Method for controlling stage equipment to move through electric push rod

Abstract

The invention discloses a method for controlling a stage device to move through an electric push rod, and the method comprises the following steps: S1, constructing a plurality of groups of device control channels, and carrying out the adaptive matching and safety binding of each group of device control channels and a target stage device based on the dynamic evaluation of device fingerprints and channel capabilities; s2, generating a visual interface for each group of distributed equipment control channels, and integrally displaying static equipment information, dynamic operation parameters and graded alarm information; s3, switching between a manual operation mode and an automatic operation mode in response to the switching instruction subjected to authority authentication; s4, configuring an equipment operation rule based on the operation requirement of the stage equipment, marshalling multiple groups of equipment control channels which need to cooperatively operate, and configuring a synchronous marshalling strategy; and S5, based on the received control instruction, driving an electric push rod with touch unlocking and zero point simulation functions, and executing accurate position motion control.

Description

Technical Field

[0001] This invention relates to the field of stage automation technology, and more specifically to a method for controlling the movement of stage equipment with an electric linear actuator. Background Technology

[0002] The development of stage performance art increasingly relies on complex and precise mechanical control. Among these, electric linear actuators are widely used in driving various stage equipment such as lifting, translation, and rotation due to their advantages of large thrust, high precision, and ease of integration. Traditional electric linear actuator control methods usually rely on simple point-to-point manual operation or preset fixed program automation, which has gradually revealed many shortcomings in modern large-scale, multi-equipment, and highly collaborative stage scenarios.

[0003] Currently, mainstream technical solutions suffer from the following problems: First, the binding of devices and control channels is mostly statically configured, requiring tedious initial setup by manual intervention based on device model, address, etc. This cannot adapt to dynamic environments such as hot-swappable devices or faulty replacements, and lacks mechanisms for trusted authentication of device identity and intelligent assessment of channel compatibility, leading to operational errors and security risks. Second, the switching process between manual and automatic operation modes is abrupt, lacking secure permission verification and state transition mechanisms. The instantaneous switching can easily cause device shocks, command conflicts, or even device malfunction. Finally, the start-stop control of conventional electric actuators is not smooth enough; sudden starts and stops can easily cause mechanical shocks and component wear. Furthermore, their zero-point calibration usually requires manual intervention or relies on additional absolute encoders, resulting in high costs and complex processes, reducing system response speed and automation levels. Summary of the Invention

[0004] The purpose of this invention is to provide a method for controlling the movement of stage equipment with an electric linear actuator to solve the above-mentioned problems.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A method for controlling the movement of stage equipment with an electric linear actuator includes the following steps: S1. Construct several sets of equipment control channels, and based on the dynamic evaluation of equipment fingerprints and channel capabilities, adaptively match and securely bind each set of equipment control channels with the target stage equipment. S2. Generate a visual interface for each group of allocated equipment control channels, integrating and displaying static equipment information, dynamic operating parameters, and hierarchical alarm information; S3. In response to an authorized switching command, switch between manual and automatic operation modes; S4. Configure equipment operation rules based on the operational requirements of stage equipment, and group multiple sets of equipment control channels that need to operate collaboratively, and configure synchronous grouping strategies. S5, based on control commands issued in manual or automatic operation mode, drives an electric actuator with touch-sensitive unlocking and simulated zero-point function to perform precise position movement control.

[0006] Preferably, step S1 specifically includes: S11. Scan the stage equipment network in real time, capture equipment broadcast data packets and extract physical layer features and application layer features to generate equipment fingerprint vectors; S12. Analyze the hardware configuration and software strategy of each device control channel to construct a channel capability matrix; S13. Input the device fingerprint vector and channel capability matrix into the pre-trained Siamese neural network, calculate the matching score and output the candidate channel list; S14. Based on the candidate channel list, the candidate device control channel and the target stage equipment perform an adaptive protocol handshake and confirm the security binding. S15. Establish a secure tunnel through PAM to complete parameter configuration and record the binding relationship to the distributed ledger to achieve non-repudiation authentication.

[0007] Preferably, step S3 specifically includes: S31. Trigger a switching request via a hardware interlock switch or a biometrically authenticated software interface. S32. Freeze the current stage equipment motion state and control command flow; S33. When switching to manual operation mode, verify speed and electronic fence; when switching to automatic operation mode, verify rule compatibility and conflicts. S34. Perform dynamic access authentication based on urgency using two-factor or biometric methods. S35. When switching from manual to automatic operation mode, the S-shaped trajectory is planned to move to the starting point of the rule. When switching from automatic to manual operation mode, the automatic final state is set to the manual incremental baseline, and the switching audit log is recorded and stored in a tamper-proof manner.

[0008] Preferably, the equipment operation rules in step S4 include motion direction rules, speed curve rules, and collaborative triggering rules; the motion direction rules are used to define the movement direction and turning conditions of the stage equipment in automatic mode; the speed curve rules are used to set the trapezoidal or S-shaped speed planning curve during the acceleration and deceleration process of the stage equipment; and the collaborative triggering rules are used to configure the logical association conditions between the actions of the stage equipment and external events or other equipment states.

[0009] Preferably, the synchronization grouping strategy in step S4 is as follows: during grouping initialization, all member devices perform zero-point calibration in parallel and are uniformly mapped to a virtual coordinate system, and the synchronization target position is calculated based on this coordinate system.

[0010] Preferably, step S5 specifically includes: S51. After detecting continuous contact of the operator's finger and verifying it through biometrics, an unlocking signal is generated to release the mechanical lock of the push rod. S52, drive the electric push rod to perform low-speed zero-point search motion, and locate the mechanical absolute zero point by collecting the characteristic jump of the analog feedback signal; S53. Using the mechanical zero point as a reference, the control commands issued in manual or automatic operation mode are converted into absolute target positions, and servo control commands are generated based on the S-curve planning algorithm. S54. Continuously monitor the tactile status. If the finger is dislodged, smoothly brake and relock according to the graded response mechanism. At the same time, monitor the displacement deviation. If the deviation exceeds the limit, an emergency stop alarm will be triggered.

[0011] Preferably, the graded response mechanism in step S54 is as follows: upon detecting the moment the finger detaches, motion freezing is initiated within the first control cycle; if the detachment continues for more than a set threshold, a speed decay curve based on a cosine function is generated for smooth braking to ensure complete stopping before mechanical locking.

[0012] By adopting the above technical solution, the present invention has the following advantages compared with the prior art: 1. This invention provides a method for controlling the movement of stage equipment with an electric actuator. By combining touch-sensitive unlocking and simulated zero-point search functions, it integrates highly secure biometric verification with high-precision mechanical zero-point self-calibration. It can locate the absolute zero point without the need for an expensive absolute encoder, reducing system costs. Motion control is performed based on this absolute zero point, ensuring positional accuracy after long-term operation. Combined with an S-curve planning algorithm and a graded response smooth braking mechanism, it achieves flexible start-stop of the equipment, effectively reducing mechanical shock and wear, extending equipment life, and maximizing safety in abnormal situations.

[0013] 2. This invention provides a method for controlling the movement of stage equipment with an electric actuator. Based on the dynamic evaluation and matching of equipment fingerprints and channel capabilities, it realizes the adaptive and secure binding of stage equipment and control channels. This process uses a twin neural network for intelligent matching to ensure the accuracy and optimality of the connection. Through secure protocol handshake, PAM secure tunnel and distributed ledger recording, an end-to-end secure trust system is established, which effectively prevents unauthorized device access and operation repudiation, and greatly enhances the overall security of the system.

[0014] 3. This invention provides a method for controlling the movement of stage equipment with an electric push rod. Through a switching process that includes state freezing, multiple verification, dynamic permission authentication, and smooth state transition, it achieves seamless and safe switching between manual and automatic modes, avoids mechanical shock, command interruption, or logical conflict that may be caused by mode switching, ensures the continuity of the performance process and the safety of the equipment, and achieves operation traceability through tamper-proof audit logs. Attached Figure Description

[0015] Figure 1 This is a flowchart of the method of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Example

[0017] Please refer to Figure 1 As shown, this invention discloses a method for controlling the movement of stage equipment with an electric linear actuator, comprising the following steps: S1. Construct several sets of equipment control channels, and based on the dynamic evaluation of equipment fingerprints and channel capabilities, adaptively match and securely bind each set of equipment control channels with the target stage equipment. S2. Generate a visual interface for each group of allocated equipment control channels, integrating and displaying static equipment information, dynamic operating parameters, and hierarchical alarm information; S3. In response to an authorized switching command, switch between manual and automatic operation modes; S4. Configure equipment operation rules based on the operational requirements of stage equipment, and group multiple sets of equipment control channels that need to operate collaboratively, and configure synchronous grouping strategies. S5, based on control commands issued in manual or automatic operation mode, drives an electric actuator with touch-sensitive unlocking and simulated zero-point function to perform precise position movement control.

[0018] Step S1 is as follows: S11. Scan the stage equipment network in real time, capture equipment broadcast data packets and extract physical layer features and application layer features to generate equipment fingerprint vectors; S12. Analyze the hardware configuration and software strategy of each device control channel to construct a channel capability matrix; S13. Input the device fingerprint vector and channel capability matrix into the pre-trained Siamese neural network, calculate the matching score, and output a candidate channel list. The Siamese neural network adopts an online learning mechanism, and the weight allocation of its training data satisfies: protocol compatibility weight > real-time performance weight > security level weight. S14. Based on the candidate channel list, the candidate device control channel and the target stage equipment perform an adaptive protocol handshake and confirm the security binding. S15. Establish a secure tunnel through PAM to complete parameter configuration and record the binding relationship to the distributed ledger to achieve non-repudiation authentication.

[0019] Step S3 is as follows: S31. Trigger a switching request via a hardware interlock switch or a biometrically authenticated software interface. S32. Freeze the current stage equipment motion state and control command flow; S33. When switching to manual operation mode, verify speed and electronic fence; when switching to automatic operation mode, verify rule compatibility and conflicts. S34. Perform dynamic access authentication based on urgency using two-factor or biometric methods. S35. When switching from manual to automatic operation mode, the S-shaped trajectory is planned to move to the starting point of the rule. When switching from automatic to manual operation mode, the automatic final state is set to the manual incremental baseline, and the switching audit log is recorded and stored in a tamper-proof manner.

[0020] In step S4, the equipment operation rules include motion direction rules, speed curve rules, and collaborative triggering rules. The motion direction rules are used to define the movement direction and turning conditions of the stage equipment in automatic mode. The speed curve rules are used to set the trapezoidal or S-shaped speed planning curve during the acceleration and deceleration process of the stage equipment. The collaborative triggering rules are used to configure the logical association conditions between the actions of the stage equipment and external events or other equipment states.

[0021] The synchronization grouping strategy in step S4 is as follows: during grouping initialization, all member devices perform zero-point calibration in parallel and are uniformly mapped to a virtual coordinate system, and the synchronization target position is calculated based on this coordinate system.

[0022] Step S5 is as follows: S51. After detecting continuous contact of the operator's finger and verifying it through biometrics, an unlocking signal is generated to release the mechanical lock of the push rod. S52, drive the electric push rod to perform low-speed zero-point search motion, and locate the mechanical absolute zero point by collecting the characteristic jump of the analog feedback signal; S53. Using the mechanical zero point as a reference, the control commands issued in manual or automatic operation mode are converted into absolute target positions, and servo control commands are generated based on the S-curve planning algorithm. S54. Continuously monitor the tactile status. If the finger is dislodged, smoothly brake and relock according to the graded response mechanism. At the same time, monitor the displacement deviation. If the deviation exceeds the limit, an emergency stop alarm will be triggered.

[0023] The graded response mechanism in step S54 is as follows: upon detecting the moment the finger detaches, motion freezing is initiated within the first control cycle; if the detachment continues for more than a set threshold, a speed decay curve based on a cosine function is generated for smooth braking to ensure complete stopping before mechanical locking.

[0024] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling the movement of stage equipment with an electric linear actuator, characterized in that: Includes the following steps: S1. Construct several sets of equipment control channels, and based on the dynamic evaluation of equipment fingerprints and channel capabilities, adaptively match and securely bind each set of equipment control channels with the target stage equipment. S2. Generate a visual interface for each group of allocated equipment control channels, integrating and displaying static equipment information, dynamic operating parameters, and hierarchical alarm information; S3. In response to an authorized switching command, switch between manual and automatic operation modes; S4. Configure equipment operation rules based on the operational requirements of stage equipment, and group multiple sets of equipment control channels that need to operate collaboratively, and configure synchronous grouping strategies. S5, based on control commands issued in manual or automatic operation mode, drives an electric actuator with touch-sensitive unlocking and simulated zero-point function to perform precise position movement control.

2. The method for controlling the movement of stage equipment with an electric linear actuator as described in claim 1, characterized in that: Step S1 is as follows: S11. Scan the stage equipment network in real time, capture equipment broadcast data packets and extract physical layer features and application layer features to generate equipment fingerprint vectors; S12. Analyze the hardware configuration and software strategy of each device control channel to construct a channel capability matrix; S13. Input the device fingerprint vector and channel capability matrix into the pre-trained Siamese neural network, calculate the matching score and output the candidate channel list; S14. Based on the candidate channel list, the candidate device control channel and the target stage equipment perform an adaptive protocol handshake and confirm the security binding. S15. Establish a secure tunnel through PAM to complete parameter configuration and record the binding relationship to the distributed ledger to achieve non-repudiation authentication.

3. The method for controlling the movement of stage equipment with an electric linear actuator as described in claim 1, characterized in that: Step S3 is as follows: S31. Trigger a switching request via a hardware interlock switch or a biometrically authenticated software interface. S32. Freeze the current stage equipment motion state and control command flow; S33. When switching to manual operation mode, verify speed and electronic fence; when switching to automatic operation mode, verify rule compatibility and conflicts. S34. Perform dynamic access authentication based on urgency using two-factor or biometric methods. S35. When switching from manual to automatic operation mode, the S-shaped trajectory is planned to move to the starting point of the rule. When switching from automatic to manual operation mode, the automatic final state is set to the manual incremental baseline, and the switching audit log is recorded and stored in a tamper-proof manner.

4. The method for controlling the movement of stage equipment with an electric linear actuator as described in claim 1, characterized in that: The equipment operation rules in step S4 include motion direction rules, speed curve rules, and collaborative triggering rules; the motion direction rules are used to define the movement direction and turning conditions of the stage equipment in automatic mode; the speed curve rules are used to set the trapezoidal or S-shaped speed planning curve during the acceleration and deceleration process of the stage equipment; the collaborative triggering rules are used to configure the logical association conditions between the actions of the stage equipment and external events or other equipment states.

5. The method for controlling the movement of stage equipment with an electric linear actuator as described in claim 1, characterized in that: The synchronization grouping strategy in step S4 is as follows: during grouping initialization, all member devices perform zero-point calibration in parallel and are uniformly mapped to a virtual coordinate system, and the synchronization target position is calculated based on this coordinate system.

6. The method for controlling the movement of stage equipment with an electric linear actuator as described in claim 1, characterized in that: Step S5 is as follows: S51. After detecting continuous contact of the operator's finger and verifying it through biometrics, an unlocking signal is generated to release the mechanical lock of the push rod. S52, drive the electric push rod to perform low-speed zero-point search motion, and locate the mechanical absolute zero point by collecting the characteristic jump of the analog feedback signal; S53. Using the mechanical zero point as a reference, the control commands issued in manual or automatic operation mode are converted into absolute target positions, and servo control commands are generated based on the S-curve planning algorithm. S54. Continuously monitor the tactile status. If the finger is dislodged, smoothly brake and relock according to the graded response mechanism. At the same time, monitor the displacement deviation. If the deviation exceeds the limit, an emergency stop alarm will be triggered.

7. The method for controlling the movement of stage equipment with an electric linear actuator as described in claim 6, characterized in that: The graded response mechanism in step S54 is as follows: upon detecting the moment the finger detaches, motion freezing is initiated within the first control cycle; if the detachment continues for more than a set threshold, a speed decay curve based on a cosine function is generated for smooth braking to ensure complete stopping before mechanical locking.

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