Intelligent light following control method and system based on spatial positioning

Abstract

The invention relates to the technical field of light control, and discloses an intelligent light following control method and system based on spatial localization, and the method comprises the steps: building a three-dimensional coordinate system on a stage, obtaining the spatial coordinates of all actors through a human body key point recognition algorithm, and forming an actor set; meanwhile, a light source set is defined, and the spatial position and the maximum effective irradiation range of each light source are recorded; according to the number of actors and the spatial distance between the light sources, the light source closest to the target is preferentially adopted to follow light; and if the number of the light sources is insufficient, constructing a convex hull according to the plane distribution of the actors on the stage, and carrying out uniform region division and light source distribution. And then modeling the irradiation direction of each light source as a space ray, judging whether intersection exists or not by calculating the shortest distance between any two rays, and when the intersection point is too close to any actor, triggering a minimum angle priority lamp replacement mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of light control, in particular to an intelligent light chasing control method and system based on spatial positioning. BACKGROUND

[0002] With the continuous development of new artistic forms such as stage performances, live show broadcasts, immersive dramas and immersive performances, the role of stage lighting systems in modern stage performances is becoming increasingly prominent. As an important part of stage lighting control, the main task of light chasing control is to realize real-time tracking and lighting of the light according to the moving track of the performer. However, the traditional light chasing method usually relies on manual control or simple infrared tracking technology, which has problems such as response delay, low precision, serious interference of multi-person tracking, etc. in complex scenes, and has been difficult to meet the demand of modern performances for intelligent and refined control of light.

[0003] Currently, some systems attempt to track the position of the performer by using positioning tags or wearable devices, and combine computer vision technology for auxiliary identification. However, this kind of method often needs to rely on additional equipment, causing a certain burden to the performer, and in the environment of multiple people on the same stage, frequent cross shielding and limited light resources, the system often has difficulty in reasonably allocating light sources, causing individual performers not to be illuminated or light spots to overlap, affecting the stage aesthetics and audience experience. In addition, existing control algorithms mostly focus on the shortest distance principle, while ignoring factors such as angle adjustment amplitude and light source switching efficiency, causing some lamps to need to rotate over a wide range to complete light chasing, thereby causing problems such as increased energy consumption and delay fluctuations.

[0004] More importantly, the existing technology often uses a simple avoidance mechanism when dealing with light intersection, without considering the specific impact of the intersection distance from the performer's position, which may cause the light spot to frequently interfere with the performer's performance area, and even cause an illumination blind area. At the same time, in the case of insufficient number of light sources, the existing scheme lacks a reasonable allocation strategy to uniformly schedule the light sources, resulting in the problem of illumination redundancy in some areas and insufficient illumination in other areas.

[0005] In summary, the existing technology has obvious deficiencies in multi-target, multi-light source coordinated control, light spot intersection processing and angle minimum priority strategy, and there is an urgent need for a light chasing control method with higher intelligent level, more reasonable light source allocation mechanism and more accurate intersection avoidance capability to improve system response efficiency, illumination uniformity and stage performance effect. Therefore, an intelligent light chasing control method and system based on spatial positioning is proposed, which combines three-dimensional space coordinate modeling, spatial ray intersection judgment, minimum angle priority lamp selection and other technical means, and can effectively solve the problems of insufficient multi-target tracking precision, serious light interference and uneven resource scheduling in existing systems, and has obvious practical value and promotion prospect. SUMMARY

[0006] The application provides a space positioning-based intelligent light pursuit control method and system, which promotes the solution to the problems mentioned in the background art.

[0007] The application provides the following technical scheme: a space positioning-based intelligent light pursuit control method, comprising:

[0008] A three-dimensional rectangular coordinate system with a stage center as an origin is established, and three-dimensional coordinates of all actors are obtained to form an actor set;

[0009] A light source set is defined, which contains the spatial positions and maximum effective illumination distances of the light sources;

[0010] According to the spatial distance between the number of actors and the light sources, a target priority lighting distribution algorithm is executed;

[0011] The light rays of each light source are modeled as spatial rays for cross detection;

[0012] The shortest spatial distance between the light rays is calculated to determine whether there is a cross;

[0013] If there is a cross, the intersection point is calculated and the minimum distance from the intersection point to all actors is determined;

[0014] If the minimum distance from the intersection point to all actors is less than a safety distance threshold, a minimum angle priority lamp selection algorithm is executed to adjust the light sources.

[0015] Optionally, the establishment of the three-dimensional rectangular coordinate system with the stage center as the origin and the obtaining of the three-dimensional coordinates of all actors to form the actor set comprise:

[0016] Establishing a three-dimensional rectangular coordinate system in space , specifically:

[0017] Obtaining a stage surface center as a coordinate origin ;

[0018] Passing through the coordinate origin, a ray perpendicular to the stage background is made on the stage surface as a longitudinal axis, i.e., the Y axis;

[0019] Passing through the coordinate origin, a ray perpendicular to the longitudinal axis is made on the stage surface as a transverse axis, i.e., the X axis;

[0020] Passing through the coordinate origin, a vertical upward ray is made as a vertical axis, i.e., the Z axis;

[0021] The position coordinates of all actors are extracted through a human key point recognition algorithm, and are recorded in the actor set A, specifically:

[0022]

[0023] wherein:

[0024] Xi is the spatial coordinate of the i th actor, and N is the total number of actors on the current stage.

[0025] Optionally, the defined light source set includes the spatial position and maximum effective illumination distance of each light source, comprising:

[0026] Define the light source set L:

[0027]

[0028] Wherein:

[0029] represents the j th light source;

[0030] represents the maximum effective illumination distance of the j th light source;

[0031] Xi is the spatial coordinate of the i th actor, and N is the total number of actors on the current stage.

[0032] M is the current number of light sources.

[0033] Optionally, the target priority lighting distribution algorithm is executed according to the spatial distance between the number of actors and the light sources, comprising:

[0034] Define the reachable light set as:

[0035]

[0036] Wherein is the spatial distance between the i th actor and the j th light, and is specifically as follows:

[0037]

[0038] If , then assign the spatial distance closest to each , and calculate the shortest spatial distance between the light to determine whether there is intersection;

[0039] If , then execute the uniform distribution strategy, specifically as follows:

[0040] Mark the planar coordinates of all actors on the stage surface;

[0041] Construct a convex hull according to the planar coordinates of all actors;

[0042] Along the Y-axis direction, divide the convex hull into M clusters at equal intervals ;

[0043] Each cluster Assigning a light source , illuminating the cluster center position For:

[0044]

[0045] Wherein:

[0046] For The number of actors in the inner actor cluster;

[0047] The kth actor cluster, .

[0048] Optionally, the modeling of the light rays of each light source as spatial rays for intersection detection comprises:

[0049] Modeling the light rays of each light source As a spatial ray from Pointing to , specifically represented as:

[0050]

[0051] Wherein:

[0052] t is the distance factor along the direction of the light ray;

[0053] The current direction vector of the light source , specifically as follows:

[0054] .

[0055] Optionally, the determining whether there is an intersection by calculating the shortest spatial distance between the light rays comprises:

[0056] Calculating the shortest distance between any two light rays, specifically as follows:

[0057]

[0058] Wherein:

[0059] s is the light source number, and

[0060] The shortest distance between the jth light ray and the sth light ray;

[0061] The vector cross product of the two light rays;

[0062] The module length;

[0063] Set the light intersection threshold d;

[0064] like It is determined that there is no intersection between the j-th ray and the s-th ray;

[0065] like Determine whether there is an intersection between the j-th ray and the s-th ray, and calculate the coordinates of the intersection.

[0066] Optionally, the if Determine whether there is an intersection point between the j-th ray and the s-th ray, and calculate the coordinates of the intersection point, including:

[0067] Obtain the j-th ray and the sth ray ;

[0068] The point where the spatial distance between the j-th ray and the s-th ray is minimized satisfies:

[0069]

[0070] in:

[0071] and These are the points where the spatial distance between the j-th ray and the s-th ray is the smallest;

[0072] Construct a system of linear equations and calculate and The details are as follows:

[0073]

[0074] in:

[0075] Light source spatial coordinates ;

[0076] Light source spatial coordinates ;

[0077] Light source Direction vector ;

[0078] Light source Direction vector ;

[0079] It is a three-dimensional zero vector;

[0080] Will Substitution Intersection point ;

[0081] Calculate the intersection point Minimum distance to all actors The details are as follows:

[0082]

[0083] in:

[0084] Intersection Spatial coordinates.

[0085] Optionally, if the minimum distance between the intersection point and all actors is less than the safe distance threshold, then the minimum angle priority lighting selection algorithm is executed to adjust the light source, including:

[0086] Set the minimum distance threshold T;

[0087] like Then, the replacement light source is selected using the minimum angle priority light source selection algorithm, as follows:

[0088] Obtain the intersection point The two light sources are denoted as... ;

[0089] Calculate separately Corresponding actor coordinates and intersection points Spatial distance;

[0090] The coordinates of the actors, which are relatively far apart in space, are selected as the target points. ;

[0091] The minimum angle-priority light source selection algorithm is constructed as follows:

[0092] Get The direction vector of the current ray is denoted as ;

[0093] set up At the target point The direction vector of the corresponding light ray Specifically:

[0094]

[0095] calculate and spatial angle Specifically: ;

[0096] in, For vector dot product;

[0097] Project and onto the X-Y plane, and denote them as , respectively.

[0098] Calculate the horizontal rotation angle : .

[0099] Project and onto the Y-Z plane, and denote them as , respectively.

[0100] Calculate the vertical rotation angle : .

[0101] Sort all , select the light source with the smallest angle as the replacement light source and perform intersection point existence detection.

[0102] If the intersection point existence detection result is that there is an intersection point, then according to the order from small to large, select the next light source as the replacement light source.

[0103] If the intersection point existence detection result is that there is no intersection point, then adjust the horizontal rotation angle and the vertical rotation angle in turn.

[0104] A system for implementing the spatial positioning-based intelligent light chasing control method, comprising:

[0105] A data construction module for uniform definition of subsequent light sources and actor positions by constructing the stage space into a three-dimensional rectangular coordinate system.

[0106] A spatial distance calculation module for assigning light sources to each actor by calculating the spatial distance between the actor and the light source.

[0107] A light ray intersection detection module for judging whether there is an intersection between light rays by modeling each light ray and according to the shortest spatial distance between the light rays.

[0108] A cross influence judgment module for judging whether to adjust the light source by comparing the size between the minimum distance from the intersection point to all actors and the safety distance threshold.

[0109] A light source adjustment module for calculating the angle that the light source needs to adjust according to the three-dimensional coordinates of the actor and the direction vector of the light ray. ​

[0110] The present application has the following advantages:

[0111] 1. By establishing a three-dimensional rectangular coordinate system in the center of the stage, taking the center point of the stage as the origin, and constructing clear longitudinal, transverse and vertical axis directions, a standardized spatial reference frame is established to ensure the uniformity and reproducibility of all coordinate calculations. The three-dimensional coordinate information of the actors is obtained through the key point recognition algorithm, which not only accurately determines the real-time spatial position of the actors, but also avoids the recognition confusion caused by traditional two-dimensional recognition methods in the case of occlusion, overlap or complex posture, thereby ensuring the spatial accuracy of the light chasing system. This three-dimensional positioning method, combined with the standard rectangular coordinate system, enables the system to maintain accurate and reliable light source scheduling ability in a complex stage environment with multiple lights, multiple targets and multiple angles, providing a solid spatial foundation for subsequent light source modeling, tracking, cross detection and other core functions. At the same time, this method does not require external positioning equipment and can be completed relying on visual recognition, which has strong practicality and economy, significantly improving the spatial understanding ability and environmental adaptability of the stage intelligent light chasing system.

[0112] 2. In view of the inconsistency between the number of stage performers and the number of lights in reality, the present application proposes a target priority lighting distribution algorithm. When the number of available lights is not less than the number of actors, each actor is preferentially assigned the nearest light to ensure the accuracy of individual focus. When the number of lights is less than the number of actors, the system constructs a convex hull model of the actors' plane positions and equally divides them in the longitudinal direction to form multiple actor clusters, and then irradiates the light source based on the cluster center. This mechanism not only effectively avoids the problem of resource waste when the number of lights is insufficient, but also dynamically balances the lighting distribution to avoid uneven stage lighting caused by the concentration of actors or changes in walking position. This method has strong real adaptability and spatial distribution perception ability, and can maximize the light chasing effect under the condition of limited number of lights, especially suitable for complex scenes such as multi-role interactive performances, providing an efficient and intelligent solution to the problem of intelligent and uniform scheduling of lights in traditional systems.

[0113] 3、The present application models each light beam as a spatial ray and determines whether there is a cross-illumination problem based on the spatial geometry of the shortest distance between the rays. This detection method based on vector projection and cross product has the advantages of not relying on image contrast and not relying on field testing, and can efficiently realize real-time and continuous light ray cross monitoring. Compared with the multi-light cross-illumination problem caused by human error or physical obstruction in the traditional follow-up light system, the present application provides a highly mathematical and structured way to determine the cross. Especially in the case of multiple light sources simultaneously tracking multiple target persons, this mechanism can effectively prevent multiple light beams from focusing on the same or similar spatial position, causing glare, overexposure, stage visual conflict and other problems. The implementation of this scheme helps to improve the safety, stability and intelligence of the overall lighting system, and is especially suitable for theater, concert and immersive performance scenes with frequent multi-role switching and complex light changes.

[0114] 4、When the system detects that there is a light cross, in order to determine whether the intersection point constitutes a lighting interference or a potential safety hazard for the actors, the present application further proposes an intersection distance determination mechanism. By calculating the spatial distance between the intersection point and all actors, and introducing a minimum distance threshold, the system can actively determine whether the follow-up light strategy needs to be adjusted. Once it is determined that the intersection point is too close to the actors, the system will automatically execute a light source redistribution strategy, thereby avoiding the discomfort and interference caused by the focusing of light on the area near the actors. This safety detection mechanism based on the distance of the spatial intersection point is a fundamental breakthrough in the judgment logic of traditional follow-up light systems that rely on visual coverage or light power intensity. It not only improves the intelligence of the follow-up light system, but also effectively prevents the problems of audience interference and stage misdirection caused by light aggregation, reflection, and overlap, ensuring the freedom of actors' stage behavior and the visual comfort of the audience.

[0115] 5、In order to avoid large-scale invalid rotation when replacing the light source and improve the response efficiency of the system, the present application designs a minimum angle priority light selection algorithm. This algorithm compares the spatial angle between the current light source illumination direction and the target direction, and further refines it into horizontal rotation angle and vertical rotation angle, and selects the most suitable replacement light source according to the order of spatial angle priority. This priority control logic not only avoids the path shock caused by repeated light selection in the system, but also significantly reduces the motor drive intensity and running delay, improving the immediacy and stability of light scheduling. More importantly, this method is suitable for follow-up light groups with different physical positions and installation angles, and has wide adaptability. It has good response ability to dynamic environments with frequent actor position switching during performances, and can effectively prevent stage picture jumps and light misalignment caused by large-scale adjustments. BRIEF DESCRIPTION OF DRAWINGS

[0116] Figure 1 The flowchart of the present application.

[0117] Figure 2 The structural diagram of the present application. DETAILED DESCRIPTION

[0118] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0119] Embodiment one, refer to Figure 1 A space positioning-based intelligent light pursuit control method, comprising:

[0120] establishing a three-dimensional rectangular coordinate system with a stage center as an origin, and obtaining three-dimensional coordinates of all actors to form an actor set;

[0121] defining a light source set containing spatial positions and maximum effective illumination distances of the light sources;

[0122] performing a target priority lighting distribution algorithm according to spatial distances between the actors and the light sources;

[0123] modeling light rays of each light source as spatial rays for intersection detection;

[0124] judging whether there is intersection by calculating the shortest spatial distance between the light rays;

[0125] if there is intersection, calculating an intersection point and judging the minimum distance of the intersection point to all actors;

[0126] if the minimum distance of the intersection point to all actors is less than a safety distance threshold, performing a minimum angle priority lamp selection algorithm to adjust the light sources.

[0127] The establishing a three-dimensional rectangular coordinate system with a stage center as an origin, and obtaining three-dimensional coordinates of all actors to form an actor set, comprises:

[0128] establishing a three-dimensional rectangular coordinate system in space , specifically:

[0129] obtaining a stage surface center as a coordinate origin ;

[0130] passing through the coordinate origin, making a ray perpendicular to a stage background on a stage surface as a longitudinal axis, i.e., a Y axis;

[0131] passing through the coordinate origin, making a ray perpendicular to the longitudinal axis on the stage surface as a transverse axis, i.e., an X axis;

[0132] Passing through the coordinate origin, make a vertical upward ray as the vertical axis, that is, the Z axis;

[0133] Through the human key point recognition algorithm, the position coordinates of all actors are extracted and entered into the actor set A, specifically:

[0134]

[0135] Among them:

[0136] is the spatial coordinate of the ith actor, and N is the total number of actors on the current stage.

[0137] The above human key point recognition algorithm is a prior art, and the purpose is to extract the three-dimensional position of the actor. This algorithm mainly relies on computer vision and depth perception technology, and is a main joint point of human body recognition in a two-dimensional image. Through a deep learning model, the image is analyzed frame by frame to realize human structure modeling.

[0138] By establishing a three-dimensional rectangular coordinate system at the center of the stage, taking the center point of the stage as the origin, by constructing clear longitudinal, transverse and vertical axis directions, a standardized space reference frame is established to ensure the uniformity and reproducibility of all coordinate calculations. Through the key point recognition algorithm, the three-dimensional coordinate information of the actors can not only accurately determine the real-time spatial position of the actors, but also avoid the recognition confusion caused by traditional two-dimensional recognition methods in the case of shielding, overlapping or complex posture, thereby ensuring the spatial accuracy of the light chasing system. This three-dimensional positioning method, combined with the standard rectangular coordinate system, enables the system to maintain accurate and reliable light source scheduling ability in a complex stage environment with multiple lights, multiple targets and multiple angles, providing a solid spatial foundation for subsequent light source modeling, tracking, cross detection and other core functions. At the same time, this method does not require external positioning equipment and can be completed relying on visual recognition means, which has strong practicality and economy, and significantly improves the spatial understanding ability and environmental adaptability of the stage intelligent light chasing system.

[0139] The defined light source set contains the spatial position and maximum effective irradiation distance of each light source, including:

[0140] Define the light source set L:

[0141]

[0142] Among them:

[0143] represents the jth light source;

[0144] represents the maximum effective irradiation distance of the jth light source;

[0145] The installation position of the jth light source in a three-dimensional Cartesian coordinate system in space;

[0146] M is the current number of light sources.

[0147] The target priority lighting distribution algorithm is executed according to the spatial distance between the number of actors and the light source, comprising:

[0148] The reachable light set is defined as:

[0149]

[0150] Wherein is the spatial distance between the ith actor and the jth light, specifically as follows:

[0151]

[0152] If , the spatial distance closest to each is assigned , and the shortest spatial distance between the light is calculated to determine whether there is intersection;

[0153] If , the uniform distribution strategy is executed, specifically as follows:

[0154] Mark all the actors' plane coordinates on the stage surface;

[0155] Construct a convex hull according to the plane coordinates of all actors;

[0156] Along the Y-axis direction, divide the convex hull into M clusters at equal intervals ;

[0157] Each cluster is assigned a light source , which illuminates the cluster center position :

[0158]

[0159] Wherein:

[0160] is the number of actors in ;

[0161] is the kth actor cluster, .

[0162] To address the discrepancy between the number of stage performers and the number of lights in real-world scenarios, this invention proposes a target-priority lighting allocation algorithm. When the number of available lights is not less than the number of performers, each performer is prioritized for allocation to the nearest light, ensuring precise individual focusing. When the number of lights is less than the number of performers, the system constructs a convex hull model of the performers' planar positions and divides it into equal-spaced sections along the vertical axis, forming multiple performer clusters. Light sources are then applied based on the cluster centers. This mechanism not only effectively avoids resource waste when lighting resources are scarce but also dynamically balances lighting distribution, preventing uneven stage lighting caused by performer concentration or movement changes. This method possesses strong adaptability to real-world conditions and spatial distribution awareness, maximizing follow-up lighting effects even with limited light resources. It is particularly suitable for complex scenarios such as multi-character interactive performances, providing an efficient and intelligent solution to the problem of inefficient and uneven lighting scheduling in traditional systems.

[0163] The step of modeling the light rays from each light source as spatial rays for cross-detection includes:

[0164] Light from each light source Defined as a line from point to The space ray is specifically represented as:

[0165]

[0166] in:

[0167] t is the distance factor along the direction of the light ray;

[0168] Light source The current direction vector is as follows:

[0169] .

[0170] The method of determining whether an intersection exists by calculating the shortest spatial distance between light rays includes:

[0171] Calculate the shortest distance between any two light rays as follows:

[0172]

[0173] in:

[0174] s is the light source number, and

[0175] Let be the shortest distance between the j-th ray and the s-th ray;

[0176] It is the cross product of the vectors of the two light rays;

[0177] is the length of the module;

[0178] Set the light intersection threshold d;

[0179] The value of the scheme d is 0.1 meters, because in actual stage use, the spotlight uses a strong focusing light beam, and the spot diameter is about 5-10 centimeters. If the distance between two light beams is less than the diameter of the light beam itself, they will inevitably overlap in space, causing obvious intersection, therefore, taking the maximum spot diameter as the threshold can effectively determine the "actual perceptible intersection". Even if the two light beams do not completely coincide, as long as the spacing is within 10 centimeters, it may cause discomfort to the actor, produce a visual blind area or misjudge the spot position due to brightness superposition. 10 centimeters is the safety lower limit based on the average perceptible distance and the experience of performance safety specifications, which meets the stage safety design principle. If the threshold is set too small (such as less than 5 centimeters), the system will ignore most potential intersection risks; and if the threshold is too large (such as more than 15 centimeters), it may produce a large number of false positives, frequently misjudging as intersection, thereby causing unnecessary adjustments and resource waste. Therefore, 10 centimeters as the empirical median is the optimal value between safety and algorithm efficiency.

[0180] If , it is determined that there is no intersection point between the jth light and the st light;

[0181] If , it is determined that there is an intersection point between the jth light and the st light, and the intersection point coordinates are calculated.

[0182] The present application models each beam of light as a spatial ray, and determines whether there is an intersection problem based on the spatial geometric calculation of the shortest distance between the light beams. This detection method based on vector projection and cross product construction has the advantages of not relying on image contrast and not relying on field testing, and can efficiently realize real-time and continuous light intersection monitoring. Compared with the multi-light intersection problem caused by human error or physical obstruction in the traditional follow-up light system, the present application provides a highly mathematical and structured way to determine the intersection. Especially in the case of multiple light sources simultaneously tracking multiple target persons, this mechanism can effectively prevent multiple light beams from focusing on the same or similar spatial position, causing glare, overexposure, stage visual conflict and other problems. The implementation of this scheme helps to improve the safety, stability and intelligence of the overall lighting system, and is especially suitable for theater, concert and immersive performance scenes with frequent multi-role switching and complex light changes.

[0183] If , it is determined that there is an intersection point between the jth light and the st light, and the intersection point coordinates are calculated, including:

[0184] Obtain the jth light And the s-th light ;

[0185] The minimum point of the spatial distance between the j-th light and the s-th light satisfies:

[0186]

[0187] Wherein:

[0188] And is the minimum point of the spatial distance between the j-th light and the s-th light;

[0189] Construct a linear equation system to calculate And , as follows:

[0190]

[0191] Wherein:

[0192] is the spatial coordinates of the light source ; ;

[0193] is the spatial coordinates of the light source ;

[0194] is the direction vector of the light source ;

[0195] is the direction vector of the light source ;

[0196] is a three-dimensional zero vector;

[0197] Substitute into to get the intersection point ;

[0198] Calculate the minimum distance from the intersection point to all actors, as follows:

[0199]

[0200] Wherein:

[0201] is the spatial coordinates of the intersection point . ​​​

[0202] When the system detects intersecting light rays, this invention further proposes an intersection point distance judgment mechanism to determine whether the intersection point constitutes lighting interference or a safety hazard for the performers. By calculating the spatial distance between the intersection point and all performers and introducing a minimum distance threshold, the system can proactively determine whether the tracking light strategy needs to be adjusted. Once it is determined that the intersection point is too close to the performers, the system will automatically execute a light source redistribution strategy to avoid discomfort and interference caused by light focusing on the area near the performers. This safety detection mechanism, based on the spatial intersection point distance, represents a fundamental breakthrough from the traditional tracking light system's reliance on visual coverage or light power intensity for judgment. It not only enhances the intelligence of the tracking light system but also more effectively prevents viewing interference and stage misleading problems caused by light convergence, reflection, and overlap, ensuring the performers' freedom of movement on stage and the audience's visual comfort.

[0203] If the minimum distance between the intersection point and all actors is less than the safe distance threshold, then the minimum angle priority lighting selection algorithm is executed to adjust the light source, including:

[0204] Set the minimum distance threshold T;

[0205] In this design, T is set to 0.6 meters because, in stage performances, the minimum space for actors to move is generally measured in units of 0.5 meters in radius. Areas of high-intensity light intersection smaller than this range are highly likely to cause momentary glare to the eyes, create strong focusing on the skin, increase heat load, interfere with performance movements, or temporarily obstruct vision. Setting T to 0.6 meters, slightly higher than the boundary of the human comfort zone (0.5 meters), effectively establishes a safety buffer zone, ensuring that even if actors move suddenly, they will not enter the high-intensity area of ​​the intersecting light beams.

[0206] like Then, the replacement light source is selected using the minimum angle priority light source selection algorithm, as follows:

[0207] Obtain the intersection point The two light sources are denoted as... ;

[0208] Calculate separately Corresponding actor coordinates and intersection points Spatial distance;

[0209] The coordinates of the actors, which are relatively far apart in space, are selected as the target points. ;

[0210] The minimum angle-priority light source selection algorithm is constructed as follows:

[0211] Get The direction vector of the current ray is denoted as ;

[0212] set up At the target point The direction vector of the corresponding light ray Specifically:

[0213]

[0214] calculate and spatial angle Specifically: ;

[0215] in, It is the dot product of vectors;

[0216] Will and Projected onto the XY plane respectively, and denoted as respectively. , ;

[0217] Calculate the horizontal rotation angle : ;

[0218] Will and Projected onto the YZ plane respectively, and denoted as respectively. , ;

[0219] Calculate the vertical rotation angle : ;

[0220] Sort all Select the light source with the smallest angle as the replacement light source and perform intersection point existence detection;

[0221] If the intersection existence detection result indicates that an intersection exists, then according to... Select the next light source as the replacement light source in ascending order of size;

[0222] If the intersection existence test result is that there is no intersection, then adjust the horizontal rotation angle sequentially. and vertical rotation angle .

[0223] In order to avoid large invalid rotation when replacing the light source and improve the system response efficiency, the application designs a minimum angle priority light selection algorithm. The algorithm compares the spatial angle between the current light source irradiation direction and the target direction, and further refines it into horizontal rotation angle and vertical rotation angle. According to the order of the minimum spatial angle priority, the most suitable replacement light source is selected. This priority control logic not only avoids the path shock caused by repeated light selection, but also significantly reduces the motor driving strength and running delay, improves the immediacy and stability of light scheduling. More importantly, this method is suitable for follow-up light groups with different physical positions and installation angles, and has wide adaptation ability. It has good response ability to the dynamic environment of frequent switching of actor positions in the performance process, and can effectively avoid the stage picture jump and light misalignment caused by large adjustment.

[0224] Embodiment two, see Figure 2 A system for implementing the spatial positioning-based intelligent follow-up light control method, comprising:

[0225] A data construction module for subsequent uniform definition of light source and actor position by constructing the stage space into a three-dimensional rectangular coordinate system;

[0226] A spatial distance calculation module for assigning light sources to each actor by calculating the spatial distance between the actor and the light source;

[0227] A light ray intersection detection module for modeling each light ray and judging whether there is intersection between the light rays according to the shortest spatial distance between the light rays;

[0228] An intersection influence judgment module for judging whether to adjust the light source by calculating the minimum distance from the intersection point between the light rays to all actors and comparing the size between the minimum distance and the safety distance threshold;

[0229] A light source adjustment module for calculating the angle that the light source needs to adjust according to the three-dimensional coordinates of the actor and the direction vector of the light ray.

[0230] It should be noted that in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0231] The above merely describes the preferred embodiments of the present application, and it should be pointed out that, for those skilled in the art, several improvements and refinements can be made without departing from the technical principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method for intelligent light chasing control based on spatial positioning, characterized in that, The application relates to a stage lighting optimization method and device. A three-dimensional rectangular coordinate system with a stage center as an origin is established, and three-dimensional coordinates of all actors are obtained to form an actor set; A light source set is defined, including the spatial positions and maximum effective illumination distances of the light sources; A target priority lighting distribution algorithm is executed according to the spatial distances between the number of actors and the light sources; The light rays of each light source are modeled as spatial rays for cross detection; Whether there is intersection is judged by calculating the shortest spatial distance between the light rays; If there is intersection, the intersection point is calculated and the minimum distance of the intersection point to all actors is judged; If the minimum distance of the intersection point to all actors is less than a safety distance threshold, a minimum angle priority light fixture selection algorithm is executed to adjust the light sources.

2. The method according to claim 1, wherein, The three-dimensional rectangular coordinate system with the stage center as the origin is established, and the three-dimensional coordinates of all actors are obtained to form the actor set, including: A three-dimensional rectangular coordinate system is established in space , specifically: Obtaining the center of the stage surface as the coordinate origin ; A vertical stage background ray is made on the stage surface through the coordinate origin as a vertical axis, namely the Y axis; A ray perpendicular to the vertical axis is made on the stage surface through the coordinate origin as a horizontal axis, namely the X axis; A vertical upward ray is made through the coordinate origin as a vertical axis, namely the Z axis; The position coordinates of all actors are extracted by a human body key point recognition algorithm, and are recorded in the actor set A, and the specific process is as follows: The light source set is defined, including the spatial positions and maximum effective illumination distances of the light sources, including: Xi is the spatial coordinate of the i-th actor, and N is the total number of actors on the current stage.

3. The method of claim 1, wherein, The light source set L is defined: Wherein: M is the current number of light sources. represents the jth light source; Ej represents the maximum effective irradiation distance of the jth light source; Let j be the installation position of the j-th light source in the three-dimensional rectangular coordinate system in space; The target priority lighting distribution algorithm is executed according to the spatial distances between the number of actors and the light sources, including:

4. The method of claim 1, wherein, The reachable light set is defined as: The plane coordinates of all actors on the stage surface are marked; wherein is the spatial distance between the ith actor and the jth light, in particular as follows: like Then for each Allocate space to the nearest And calculate the shortest spatial distance between the light rays to determine whether there is an intersection; If then the uniform allocation strategy is executed, in particular as follows: A convex hull is constructed according to the plane coordinates of all actors; The light rays of each light source are modeled as spatial rays for cross detection, including: Along the Y-axis direction, the convex hull is equally divided into M clusters ; Each cluster Assigning a light source , illuminating the cluster center position Is: Wherein: for the number of internal actors; for the kth actor cluster, .

5. The method of claim 1, wherein, t is a distance factor along the direction of the light ray; The light rays of each light source are defined as a spatial ray from the origin of the coordinate system to the point of intersection of the light ray with the surface of the object. pointing towards the surface normal of the surface of the object at the point of intersection. Whether there is intersection is judged by calculating the shortest spatial distance between the light rays, including: The shortest distance between any two light rays is calculated, and the specific process is as follows: for the light source the current direction vector, in particular as follows: 。 6. The method of claim 1, wherein, Wherein: A light ray intersection threshold d is set; The minimum point of the spatial distance between the jth light ray and the sth light ray satisfies: s is the light source number, and is the shortest distance between the jth ray and the sth ray; is the vector cross product of the two light rays; L is the length of the module; Wherein: If , determine that there is no intersection point between the jth ray and the sth ray. If , determine that there is an intersection between the jth ray and the sth ray, and calculate the intersection coordinates.

7. The method of claim 6, wherein the method further comprises: The if , determine that there is an intersection between the jth ray and the sth ray, and calculate the intersection coordinates, comprising: acquire the jth light ray and the sth light ray ; Wherein: If the minimum distance of the intersection point to all actors is less than a safety distance threshold, a minimum angle priority light fixture selection algorithm is executed to adjust the light sources, including: and respectively, are the points with the minimum spatial distance between the jth ray and the sth ray. Constructing the linear equations, calculate and as follows: A minimum distance threshold T is set; for a light source spatial coordinates ; for a light source spatial coordinates ; for the light source directional vector ; directional vector of the light source directional vector of the light source directional vector of the light source is a three-dimensional zero vector; Substitute into to obtain the intersection point ; Computing the intersection Minimum distance to all actors , as follows: The minimum angle priority light source selection algorithm is constructed, and the specific process is as follows: the spatial coordinates of the intersection point of the spatial coordinates.

8. The method of claim 1, wherein, The data construction module is used for constructing the stage space into a three-dimensional rectangular coordinate system for the unified definition of the positions of the light sources and the actors; The spatial distance calculation module is used for calculating the spatial distances between the actors and the light sources, and distributing the light sources to each actor according to the spatial distance; If then a replacement light source is selected by the minimum angle first light source selection algorithm as follows: acquiring two light sources forming an intersection point , respectively ; respectively calculating corresponding actor coordinates and intersection points spatial distances; Selecting the coordinates of the actor far away from the spatial distance as the target point ; The light ray cross detection module is used for modeling each light ray, and judging whether there is intersection according to the shortest spatial distance between the light rays; acquiring the direction vector of the current light ray, denoted as ; Setting At the target point The direction vector of the corresponding light ray Specifically: Computing with the spatial angle , in particular: ; wherein is the vector dot product; are projected onto the X-Y plane and are denoted as and respectively, and , ; Computing the horizontal rotation angle : ; are projected onto the Y-Z plane and are denoted by and respectively, and , respectively. Computing the perpendicular rotation angle : ; rank all select the light source with the smallest angle as the replacement light source and perform the cross-point existence detection; If the intersection existence detection result is that an intersection exists, then the following operation is performed In the order from small to large, the next light source is selected as the replacement light source. If the intersection existence detection result is no intersection, then the horizontal rotation angle and the vertical rotation angle are adjusted in turn.

9. A system employing the spatially based intelligent sun light control method of claim 1, wherein, The intersection influence judgment module is used for calculating the minimum distance of the intersection point between the light rays to all actors, and comparing the size between the minimum distance and a safety distance threshold to judge whether the light sources need to be adjusted; The light source adjustment module is used for calculating the angle that needs to be adjusted of the light source according to the three-dimensional coordinates of the actors and the direction vector of the light ray. ​ ​ ​ ​

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