A safety control system and method for mobile stage motion modes

Abstract

The present invention relates to the field of mobile stage technology, and discloses a mobile stage motion mode safety control system and method, wherein the mobile stage motion mode safety control system includes: an acquisition module, which acquires historical motion data, current motion data and the desired stop position of a target person; a judgment module, which forms mobile stage state judgment data through a position analysis strategy to determine whether the wire rope device on the stage is in a moving state or a stopped state; a control module, which forms control data through a control strategy; and an execution module, which performs safety control on the target person suspended by the wire rope device on the stage. When the wire rope device is in a moving state, moving control data is formed to control the wire rope device to move; when the wire rope device is in a stopped state, stop control data is formed to control the wire rope device to move back and forth, so as to reduce the inertial shaking of the target person while ensuring the accuracy of the performance position of the target person, thereby improving the safety and performance quality of the target person.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile stages, and in particular to a mobile stage motion mode safety control system and method. Background Art

[0002] In modern stage performances, in order to realize the actors' aerial performance movements, wire hanging is widely used in modern stage performances. Wire hanging is to connect the actors and wire equipment with ropes, hang the actors in the air through the wire equipment, and drive the actors to move, so that the actors can complete performance movements in the air.

[0003] Since the actors are suspended in the air by ropes, when the performance requires the movement of the wire equipment to drive the target person to accelerate or decelerate sharply, or when the performance is over and the wire equipment suddenly stops, causing the speed of the wire equipment to drop sharply to 0, a large inertia will be generated, causing the suspended actors to shake and move significantly, which will affect the quality of the actors' performances and may also pose a threat to the actors' personal safety.

[0004] The mobile stage motion mode safety control system and method in the prior art are not convenient for judging whether the actor is accelerating or decelerating at this location according to the time period and position of the performance during the performance, and thus it is not convenient to make specific corresponding measures in advance according to the specific circumstances of acceleration or deceleration to reduce the influence of inertia on the actor and reduce the amplitude of the actor's swaying; at the end of the performance, when the wire rope device stops, it is convenient to take corresponding measures according to the specific weight of the actor and the length of the rope connecting the actor and the wire rope device to reduce the amplitude of the actor's swaying. Since the weight of the actor and the rope used to connect the actor and the wire rope device have a certain influence on the actor's swaying assistance, it is not convenient to reduce the actor's swaying amplitude as much as possible, and thus it is not convenient to improve the stability of the actor during the performance, which affects the performance effect and the actor's safety. Summary of the invention

[0005] The present invention provides a mobile stage motion mode safety control system and method, which are used to promote solving the problems mentioned in the background technology.

[0006] The present invention provides the following technical solutions: A mobile stage motion mode safety control system, comprising: a collection module, which obtains historical motion data, current motion data and the desired stop position of a target person;

[0007] The historical motion data includes historical time points, historical moving speeds, historical wirework equipment positions, historical target person positions, historical target person weights, and historical rope lengths;

[0008] The current motion data includes the current time point, the current moving speed, the current wire device position, the current target person position, the current target person weight and the current rope length;

[0009] The judgment module forms the mobile stage state judgment data according to the current target person position and the target person's desired stop position through the position analysis strategy to judge whether the wire rope equipment on the stage is in the moving state or the stopped state;

[0010] The control module forms control data according to the mobile stage state determination data through a control strategy, wherein the control strategy includes a mobile control strategy and a stop control strategy, and the control data includes mobile control data and stop control data;

[0011] If it is determined to be in a moving state, the moving control data is formed through the moving control strategy according to the historical moving data and the current moving data;

[0012] If it is determined to be in a stopped state, a stop control strategy is used to form stop control data according to historical motion data and current motion data;

[0013] The execution module performs safety control on the target person suspended by the wire equipment on the stage according to the control data.

[0014] The present invention also provides a method for controlling a mobile stage motion mode safety system, wherein the position analysis strategy comprises:

[0015] Obtain the final position where the target character of the stage preview needs to stay in the historical movement data, and determine it as the desired position where the target character needs to stay;

[0016] Get the current target person's position;

[0017] If the current position of the target person does not coincide with the position where the target person needs to stay, the wire device on the stage is determined to be in a moving state, and a moving control strategy is executed;

[0018] If the current position of the target person coincides with the position where the target person needs to stay, the wire device on the stage is determined to be in a stopped state, and a stop control strategy is executed.

[0019] As an optional solution of the method of the mobile stage motion mode safety control system of the present invention, wherein: the mobile control strategy includes:

[0020] Set the acceleration threshold range, denoted as [-a, a];

[0021] Get the speed collection interval duration;

[0022] In acquiring the historical motion data, the historical time point when the wire device starts to move is defined as the initial time node, and the moving speed of the mobile stage at the initial time node is defined as the initial speed, and the initial speed = 0;

[0023] In obtaining historical motion data, the historical time point when the wire device stops moving is defined as the end time node;

[0024] Taking the initial time node as the starting point, the collection time nodes from the initial time node to the end time node are calculated according to the speed collection interval;

[0025] The acquisition time nodes include the first time node...the nth time node, and are sequentially recorded as t1...tn, wherein the first time node t1=initial time node+(speed acquisition interval duration×1)...the nth time node tn=initial time node+(speed acquisition interval duration×n);

[0026] In the historical motion data, the historical moving speeds of the wire device at the first time node t1 ... the nth time node tn are respectively recorded as V1 ... Vn;

[0027] Calculate the acceleration between each two adjacent acquisition time nodes, define it as the historical acceleration, and record it as W1...Wn-1, historical acceleration W1 = (speed V2-speed V1) ÷ speed acquisition interval length...historical acceleration Wn-1 = (speed V2-speed V1) ÷ speed acquisition interval length;

[0028] The time period between two adjacent collection time nodes is defined as the historical time period;

[0029] The two adjacent acquisition time nodes are recorded as Z1 and Z2 respectively in chronological order;

[0030] If the historical acceleration is ≥ the range value - a, and the historical acceleration is ≤ a, the change angle is 0;

[0031] If the historical acceleration is less than the range value - a or the historical acceleration is greater than the range value a, the change angle determination strategy is executed;

[0032] Get change perspectives and execute data integration strategies;

[0033] A first control set is obtained, and a mobile control data determination strategy is executed.

[0034] As an optional solution of the method of the mobile stage motion mode safety control system of the present invention, wherein: the change angle determination strategy includes:

[0035] In acquiring historical motion data, the historical wirework equipment position and the historical target person position at the acquisition time node Z1 are defined as the first upper position point and the first lower position point;

[0036] The opposite direction of the wire device movement is defined as the target direction, and a line parallel to the ground is drawn in the target direction with the first upper position point as the origin, and the line is defined as the first parallel line;

[0037] Connecting the first upper position point and the first lower position point to form a first connecting line;

[0038] Obtaining the angle between the first parallel line and the first connecting line as the first target angle;

[0039] In acquiring the historical motion data, the historical wirework equipment position and the historical target person position at the acquisition time node Z2 are defined as the second upper position point and the second lower position point;

[0040] Taking the second upper position point as the origin, draw a line parallel to the ground in the direction of the target, and define the parallel line as the second parallel line;

[0041] Connecting the second upper point and the second lower point to form a second connecting line;

[0042] Obtaining the angle between the second parallel line and the second connecting line as the second target angle;

[0043] Calculate the change angle, change angle = second target angle - first target angle.

[0044] As an optional solution of the method of the mobile stage motion mode safety control system of the present invention, the data integration strategy includes:

[0045] Get all historical time periods to form a time period set E, recorded as E1...En;

[0046] Get the first upper position point under each element in the time period set E to form a device point set F, recorded as F1...Fn;

[0047] The elements in the equipment point set F are matched one by one with the elements in the time period set E to form a first condition set, which is recorded as E1F1...EnFn;

[0048] Obtain the change angle of each element in the first condition set to form an angle set G, denoted as G1...Gn;

[0049] The elements in the angle set F are matched one by one with the elements in the first condition set to form a first comparison set, which is recorded as E1F1G1...EnFnGn.

[0050] As an optional solution of the method of the mobile stage motion mode safety control system of the present invention, the mobile control data determination strategy includes:

[0051] Get the current time point;

[0052] Get the time period to which the current time point belongs, and set it as the current time period;

[0053] Get the current position of the wire device;

[0054] Obtaining an element in the first comparison set that corresponds to both the current time period and the current wire device position as a first determination element;

[0055] Obtaining the change angle corresponding to the first determination element as the adjustment angle;

[0056] Get the current target person's position;

[0057] Connect the current wire device position and the current target person position to form a third connection line;

[0058] Taking the current position of the wire rope device as the origin, draw a line parallel to the ground in the target direction, and define this parallel line as the third parallel line;

[0059] Get the angle between the third parallel line and the third connecting line, and set it as the current angle;

[0060] If the adjustment angle is less than 0, the target direction is identified as the first target moving direction, and the wire device is controlled to move in the first target moving direction until the current angle increase value is (-adjustment angle);

[0061] If the adjustment angle is greater than 0, the moving direction of the wire rope device is used as the second target moving direction, and the wire rope device is controlled to move in the second target moving direction until the current angle decreases to the adjustment angle;

[0062] If the adjustment angle = 0, no adjustment is performed.

[0063] As an optional solution of the method of the mobile stage motion mode safety control system of the present invention, wherein: the stop control strategy includes:

[0064] Obtain the weights of different historical target figures in the historical movement data to form a weight set B, recorded as B1...Bn;

[0065] In the historical motion data, the rope lengths of different historical wire rope devices connected to the target person are defined as the historical rope lengths, forming a rope length set C, which is recorded as C1...Cn;

[0066] Map the elements in the rope length set C to the elements in the weight set B one by one to form a second condition set, denoted as B1C1, B1Cn...BnC1,BnCn;

[0067] Execute the move count determination strategy for each element in the second condition set;

[0068] Obtain the number of moves of each element in the second condition set to form a set of move numbers D, recorded as D11, D1n...Dn1, Dnn;

[0069] The elements in the moving number set D are matched one by one with the elements in the second condition set to form a second comparison set, which is recorded as B1C1D11, B1CnD1n...BnC1Dn1, BnCnDnn;

[0070] Execute the stop control data judgment strategy.

[0071] As an optional solution of the method of the mobile stage motion mode safety control system of the present invention, wherein: the movement number determination strategy includes:

[0072] S1, obtain the desired location of the target person, recorded as (X1, Y1);

[0073] Get the current target person's position;

[0074] When the current target person position coincides with the target person's desired stop position, the wire rope device is controlled to stop, and the stop position of the wire rope device at this time is defined as the first stop position, which is recorded as (X2, Y2);

[0075] S2, calculate the second stop position, recorded as (X3, Y3), where coordinate X3 = coordinate X2 - [(coordinate X2 - coordinate X1) × 2], coordinate Y3 = coordinate Y2;

[0076] Taking the opposite direction of the wire rope device movement as the first target movement direction, controlling the wire rope device to move in the first target movement direction to a second stop position;

[0077] S3, obtaining the final stop position of the wire rope device, recorded as (X4, Y4), where coordinate X4 = coordinate X1, coordinate Y4 = coordinate Y2;

[0078] Set the threshold range of the X coordinate of the wire device position, recorded as [X5, X6];

[0079] S4. If coordinate X3 ≥ coordinate X5, and coordinate X3 ≤ coordinate X6, move the wire device to the final stop position of the device;

[0080] S5. If coordinate X3 < coordinate X5, or coordinate X3 > coordinate X6, calculate the third stop position, recorded as (X7, Y7), coordinate X7 = coordinate X2 - [(coordinate X2 - coordinate X1) ÷ 2], coordinate Y7 = coordinate Y2;

[0081] Taking the moving direction of the wire rope device as the second target moving direction, controlling the wire rope device to move in the second target moving direction to a third stop position;

[0082] S6. If coordinate X7 ≥ coordinate X5, and coordinate X7 ≤ coordinate X6, control the wire rope device to move to the final stop position of the wire rope device;

[0083] S7, if coordinate X7 < coordinate X5, or coordinate X7 > coordinate X6, then calculate the fourth stop position, recorded as (X8, Y8), coordinate X8 = coordinate X7 - [(coordinate X7 - coordinate X1) × 2], coordinate Y8 = coordinate Y2;

[0084] Controlling the wire rope device to move in the first target moving direction to a fourth stop position;

[0085] The fourth stop position is identified as the second stop position, and S4-S7 are repeatedly executed;

[0086] S8, the number of times the wire device moves in the moving direction is recorded as 1, and the number of times the wire device moves in the direction opposite to the moving direction is recorded as 1;

[0087] The movement process of the wire device in steps S1-S7 is defined as a safety control movement;

[0088] The number of movements of the safety control motion of the wire device is recorded as 2 times.

[0089] As an optional solution of the method of the mobile stage motion mode safety control system of the present invention, wherein: As an optional solution of the method of the mobile stage motion mode safety control system of the present invention, wherein: the stop control data determination strategy includes:

[0090] Get the current target person weight suspended by the wire rope device and set it as the stop target person weight;

[0091] Get the current rope length of the wire rope device connected to the target person, and set it as the stop rope length;

[0092] Obtaining an element in the second comparison set that corresponds to both the weight of the target person and the length of the stop rope, and defining it as a second determination element;

[0093] Obtain the number of moves under the second judgment element and set it as the number of adjustment controls;

[0094] Then, when the target person reaches the desired staying position of the target person, the wire device is controlled to adjust the control times to perform safe control movement.

[0095] The present invention has the following beneficial effects:

[0096] 1. The mobile stage motion mode safety control system and method can determine whether the wire rope device on the stage is in a moving state or a stopped state according to the current position of the target person. When it is in a moving state, a model of the moving state is established according to historical motion data, and then corresponding motion control data is extracted according to the current motion data to control the movement of the wire rope device and give a buffer force to the target person, so as to reduce the inertial shaking of the target person while ensuring the accuracy of the performance position of the target person, thereby improving the safety and performance quality of the target person. When it is in a stopped state, a model of the stopped state is established according to historical motion data, and then corresponding stop control data is extracted according to the current motion data to control the wire rope device to move back and forth to offset the shaking force of inertia on the target person, so that the target person finally stays just below the wire rope device, so that the target person will not have a large shaking, thereby improving the safety of the target person.

[0097] 2. The mobile stage motion mode safety control system and method can determine the acceleration or deceleration situation based on historical motion data, that is, data from stage previews and rehearsals, by obtaining the speed of the target person on the stage suspended by the wire device in different time periods for performances. When the wire device accelerates or decelerates sharply, the angle formed between the target person and the wire device before or after the acceleration is obtained, and the angle formed between the target person and the wire device after the acceleration is obtained, so as to obtain the change angle of the control data and form a model of the corresponding moving state. According to the time period and the position of the target person in the actual performance process, the change angle is extracted, and the target person is given a buffering force by controlling the movement of the wire device. While ensuring the accuracy of the target person's performance position, the inertial shaking of the target person is reduced, thereby improving the safety and performance quality of the target person.

[0098] 3. The mobile stage motion mode safety control system and method can, based on historical motion data, i.e., data from stage previews and rehearsals, obtain target persons, i.e., actors, of different weights suspended by the wire equipment on the stage, and perform under ropes of different lengths. In order to minimize the shaking effect of the inertia generated when the target person stops, the number of movements of the wire equipment for safe control movement is controlled to form a corresponding model of the stop state. Then, based on the target person and the length of the rope at the end of the actual performance, the number of movements of the corresponding wire equipment for safe control movement is extracted. After the target person reaches the desired stop position, the wire equipment is controlled to move back and forth to reduce the shaking of the target person due to inertia, so that the target person finally stops right under the wire equipment, so that the target person does not shake too much, thereby improving the safety of the target person. BRIEF DESCRIPTION OF THE DRAWINGS

[0099] Figure 1 This is a block diagram of the mobile stage motion mode safety control system of the present invention;

[0100] Figure 2 A method block diagram of a mobile stage motion mode safety control system of the present invention;

[0101] Figure 3 A schematic diagram of a first target angle and a second target angle of the present invention;

[0102] Figure 4 This is a current angle schematic diagram of the present invention;

[0103] Figure 5 It is a schematic diagram of the final stopping position of the wire rope pen of the present invention. DETAILED DESCRIPTION

[0104] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0105] For example, see Figure 1 and Figure 2 , a mobile stage motion mode safety control system, comprising:

[0106] The acquisition module obtains historical movement data, current movement data and the desired location of the target person;

[0107] The historical motion data includes historical time points, historical moving speeds, historical wirework equipment positions, historical target person positions, historical target person weights, and historical rope lengths. The historical motion data is data from stage previews, i.e., rehearsals for stage performances.

[0108] The current motion data includes the current time point, the current moving speed, the current wire device position, the current target person position, the current target person weight and the current rope length;

[0109] The judgment module forms the mobile stage state judgment data according to the current target person position and the target person's desired stop position through the position analysis strategy to judge whether the wire rope equipment on the stage is in the moving state or the stopped state;

[0110] The control module forms control data according to the mobile stage state determination data through a control strategy, wherein the control strategy includes a mobile control strategy and a stop control strategy, and the control data includes mobile control data and stop control data;

[0111] If it is determined to be in a moving state, the moving control data is formed through the moving control strategy according to the historical moving data and the current moving data;

[0112] If it is determined to be in a stopped state, a stop control strategy is used to form stop control data according to historical motion data and current motion data;

[0113] The execution module performs safety control on the target person suspended by the wire equipment on the stage according to the control data.

[0114] Through the above-mentioned mobile stage motion mode safety control system, it is possible to judge whether the wire rope device on the stage is in a moving state or a stopped state according to the current position of the target person. When it is in a moving state, a model of the moving state is established according to historical motion data, and then corresponding movement control data is extracted according to the current motion data to control the movement of the wire rope device and give a buffering force to the target person, so as to reduce the inertial shaking of the target person while ensuring the accuracy of the performance position of the target person, thereby improving the safety and performance quality of the target person. When it is in a stopped state, a model of the stopped state is established according to historical motion data, and then corresponding stop control data is extracted according to the current motion data to control the wire rope device to move back and forth to offset the shaking force of inertia on the target person, so that the target person finally stays just below the wire rope device, so that the target person will not produce a large shaking, thereby improving the safety of the target person.

[0115] For example 2, please refer to Figure 2 This embodiment is an improvement made on the basis of the first embodiment. This embodiment also provides a method for controlling the safe control system of a mobile stage motion mode, wherein the position analysis strategy specifically includes:

[0116] Obtain the final position where the target character of the stage preview needs to stay in the historical movement data, and determine it as the desired position where the target character needs to stay;

[0117] Get the current target person's position;

[0118] If the current position of the target person does not coincide with the position where the target person needs to stay, the wire device on the stage is determined to be in a moving state, and a moving control strategy is executed;

[0119] If the current position of the target person coincides with the position where the target person needs to stay, the wire device on the stage is determined to be in a stopped state, and a stop control strategy is executed.

[0120] Embodiment 3: This embodiment is an improvement made on the basis of embodiment 1. This embodiment further provides a method for controlling a safe control system of a mobile stage motion mode, wherein the mobile control strategy specifically includes:

[0121] Set an acceleration threshold range, recorded as [-a, a]. The acceleration threshold range is the judgment range of the acceleration of the wire device between two adjacent time nodes. If the acceleration of the wire device is ≥ the range value -a, and the acceleration of the wire device is ≤a, it indicates that the wire device has not accelerated or decelerated sharply, so it is not easy to cause the target person hanging on the wire device to shake greatly. If the acceleration of the wire device is < the range value -a, it indicates that the wire device is decelerating sharply, so that it is easy for the target person hanging on the wire device to shake in the direction of the wire device due to inertia. If the acceleration of the wire device is > the range value a, it indicates that the wire device is accelerating sharply, so that it is easy for the target person hanging on the wire device to shake in the opposite direction of the wire device due to inertia.

[0122] Obtain the speed collection interval duration, which is the interval duration for collecting the moving speed of the moving stage during the moving process of the moving stage, that is, during the moving process of the moving stage, the moving speed of the moving stage is collected once every speed collection interval duration, such as the speed collection interval duration is 1 second;

[0123] In acquiring the historical motion data, the historical time point when the wire device starts to move is defined as the initial time node, and the moving speed of the mobile stage at the initial time node is defined as the initial speed, and the initial speed = 0;

[0124] In obtaining historical motion data, the historical time point when the wire device stops moving is defined as the end time node;

[0125] Taking the initial time node as the starting point, the collection time nodes from the initial time node to the end time node are calculated according to the speed collection interval;

[0126] The acquisition time nodes include the first time node...the nth time node, and are sequentially recorded as t1...tn, wherein the first time node t1=initial time node+(speed acquisition interval duration×1)...the nth time node tn=initial time node+(speed acquisition interval duration×n);

[0127] In the historical motion data, the historical moving speeds of the wire device at the first time node t1 ... the nth time node tn are respectively recorded as V1 ... Vn;

[0128] Calculate the acceleration between each two adjacent acquisition time nodes, define it as the historical acceleration, and record it as W1...Wn-1, historical acceleration W1 = (speed V2-speed V1) ÷ speed acquisition interval length...historical acceleration Wn-1 = (speed V2-speed V1) ÷ speed acquisition interval length;

[0129] The time period between two adjacent collection time nodes is defined as the historical time period;

[0130] The two adjacent acquisition time nodes are recorded as Z1 and Z2 respectively in chronological order;

[0131] If the historical acceleration is ≥ the range value - a, and the historical acceleration is ≤ a, it indicates that the wire rope device does not accelerate or decelerate sharply, so it is not easy to cause the target person hanging on the wire rope device to shake greatly, and the change angle is 0;

[0132] If the historical acceleration is less than the range value - a or the historical acceleration is greater than the range value a, it indicates that the wire rope device has rapidly decelerated or rapidly accelerated, causing the target person hanging on the wire rope device to easily shake greatly, and the change angle determination strategy is executed;

[0133] Get change perspectives and execute data integration strategies;

[0134] A first control set is obtained, and a mobile control data determination strategy is executed.

[0135] This embodiment also provides a change angle determination strategy, see Figure 3 , including:

[0136] In acquiring historical motion data, the historical wirework equipment position and the historical target person position at the acquisition time node Z1 are defined as the first upper position point and the first lower position point;

[0137] The opposite direction of the wire device movement is defined as the target direction, and a line parallel to the ground is drawn in the target direction with the first upper position point as the origin, and the line is defined as the first parallel line;

[0138] Connecting the first upper position point and the first lower position point to form a first connecting line;

[0139] Obtaining the angle between the first parallel line and the first connecting line as the first target angle;

[0140] In acquiring the historical motion data, the historical wirework equipment position and the historical target person position at the acquisition time node Z2 are defined as the second upper position point and the second lower position point;

[0141] Taking the second upper position point as the origin, draw a line parallel to the ground in the direction of the target, and define the parallel line as the second parallel line;

[0142] Connecting the second upper point and the second lower point to form a second connecting line;

[0143] Obtaining the angle between the second parallel line and the second connecting line as the second target angle;

[0144] Calculate the change angle, change angle = second target angle - first target angle.

[0145] This embodiment also provides a data integration strategy, which specifically includes:

[0146] Get all historical time periods to form a time period set E, recorded as E1...En;

[0147] Get the first upper position point under each element in the time period set E to form a device point set F, recorded as F1...Fn;

[0148] The elements in the equipment point set F are matched one by one with the elements in the time period set E to form a first condition set, which is recorded as E1F1...EnFn;

[0149] Obtain the change angle of each element in the first condition set to form an angle set G, denoted as G1...Gn;

[0150] The elements in the angle set F are matched one by one with the elements in the first condition set to form a first comparison set, recorded as E1F1G1...EnFnGn. The formation of the first comparison set makes it easy to extract the change angle according to the time period and the position of the wire device during subsequent stage performances, so as to adjust the position of the wire device.

[0151] This embodiment also provides a mobile control data determination strategy, see Figure 4 , including:

[0152] Get the current time point;

[0153] Get the time period to which the current time point belongs, and set it as the current time period;

[0154] Get the current position of the wire device;

[0155] Obtaining an element in the first comparison set that corresponds to both the current time period and the current wire device position as a first determination element;

[0156] Obtaining the change angle corresponding to the first determination element as the adjustment angle;

[0157] Get the current target person's position;

[0158] Connect the current wire device position and the current target person position to form a third connection line;

[0159] Taking the current position of the wire rope device as the origin, draw a line parallel to the ground in the target direction, and define this parallel line as the third parallel line;

[0160] Get the angle between the third parallel line and the third connecting line, and set it as the current angle;

[0161] If the adjustment angle is less than 0, the target direction is identified as the first target moving direction, and the wire device is controlled to move in the first target moving direction until the current angle increase value is (- adjustment angle). When the adjustment angle is less than 0, it indicates that the wire device accelerates sharply, which will cause the target person to shake in the first target moving direction due to inertia, thereby making the current angle smaller. Therefore, when adjusting the control, the wire device is controlled to move in the first target moving direction to give the target person a buffering force, thereby ensuring the accuracy of the target person's performance position and reducing the inertial shaking of the target person, thereby improving the safety and performance quality of the target person;

[0162] If the adjustment angle is greater than 0, the moving direction of the wire rope device is taken as the second target moving direction, and the wire rope device is controlled to move in the second target moving direction until the current angle decreases to the adjustment angle. When the adjustment angle is greater than 0, it indicates that the wire rope device has decelerated sharply, which will cause the target person to shake in the second target moving direction due to inertia, thereby increasing the current angle. Therefore, when adjusting the control, the wire rope device is controlled to move in the second target moving direction to give the target person a buffering force, thereby ensuring the accuracy of the target person's performance position and reducing the inertial shaking of the target person, thereby improving the safety and performance quality of the target person.

[0163] If the adjustment angle = 0, it means that the wire device moves at a relatively uniform speed, does not generate a large inertia, and the target person does not shake significantly, so no adjustment is performed.

[0164] Embodiment 4: This embodiment is an improvement made on the basis of embodiment 1. This embodiment further provides a method for controlling a mobile stage motion mode safety system, wherein the stop control strategy specifically includes:

[0165] Obtain the weights of different historical target figures in the historical movement data to form a weight set B, recorded as B1...Bn;

[0166] In the historical motion data, the rope lengths of different historical wire rope devices connected to the target person are defined as the historical rope lengths, forming a rope length set C, which is recorded as C1...Cn;

[0167] Map the elements in the rope length set C to the elements in the weight set B one by one to form a second condition set, denoted as B1C1, B1Cn...BnC1,BnCn;

[0168] Execute the movement number determination strategy for each element in the second condition set, during which each element executes the movement number determination strategy under the condition that the wire device has the same speed before stopping;

[0169] Obtain the number of moves of each element in the second condition set to form a set of move numbers D, recorded as D11, D1n...Dn1, Dnn;

[0170] The elements in the movement number set D are matched one by one with the elements in the second condition set to form a second comparison set, which is recorded as B1C1D11, B1CnD1n...BnC1Dn1, BnCnDnn. The second comparison set is formed to facilitate the extraction of the movement number according to the weight of the target character and the length of the rope at the end of the subsequent stage performance, so as to determine the number of safe control movements of the wire rope device, thereby adjusting the position of the wire rope device;

[0171] Execute the stop control data judgment strategy.

[0172] This embodiment also provides a strategy for determining the number of moves. Figure 5 , including:

[0173] S1. Obtain the desired position of the target person, recorded as (X1, Y1). The desired position of the target person is: in the historical motion data, that is, during the stage preview, after the performance, the position where the target person finally needs to stay;

[0174] Get the current target person's position;

[0175] When the current target person position coincides with the target person's desired stop position, the wire rope device is controlled to stop, and the stop position of the wire rope device at this time is defined as the first stop position, which is recorded as (X2, Y2). The first stop position of the wire rope device is: when the target person reaches the target person's desired stop position, the wire rope device is controlled to stop, and the position where the wire rope device stops;

[0176] S2. Calculate the second stop position, recorded as (X3, Y3), where coordinate X3=coordinate X2-[(coordinate X2-coordinate X1)×2], coordinate Y3=coordinate Y2, and the second stop position of the wire rope device is: when the wire rope device stops, the position after the wire rope device is moved for the first time in order to offset the inertia of the target person;

[0177] Taking the opposite direction of the wire rope device movement as the first target movement direction, controlling the wire rope device to move in the first target movement direction to a second stop position;

[0178] S3. Obtain the final stop position of the wire rope device, recorded as (X4, Y4), where coordinate X4=coordinate X1, coordinate Y4=coordinate Y2, and the final stop position of the wire rope device is directly above the target person, so that after the final stop, the target person can be vertically suspended under the wire rope device, and the target person is not likely to shake significantly, thereby improving the safety of the target person;

[0179] The threshold range of the X coordinate of the wire device position is set, recorded as [X5, X6]. The threshold range of the X coordinate of the wire device position is: to determine whether the stop position of the wire device is close to the final stop position of the wire device during the safe control movement of the wire device;

[0180] S4. If coordinate X3 ≥ coordinate X5, and coordinate X3 ≤ coordinate X6, move the wire device to the final stop position of the device;

[0181] S5. If coordinate X3 < coordinate X5, or coordinate X3 > coordinate X6, calculate the third stop position, recorded as (X7, Y7), coordinate X7 = coordinate X2 - [(coordinate X2 - coordinate X1) ÷ 2], coordinate Y7 = coordinate Y2;

[0182] Taking the moving direction of the wire rope device as the second target moving direction, controlling the wire rope device to move in the second target moving direction to a third stop position;

[0183] S6. If coordinate X7 ≥ coordinate X5, and coordinate X7 ≤ coordinate X6, control the wire rope device to move to the final stop position of the wire rope device;

[0184] S7, if coordinate X7 < coordinate X5, or coordinate X7 > coordinate X6, then calculate the fourth stop position, recorded as (X8, Y8), coordinate X8 = coordinate X7 - [(coordinate X7 - coordinate X1) × 2], coordinate Y8 = coordinate Y2;

[0185] Controlling the wire rope device to move in the first target moving direction to a fourth stop position;

[0186] The fourth stop position is identified as the second stop position, and S4-S7 are repeatedly executed;

[0187] S8, the number of times the wire device moves in the moving direction is recorded as 1, and the number of times the wire device moves in the direction opposite to the moving direction is recorded as 1;

[0188] The movement process of the wire device in steps S1-S7 is defined as a safety control movement;

[0189] The number of movements of the wire rope device's safety control movement is recorded as 2, where the number of movements includes the first stop position and the final stop position. If the device's safety control movement process is to stop at the first stop position, then move to the second stop position and the third stop position respectively, and then move to the final stop position, the number of movements is 4.

[0190] This embodiment also provides a strategy for determining whether to stop regulating data, which specifically includes:

[0191] Get the current target person weight suspended by the wire rope device and set it as the stop target person weight;

[0192] Get the current rope length of the wire rope device connected to the target person, and set it as the stop rope length;

[0193] Obtaining an element in the second comparison set that corresponds to both the weight of the target person and the length of the stop rope, and defining it as a second determination element;

[0194] Obtain the number of moves under the second judgment element and set it as the number of adjustment controls;

[0195] Then, when the target person reaches the desired staying position of the target person, the wire device is controlled to adjust the control times to perform safe control movement.

Claims

1. A mobile stage motion mode safety control system, characterized in that: include: The acquisition module obtains historical movement data, current movement data and the desired location of the target person; The historical motion data includes historical time points, historical moving speeds, historical wirework equipment positions, historical target person positions, historical target person weights, and historical rope lengths; The current motion data includes the current time point, the current moving speed, the current wire device position, the current target person position, the current target person weight and the current rope length; The judgment module forms the mobile stage state judgment data according to the current target person position and the target person's desired stop position through the position analysis strategy to judge whether the wire rope equipment on the stage is in the moving state or the stopped state; The control module forms control data according to the mobile stage state determination data through a control strategy, wherein the control strategy includes a mobile control strategy and a stop control strategy, and the control data includes mobile control data and stop control data; If it is determined to be in a moving state, the moving control data is formed through the moving control strategy according to the historical moving data and the current moving data; If it is determined to be in a stopped state, a stop control strategy is used to form stop control data based on historical motion data and current motion data; The execution module performs safety control on the target person suspended by the wire equipment on the stage according to the control data.

2. A method for using the mobile stage motion mode safety control system according to claim 1, characterized in that: The location analysis strategy includes: Obtain the final position where the target character of the stage preview needs to stay in the historical movement data, and determine it as the desired position where the target character needs to stay; Get the current target person's position; If the current position of the target person does not coincide with the position where the target person needs to stay, the wire device on the stage is determined to be in a moving state, and a moving control strategy is executed; If the current position of the target person coincides with the position where the target person needs to stay, the wire device on the stage is determined to be in a stopped state, and a stop control strategy is executed.

3. The method of controlling the mobile stage motion mode safety system according to claim 2, characterized in that: The mobile control strategy includes: Set the acceleration threshold range, denoted as [-a, a]; Get the speed collection interval duration; In acquiring the historical motion data, the historical time point when the wire device starts to move is defined as the initial time node, and the moving speed of the mobile stage at the initial time node is defined as the initial speed, and the initial speed = 0; In obtaining historical motion data, the historical time point when the wire device stops moving is defined as the end time node; Taking the initial time node as the starting point, the collection time nodes from the initial time node to the end time node are calculated according to the speed collection interval; The acquisition time nodes include the first time node...the nth time node, and are sequentially recorded as t1...tn, wherein the first time node t1=initial time node+(speed acquisition interval duration×1)...the nth time node tn=initial time node+(speed acquisition interval duration×n); In the historical motion data, the historical moving speeds of the wire device at the first time node t1 ... the nth time node tn are recorded as V1 ... Vn respectively; Calculate the acceleration between each two adjacent acquisition time nodes, define it as the historical acceleration, and record it as W1...Wn-1, historical acceleration W1 = (speed V2-speed V1) ÷ speed acquisition interval length...historical acceleration Wn-1 = (speed V2-speed V1) ÷ speed acquisition interval length; The time period between two adjacent collection time nodes is defined as the historical time period; The two adjacent acquisition time nodes are recorded as Z1 and Z2 respectively in chronological order; If the historical acceleration is ≥ the range value - a, and the historical acceleration is ≤ a, the change angle is 0; If the historical acceleration is less than the range value - a or the historical acceleration is greater than the range value a, the change angle determination strategy is executed; Get change perspectives and execute data integration strategies; A first control set is obtained, and a mobile control data determination strategy is executed.

4. The method of controlling the mobile stage motion mode safety system according to claim 3, characterized in that: The change angle determination strategy includes: In acquiring historical motion data, the historical wirework equipment position and the historical target person position at the acquisition time node Z1 are defined as the first upper position point and the first lower position point; The opposite direction of the wire device movement is defined as the target direction, and a line parallel to the ground is drawn in the target direction with the first upper position point as the origin, and the line is defined as the first parallel line; Connecting the first upper position point and the first lower position point to form a first connecting line; Obtaining the angle between the first parallel line and the first connecting line as the first target angle; In acquiring the historical motion data, the historical wirework equipment position and the historical target person position at the acquisition time node Z2 are defined as the second upper position point and the second lower position point; Taking the second upper position point as the origin, draw a line parallel to the ground in the direction of the target, and define the parallel line as the second parallel line; Connecting the second upper point and the second lower point to form a second connecting line; Obtaining the angle between the second parallel line and the second connecting line as the second target angle; Calculate the change angle, change angle = second target angle - first target angle.

5. The method of controlling the mobile stage motion mode safety system according to claim 4, characterized in that: The data integration strategy includes: Get all historical time periods to form a time period set E, recorded as E1...En; Get the first upper position point under each element in the time period set E to form a device point set F, recorded as F1...Fn; The elements in the equipment point set F are matched one by one with the elements in the time period set E to form a first condition set, which is recorded as E1F1...EnFn; Obtain the change angle of each element in the first condition set to form an angle set G, denoted as G1...Gn; The elements in the angle set F are matched one by one with the elements in the first condition set to form a first comparison set, which is recorded as E1F1G1...EnFnGn.

6. The method of controlling the mobile stage motion mode safety system according to claim 5, characterized in that: The mobile control data determination strategy includes: Get the current time point; Get the time period to which the current time point belongs, and set it as the current time period; Get the current position of the wire device; Obtaining an element in the first comparison set that corresponds to both the current time period and the current wire device position as a first determination element; Obtaining the change angle corresponding to the first determination element as the adjustment angle; Get the current target person's position; Connect the current wire device position and the current target person position to form a third connection line; Taking the current position of the wire rope device as the origin, draw a line parallel to the ground in the target direction, and define this parallel line as the third parallel line; Get the angle between the third parallel line and the third connecting line, and set it as the current angle; If the adjustment angle is less than 0, the target direction is identified as the first target moving direction, and the wire device is controlled to move in the first target moving direction until the current angle increase value is (-adjustment angle); If the adjustment angle is greater than 0, the moving direction of the wire rope device is used as the second target moving direction, and the wire rope device is controlled to move in the second target moving direction until the current angle decreases to the adjustment angle; If the adjustment angle = 0, no adjustment is performed.

7. The method of controlling the mobile stage motion mode safety system according to claim 2, characterized in that: The stopping regulation strategy includes: Obtain the weights of different historical target figures in the historical movement data to form a weight set B, recorded as B1...Bn; In the historical motion data, the rope lengths of different historical wire rope devices connected to the target person are defined as the historical rope lengths to form a rope length set C, which is recorded as C1...Cn; Map the elements in the rope length set C to the elements in the weight set B one by one to form a second condition set, denoted as B1C1, B1Cn...BnC1,BnCn; Execute the move count determination strategy for each element in the second condition set; Obtain the number of moves of each element in the second condition set to form a set of move numbers D, recorded as D11, D1n...Dn1, Dnn; The elements in the moving number set D are matched one by one with the elements in the second condition set to form a second comparison set, which is recorded as B1C1D11, B1CnD1n...BnC1Dn1, BnCnDnn; Execute the stop control data judgment strategy.

8. The method of controlling the mobile stage motion mode safety system according to claim 7, characterized in that: The moving number determination strategy includes: S1, obtain the desired location of the target person, recorded as (X1, Y1); Get the current target person's position; When the current target person position coincides with the target person's desired stop position, the wire rope device is controlled to stop, and the stop position of the wire rope device at this time is defined as the first stop position, which is recorded as (X2, Y2); S2, calculate the second stop position, recorded as (X3, Y3), where coordinate X3 = coordinate X2 - [(coordinate X2 - coordinate X1) × 2], coordinate Y3 = coordinate Y2; Taking the opposite direction of the wire rope device movement as the first target movement direction, controlling the wire rope device to move in the first target movement direction to a second stop position; S3, obtaining the final stop position of the wire rope device, recorded as (X4, Y4), where coordinate X4 = coordinate X1, coordinate Y4 = coordinate Y2; Set the threshold range of the X coordinate of the wire device position, recorded as [X5, X6]; S4. If coordinate X3 ≥ coordinate X5, and coordinate X3 ≤ coordinate X6, move the wire device to the final stop position of the device; S5. If coordinate X3 < coordinate X5, or coordinate X3 > coordinate X6, calculate the third stop position, recorded as (X7, Y7), coordinate X7 = coordinate X2 - [(coordinate X2 - coordinate X1) ÷ 2], coordinate Y7 = coordinate Y2; Taking the moving direction of the wire rope device as the second target moving direction, controlling the wire rope device to move in the second target moving direction to a third stop position; S6. If coordinate X7 ≥ coordinate X5, and coordinate X7 ≤ coordinate X6, control the wire rope device to move to the final stop position of the wire rope device; S7, if coordinate X7 < coordinate X5, or coordinate X7 > coordinate X6, then calculate the fourth stop position, recorded as (X8, Y8), coordinate X8 = coordinate X7 - [(coordinate X7 - coordinate X1) × 2], coordinate Y8 = coordinate Y2; Controlling the wire rope device to move in the first target moving direction to a fourth stop position; The fourth stop position is identified as the second stop position, and S4-S7 are repeatedly executed; S8, the number of times the wire device moves in the moving direction is recorded as 1, and the number of times the wire device moves in the direction opposite to the moving direction is recorded as 1; The movement process of the wire device in steps S1-S7 is defined as a safety control movement; The number of movements of the safety control motion of the wire device is recorded as 2 times.

9. The method of controlling the mobile stage motion mode safety system according to claim 8, characterized in that: The stop regulation data determination strategy includes: Get the current target person weight suspended by the wire rope device and set it as the stop target person weight; Get the current rope length of the wire rope device connected to the target person, and set it as the stop rope length; Obtaining an element in the second comparison set that corresponds to both the weight of the target person and the length of the stop rope, and defining it as a second determination element; Obtain the number of moves under the second judgment element and set it as the number of adjustment controls; Then, when the target person reaches the desired staying position of the target person, the wire device is controlled to adjust the control times to perform safe control movement.

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