device movement areas, and lighting areas. The stage is defined as a two-dimensional plane with coordinates (x, y). Each block is represented as: ， in, represents the i-th block, x1, x2, y1, y2 represent the boundary coordinates of the block on the x-axis and y-axis respectively; (b2) Control strategy formation: For each block, the intelligent control terminal forms a corresponding control strategy to manage the safe distance between the stage equipment and the actors at each timing point in real time. These control strategies include setting the safe distance threshold, limiting the movement speed, and sorting the action priorities. The safe distance between the actor and the stage equipment is defined as d, and the control strategy is expressed as: ， in, Indicates the actual distance between the actor and the stage equipment. Indicates the preset safety distance threshold; (b3) Real-time action judgment and execution: Based on the control strategy, the intelligent control terminal performs real-time action judgment and action execution on the performance, including real-time monitoring of the actions of the actors and stage equipment, and pre-processing of unsafe actions according to the control strategy. The pre-processing includes deletion, replacement, and interruption to ensure the safety between the actors and stage equipment. The action sequence of the actor is defined as A, and the action sequence of the stage equipment is defined as B. The real-time action judgment and execution is expressed as: ， in, Indicates actor actions Action with stage equipment The distance between Indicates the operation of preprocessing unsafe actions.

4. The intelligent safety control method for performance according to claim 1, characterized in that: In the step c), when a new collision risk is found or the original obstacle avoidance plan cannot be effectively implemented, the plan is adjusted immediately and the obstacle avoidance process is re-executed.

5. The intelligent safety control method for performance according to claim 1, characterized in that: The risk assessment formula in step f) is: ， in represents the total risk, Indicates The probability of a risk factor, represents the loss degree of the ith risk factor, and m represents the number of risk factors.

6. The intelligent safety control method for performance according to claim 1, characterized in that: The learning algorithm in step g) includes reinforcement learning and deep learning, and the learning formula is: ， in represents the updated model, Represents the current model, Represents the amount of model improvement obtained through learning.

7. The intelligent safety control method for performance according to claim 1, characterized in that: The monitoring center in step h) includes a display device and an operation interface, which can display the movement status of actors and stage equipment in real time and allow operators to perform manual intervention.

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