A stage lighting and lifting equipment linkage control method based on timing constraint analysis

Abstract

The application discloses a stage lighting and lifting equipment linkage control method based on timing constraint analysis, comprising the following steps: constructing a layered timing constraint matrix of lighting actions, lifting actions and safety checking actions, integrating action start-stop relationship, occupation relationship and interlocking relationship into a unified constraint expression, solving the problems of dispersed cross-equipment action relationship and unclear conflict boundary in the existing linkage control; extracting the precedence edge, parallel edge, mutual exclusion edge and recovery edge, generating an action index sequence and a candidate linkage sequence, improving the sequence and continuity of linkage arrangement; determining the to-be-executed linkage segment according to the link state and forming a linkage control sequence according to the difference priority, reducing the influence of communication fluctuation on key lifting actions; and finally, blocking or rearranging the conflict actions through index backtracking, improving the safety, stability and execution consistency of the linkage control.

Description

Technical Field

[0001] This invention relates to the technical field of stage automation control and stage machinery collaborative control, and in particular to a method for the linkage control of stage lighting and lifting equipment based on time-constraint analysis. Background Technology

[0002] With the continuous development of large-scale performances, immersive stages, and digital theaters, stage control technology has gradually shifted from single lighting console control or single mechanical drive control to a comprehensive control mode that integrates lighting equipment, lifting equipment, safety monitoring devices, and network control nodes. In such scenarios, stage lighting actions are typically characterized by rapid switching of illumination areas and numerous parallel actions, while lifting equipment actions are characterized by clearly defined movement ranges, strict interlocking requirements, and sensitive safety boundaries. When both operate together in the same performance flow, in addition to the sequential relationship between the start and end of actions, issues such as overlapping occupied areas, overlapping action times, crossing of verification boundaries, and fluctuations in communication status may also arise. Although existing stage control solutions can achieve lighting tracking, mechanical control, or partial linkage, most are still centered on equipment-side control or task-side scheduling, lacking a unified constraint expression method for organizing lighting actions, lifting actions, and safety verification actions. In particular, they lack an overall analytical path for sequential, parallel, mutually exclusive, and recovery relationships, leading to problems such as reliance on manual experience for action choreography, untimely identification of cross-system conflicts, and insufficient basis for linkage switching in abnormal situations in complex performance scenarios.

[0003] For example, CN105208705A discloses an automatic stage lighting tracking system and its control method. This scheme acquires target images and position signals through a camera device, processes them through upper computer software, and then drives the stage light source device to track the target movement via a DMX512 console. Its focus is on automatic stage lighting tracking and illumination direction adjustment, which can improve the automation level of lighting illumination. However, its control object is mainly concentrated on the stage light source device itself. It does not establish a unified analysis mechanism for the cross constraints between the movement range of the lifting equipment and the lighting area, nor does it involve the resolution of linkage conflicts under the participation of safety verification actions.

[0004] Furthermore, CN119781320A discloses a multi-sensor fusion intelligent control method and system for stage machinery. This scheme determines the target sensor category, deploys a fusion sensor network, collects multi-dimensional data, and makes intelligent decisions to control the stage machinery, thereby improving the matching accuracy between stage machinery control and stage tasks. However, its focus is on improving the stage machinery control accuracy and multi-sensor fusion decision-making, without providing corresponding processing for the unified index organization between lighting actions and lifting actions, the division of candidate linkage segments, and the continuation control based on recovery relationships. Therefore, existing stage lighting control technology and stage machinery control technology still have problems such as scattered expression of action relationships, insufficient cross-device constraint organization, lack of clear basis for switching linkage segments under abnormal transmission conditions, and difficulty in blocking or rearranging conflicting actions through unified index backtracking.

[0005] In summary, given the aforementioned problems with existing stage lighting linkage technology and stage machinery control technology, this invention proposes a stage lighting and lifting equipment linkage control method based on timing constraint analysis. This method constructs a hierarchical timing constraint matrix around lighting actions, lifting actions, and safety verification actions. It extracts sequential edges, parallel edges, mutually exclusive edges, and recovery edges from this matrix. Furthermore, it determines the linkage segments to be executed by combining link delay, packet loss count, and acknowledgment loss count. Then, it indexes and backtracks the linkage control sequence through an action index sequence, blocking or rearranging conflicting actions. This solves the problem of how to uniformly analyze the timing relationships, spatial occupancy relationships, and abnormal switching relationships among multiple types of actions in a scenario where stage lighting equipment and lifting equipment operate collaboratively, and thereby generate linkage control instructions that conform to safety constraints and execution order. Summary of the Invention

[0006] The purpose of this section is to outline some aspects of the embodiments of the present invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this section, the abstract and title of the invention. Such simplifications or omissions shall not be used to limit the scope of the present invention.

[0007] In view of the aforementioned existing problems, the present invention is proposed.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: Based on the stage lighting action set, the lifting action set, and the safety verification action set, the action units are arranged according to the lighting action layer, the lifting action layer, and the safety verification action layer, and a hierarchical timing constraint matrix is ​​generated based on the start and end times of the actions, the equipment occupancy interval, and the interlock boundary. Extract sequential edges, parallel edges, mutually exclusive edges, and recovery edges from the hierarchical temporal constraint matrix to generate action index sequences and candidate linkage sequences; Based on the link status characterized by link latency, number of packet loss, and number of missing receipts, the complete linkage segment, the downgraded linkage segment, and the cached linkage segment to be executed are determined from the candidate linkage sequence, and the linkage control sequence is formed with the critical lifting action being higher than the non-critical lighting action. The linkage control sequence is indexed and traced back using the action index sequence to identify conflicting actions and block or rearrange them, thereby generating linkage control instructions for stage lighting equipment and lifting equipment.

[0009] The beneficial effects of this invention are as follows: By constructing a hierarchical timing constraint matrix for lighting actions, lifting actions, and safety verification actions, this invention incorporates the start-end relationships, occupancy relationships, and interlocking relationships of actions into a unified constraint expression, thus solving the problems of scattered cross-device action relationships and unclear conflict boundaries in existing linkage control. By extracting sequential edges, parallel edges, mutually exclusive edges, and recovery edges, action index sequences and candidate linkage sequences are generated, improving the orderliness and continuity of linkage orchestration. By determining the linkage segments to be executed based on the link status and forming linkage control sequences according to different priorities, the impact of communication fluctuations on key lifting actions is reduced. Furthermore, by using index backtracking to block or rearrange conflicting actions, the safety, stability, and execution consistency of linkage control are improved. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a flowchart illustrating the stage lighting and lifting equipment linkage control method based on timing constraint analysis as shown in this invention. Detailed Implementation

[0011] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0012] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort should fall within the scope of protection of this invention.

[0013] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0014] In a preferred embodiment, a stage lighting and lifting equipment linkage control method based on timing constraint analysis is deployed in a performance control system consisting of a stage control server, a lighting control console, a lifting equipment control cabinet, and a safety monitoring terminal. The stage control server and the lighting control console are connected via Ethernet, the stage control server and the lifting equipment control cabinet are connected via an industrial bus, and the stage control server and the safety monitoring terminal are connected via an independent acquisition bus. The lighting control console outputs a set of stage lighting actions, the lifting equipment control cabinet outputs a set of lifting actions, and the safety monitoring terminal outputs a set of safety verification actions. The stage control server performs unified arrangement and constraint analysis on the set of stage lighting actions, the set of lifting actions, and the set of safety verification actions to generate linkage control commands.

[0015] According to an embodiment of the present invention, in combination Figure 1 The flowchart shown illustrates a method for the coordinated control of stage lighting and lifting equipment based on time-constraint analysis, specifically including the following steps: S1. Based on the stage lighting motion set, lifting motion set, and safety check motion set, arrange the motion units according to the lighting motion layer, lifting motion layer, and safety check motion layer, and generate a layered timing constraint matrix based on the start and end times of the motions, the equipment occupancy interval, and the interlock boundaries. Note that the following should be noted in this step: As an example, the stage lighting action set is obtained as follows: the lighting control console exports all stage lighting actions for the current performance in chronological order based on the program schedule, lighting position configuration table, and lighting movement table. Each stage lighting action includes at least the stage lighting equipment identifier, action start time, action end time, illumination area, brightness level, and color status. Among them, the stage lighting equipment identifier is the unique number of the stage lighting equipment in the lighting control network, such as LX-01 or LX-12; the action start time is the starting control time of the stage lighting action in the performance timeline, such as 12 s; the action end time is the ending control time of the stage lighting action in the performance timeline, such as 18.5 s; the illumination area is the stage plane coverage area calculated based on the installation position of the lighting fixture, pitch angle, horizontal angle, and projection range, such as the front stage area from x=2 m to x=6 m and y=0 m to y=3 m; the brightness level and color status are secondary action attributes that participate in the generation of subsequent instructions but do not change the timing constraints.

[0016] As an example, the lifting action set is obtained as follows: the lifting equipment control cabinet derives all lifting actions for the current session based on the boom operation table, the lifting platform scheduling table, and the equipment status table; each lifting action includes at least the lifting equipment identifier, action start time, action end time, movement range, running direction, and action type; where the lifting equipment identifier is a unique number for the boom, lifting platform, or scene lifting mechanism, such as LG−03; the movement range is the spatial segment traversed by the lifting equipment during the start and end of the action, such as descending from a height of 6.5 m to a height of 1.2 m or translating between x=4 m and x=7 m; the running direction and action type serve as supplementary criteria for subsequent priority ranking and conflict identification.

[0017] As an example, the safety verification action set is obtained as follows: the safety monitoring terminal derives all safety verification actions for the current session based on the anti-collision boundary table, the prohibited area table, and the equipment protection range table; each safety verification action includes at least the safety verification object identifier, verification start time, verification end time, and verification boundary; wherein, the safety verification object identifier is a unique verification number corresponding to a certain hoist, a certain lifting platform, a certain frame, or a certain area, such as SA−A1; the verification boundary is the prohibited crossing section or interval boundary corresponding to the safety verification object from the verification start time to the verification end time, such as the prohibited area in the middle of the stage from 2.0 m to 5.0 m in height.

[0018] In this embodiment, the lighting action layer, the lifting action layer, and the safety verification action layer refer to a three-layer structure formed by grouping action units with the same equipment attributes and the same constraint judgment method into different time-series layers. The lighting action layer consists of all lighting action units and reflects the illumination relationship of the stage lighting equipment on the performance timeline. The lifting action layer consists of all lifting action units and reflects the displacement relationship of the lifting equipment on the performance timeline. The safety verification action layer consists of all safety verification action units and reflects the effectiveness relationship of the safety boundary on the performance timeline.

[0019] S1.1 Arrange the stage lighting actions in the stage lighting action set into lighting action units according to the stage lighting equipment identification, action start time, and action end time; arrange the lifting actions in the lifting action set into lifting action units according to the lifting equipment identification, action start time, and action end time; and arrange the safety verification actions in the safety verification action set into safety verification action units according to the safety verification object identification, verification start time, and verification end time.

[0020] Specifically, the devices are first grouped by device identifier, and then sorted in ascending order of action start time within each group. When two actions have the same start time, the action with the earlier end time is placed first. When both the start and end times of an action are the same, the device identifiers are placed first according to their dictionary order. After the above processing, each action unit corresponds to a unique position on the timeline, which facilitates subsequent determination of sequence, overlap, and interlock.

[0021] For example, in a certain performance, the three stage lighting actions marked LX−01 have start times of 8s, 14s, and 21s, respectively, thus forming three lighting action units arranged in chronological order; the two lifting actions marked LG−03 have start times of 10.5s and 19s, respectively, thus forming two lifting action units arranged in chronological order; and the two safety verification actions marked SA−A1 and SA−A2 have start times of 9.5s and 18.8s, respectively, thus forming two safety verification action units.

[0022] S1.2. Generate an action unit occupancy table based on the stage lighting equipment identification and illumination area of ​​the lighting action unit, the lifting equipment identification and movement range of the lifting action unit, and the safety verification object identification and verification boundary of the safety verification action unit.

[0023] In a preferred embodiment, each action unit is recorded as an occupancy record, which includes the action unit number, device identifier, action layer, start time, end time, and occupancy content. The occupancy content of a lighting action unit is recorded as the illumination area, the occupancy content of a lifting action unit is recorded as the movement range, and the occupancy content of a safety verification action unit is recorded as the verification boundary. The illumination area, movement range, and verification boundary are expressed using a unified stage coordinate system, with the origin at the stage center, the y-axis representing the front-to-back direction, the x-axis representing the left-to-right direction, and the z-axis representing the height direction. The planar illumination area is expressed using rectangular segments or polygonal boundaries, the lifting movement range is expressed using the start and end heights, and the verification boundary is expressed using a forbidden boundary envelope. When generating the action unit occupancy table, the coordinates of the occupancy content of each action unit are first unified, and then the entire table is sorted according to the start time of the action.

[0024] For example, lighting action unit L1 corresponds to stage lighting equipment identifier LX−01, with an action start time of 12s, an action end time of 18.5s, and an illumination area of ​​x=1.5 m to x=5.0 m and y=0.5 m to y=3.5 m; lifting action unit G1 corresponds to lifting equipment identifier LG−03, with an action start time of 13.2s, an action end time of 17.6s, and a movement range of the hoist height from 6.8 m to 1.4 m; safety verification action unit S1 corresponds to safety verification object identifier SA−A1, with a verification start time of 12.8s, a verification end time of 18s, and a verification boundary of z=1.2 m to z=4.8 m above the central area of ​​the stage (no entry allowed); the above three records together constitute the basic occupancy record in the action unit occupancy table.

[0025] S1.3. Based on the start and end times of the actions of the lighting action unit, lifting action unit, and safety check action unit, perform sequential, overlapping, and interlocking judgments on adjacent action units in the action unit occupancy table to generate an action constraint edge set; specifically including the following steps:

[0026] S1.3.1 Arrange the action units in ascending order according to the start time of the action in the action unit occupancy table, and determine the previous action unit and the next action unit under the same device identifier as adjacent action units, and determine the previous action unit and the next action unit under the same occupancy area as adjacent action units.

[0027] S1.3.2. Compare the start and end times of actions of each adjacent action unit; when the end time of one action unit is less than the start time of another action unit, determine the two action units that end first and start later as having a sequential relationship, and generate a directed sequential constraint edge.

[0028] S1.3.3 Cross-compare the start and end times of actions of each adjacent action unit; when the start time of one action unit is earlier than the end time of another action unit, and the start time of the other action unit is earlier than the end time of one action unit, the two action units are determined to be in an overlapping relationship, and a bidirectional overlapping constraint edge is generated.

[0029] S1.3.4 For adjacent action units that have overlapping or sequential relationships, perform interlocking comparison by combining the equipment identifier, occupied area, movement range and verification boundary in the action unit occupancy table; when two action units occupy the same equipment, or the movement range of the lifting action unit enters the illumination area of ​​the stage lighting action unit, or the movement range of the lifting action unit crosses the verification boundary of the safety verification action unit, the two action units are determined to be interlocked, and interlocking constraint edges are generated. The directed sequential constraint edges, bidirectional overlapping constraint edges and interlocking constraint edges are summarized to generate a set of action constraint edges.

[0030] Specifically, in this embodiment, the method for generating interlocking constraint edges is as follows: Adjacent action units that have been determined to have sequential or overlapping relationships are compared one by one. First, the device identifiers of the two action units are compared. When the device identifiers of the two action units are the same and their time segments intersect or the start-end interval is less than the minimum safe interval of the equipment control cabinet, the two action units are determined to be in an interlocking relationship, and an interlocking constraint edge is generated. Next, the movement range of the lifting action unit is compared with the illumination area of ​​the lighting action unit. When the movement trajectory of the lifting action unit enters the space covered by the illumination area of ​​the lighting action unit, the two action units are determined to be in a spatial interlocking relationship, and an interlocking constraint edge is generated. Finally, the movement range of the lifting action unit is compared with the verification boundary of the safety verification action unit. When the lifting action unit crosses the prohibited space defined by the verification boundary during its operation, the two action units are determined to be in a safety interlocking relationship, and an interlocking constraint edge is generated.

[0031] Each interlock constraint edge includes at least the starting action unit number, the ending action unit number, the interlock type, and the interlock effective segment. In this embodiment, the interlock type is divided into three categories: equipment interlock, spatial interlock, and safety interlock. The interlock effective segment is the intersection or adjacent contiguous segment of the time segments of two action units. For example, if lighting action unit L1 covers the central area of ​​the stage from 12s to 18.5s, and lifting action unit G1 descends from a high position to a low position from 13.2s to 17.6s, with its trajectory crossing the central area of ​​the stage, then a spatial interlock constraint edge is generated from G1, and the interlock effective segment is registered as 13.2s to 17.6s. If the verification boundary of safety verification action unit S1 covers the same space, then a safety interlock constraint edge is generated between G1 and S1.

[0032] S1.4 Arrange the lighting action units into a lighting action layer, the lifting action units into a lifting action layer, and the safety verification action units into a safety verification action layer. Generate a hierarchical temporal constraint matrix based on the constraint positions within and between layers of the action constraint edge set. This specifically includes the following steps:

[0033] S1.4.1 The lighting action unit, the lifting action unit, and the safety verification action unit are respectively used as matrix row nodes and matrix column nodes, and arranged in ascending order of the start time of the action as the lighting layer node sequence, the lifting layer node sequence, and the verification layer node sequence;

[0034] Specifically, firstly, generate the node sequence of the lighting layer, the node sequence of the rising and falling layer, and the node sequence of the verification layer. Then, concatenate the three node sequences in a fixed order: the node sequence of the lighting layer first, the node sequence of the rising and falling layer in the middle, and the node sequence of the verification layer last, to form the total node sequence. Then, use the total node sequence as the order of the row nodes and column nodes of the matrix, so that each row and each column of the hierarchical timing constraint matrix corresponds to a unique action unit.

[0035] Specifically, if the node sequence of the lighting layer contains L1, L2, and L3, the node sequence of the rising and falling layer contains G1 and G2, and the node sequence of the verification layer contains S1 and S2, then the total node sequence is L1, L2, L3, G1, G2, S1, and S2 in sequence; in the matrix obtained from this, the first row and the first column both correspond to L1, the fourth row and the fourth column both correspond to G1, and the sixth row and the sixth column both correspond to S1;

[0036] Preferably, after adopting this fixed arrangement, the distribution of intra-layer constraint positions and inter-layer constraint positions in the matrix remains stable, which facilitates scanning and extraction;

[0037] S1.4.2 For any two light action units in the light layer node sequence, fill the constraint positions within the light layer according to the action constraint edge set; for any two lifting action units in the lifting layer node sequence, fill the constraint positions within the lifting layer according to the action constraint edge set; for any two safety verification action units in the verification layer node sequence, fill the constraint positions within the verification layer according to the action constraint edge set.

[0038] In a preferred embodiment, for any two light action units in the light layer node sequence, it is checked whether there are constraint edges in the action constraint edge set whose start and end points correspond to the two light action units respectively; when there are directed sequential constraint edges, sequential marks are filled in the corresponding constraint positions in the light layer; when there are bidirectional overlapping constraint edges, overlapping marks are filled in both corresponding symmetrical positions; when there are interlocking constraint edges, interlocking marks are filled in the corresponding positions; for any two lifting action units in the lifting layer node sequence, the constraint positions in the lifting layer are filled in the same way; for any two safety verification action units in the verification layer node sequence, the constraint positions in the verification layer are filled in the same way; if there are both sequential and interlocking relationships between two action units, the interlocking mark is registered first in the same constraint position, and the sequential relationship is registered in the additional attributes of the constraint position; this is because the interlocking relationship corresponds to the control prohibition relationship, and its priority is higher than the general sequential relationship; if there are no constraint edges between any two action units, the corresponding positions are left empty; For example, if lighting action unit L1 and lighting action unit L2 belong to the same stage lighting equipment identifier LX−01 and their actions end at 18.5s, and their actions start at 19s, with an interval of 0.5s, which is greater than the minimum switching interval of 0.2s of the lighting control console, then the positions of L1 to L2 within the lighting layer should be marked with a sequence mark; if lifting action unit G1 and lifting action unit G2 belong to the same hoist and their time segments overlap, then the corresponding positions within the lifting layer should be marked with an interlock mark. S1.4.3. Fill the inter-layer constraint positions for the action units between the light layer node sequence and the rising and falling layer node sequence, the action units between the rising and falling layer node sequence and the verification layer node sequence, and the action units between the light layer node sequence and the verification layer node sequence, based on the action constraint edge set. In a preferred embodiment, for each pair of action units between the light layer node sequence and the rising / falling layer node sequence, it is checked whether there is a constraint edge connecting the two action units in the action constraint edge set; if there is, then according to the constraint type, the order, overlap, or interlocking mark is registered at the corresponding inter-layer constraint position; if not, the position is left empty; the same method is used to fill each pair of action units between the rising / falling layer node sequence and the verification layer node sequence; the same method is also used to fill each pair of action units between the light layer node sequence and the verification layer node sequence.

[0039] In this embodiment, the lighting layer and the verification layer generally do not directly form equipment interlocks. However, when a certain safety verification action corresponds to a lighting restricted area, interlock constraints can still be registered between the two. For example, if lighting action unit L1 covers the central area of ​​the stage and the trajectory of lifting action unit G1 crosses the central area of ​​the stage, then an interlock mark is filled in the corresponding position of the lighting layer and the lifting layer. If lifting action unit G1 crosses the verification boundary of safety verification action unit S1, then an interlock mark is filled in the corresponding position of the lifting layer and the verification layer. If the start time of the action of lighting action unit L2 is later than the end time of the verification of safety verification action unit S1, then a sequence mark can be filled in the corresponding position of the lighting layer and the verification layer.

[0040] S1.4.4 Combine the constraint positions within the lighting layer, the constraint positions within the rise and fall layer, the constraint positions within the check layer, and the constraint positions between layers into a block matrix to generate a layered temporal constraint matrix.

[0041] In a preferred embodiment, the upper left block is formed by the constraint positions within the lighting layer; the upper middle block is formed by the interlayer constraint positions between the lighting layer and the lift-up layer; the upper right block is formed by the interlayer constraint positions between the lighting layer and the check layer; the middle left block is formed by the interlayer constraint positions between the lift-up layer and the lighting layer; the central block is formed by the constraint positions within the lift-up layer; the middle right block is formed by the interlayer constraint positions between the lift-up layer and the check layer; the lower left block is formed by the interlayer constraint positions between the check layer and the lighting layer; the lower middle block is formed by the interlayer constraint positions between the check layer and the lift-up layer; and the lower right block is formed by the constraint positions within the check layer. After combining these nine blocks in their fixed positions, a layered temporal constraint matrix is ​​obtained.

[0042] Specifically, the hierarchical timing constraint matrix has a three-layer, three-column block structure. Each position corresponds to the constraint state of a pair of action units. Non-empty positions record the constraint type, and empty positions indicate that there is no direct constraint.

[0043] For example, if the lighting layer contains 3 nodes, the rise and fall layer contains 2 nodes, and the verification layer contains 2 nodes, then the layered timing constraint matrix is ​​a 7×7 matrix, where the upper left block size is 3×3, the central block size is 2×2, the lower right block size is 2×2, and the rest are the corresponding inter-layer blocks.

[0044] It should be noted that in existing stage linkage scheduling, lighting equipment, lifting equipment, and safety boundaries are usually maintained by different control terminals, making it difficult to make consistent constraint judgments under the same temporal coordinates and the same spatial coordinates. This can easily lead to action conflicts, crossing of restricted areas, and omissions in resuming continuity in subsequent linkage arrangements. Through the above steps, the stage lighting action set, lifting action set, and safety check action set are uniformly organized into a hierarchical temporal constraint matrix, so that the sequential relationship, overlapping relationship, and interlocking relationship between actions have a unique corresponding position. Therefore, it can provide a stable foundation for the extraction of subsequent action relationships and the generation of linkage segments.

[0045] S2. Extract sequential edges, parallel edges, mutually exclusive edges, and recovery edges from the hierarchical temporal constraint matrix to generate action index sequences and candidate linkage sequences. Note that the following points should be noted in this step: S2.1 Scan the non-empty constraint positions in the hierarchical temporal constraint matrix according to the matrix row order and matrix column order, extract directed sequential edges according to the constraint direction, extract parallel edges according to adjacent constraint positions in the same layer that have no sequential constraints and no interlocking constraints, and extract mutually exclusive edges according to the interlocking constraint positions.

[0046] In a preferred embodiment, the hierarchical temporal constraint matrix is ​​scanned row by row and column by column in a row-first, column-second manner. When a non-empty constraint position is found to have a sequential marker, the row node corresponding to that position is taken as the starting action unit and the column node as the ending action unit, generating a directed sequential edge. When a non-empty constraint position is found to have an interlock marker, the two corresponding action units are taken to generate a mutually exclusive edge. When two adjacent action units in the same action layer have empty positions in the hierarchical temporal constraint matrix, and there are no interlocking constraint edges between the two action units, and the interval between their action start times is not greater than the allowed parallel action interval for the current session, for example, 0.3 s, then the two action units are determined as parallel edges.

[0047] Parallel edges do not originate from a single non-empty position in the matrix, but rather from pairs of adjacent nodes in the same layer that have no sequential constraints and no interlocking constraints. In other words, parallel edges correspond to pairs of action units that can be executed in parallel within the same time period. For example, lighting action unit L2 and lighting action unit L3 belong to different stage lighting equipment, their illumination areas do not overlap, and their action start times are 21s and 21.1s respectively. Their corresponding positions in the lighting layer are empty, and there is no interlocking relationship between them, so they are extracted as a parallel edge. If lifting action unit G1 and safety check action unit S1 have interlocking markers recorded in their corresponding positions in the matrix, they are extracted as a mutually exclusive edge.

[0048] S2.2. Perform sequential comparison of directed sequential edges, parallel edges, and mutually exclusive edges; when the end time of the lifting action unit is later than the end time of the previous lighting action unit, and the start time of the subsequent lighting action unit is not earlier than the end time of the lifting action unit, the lifting action unit and the subsequent lighting action unit are identified as recovery edges; when the end time of the safety verification action unit is not earlier than the end time of the previous lifting action unit, and the start time of the subsequent lifting action unit is not earlier than the end time of the safety verification action unit, the safety verification action unit and the subsequent lifting action unit are identified as recovery edges, and the directed sequential edges, parallel edges, mutually exclusive edges, and recovery edges are summarized to generate a set of action relationship edges.

[0049] In this embodiment, the recovery edge refers to the reconnection relationship edge established when the subsequent blocked same-layer or cross-layer action units meet the connection time condition after a certain interlocked action unit ends. The function of the recovery edge is not to express a general sequential relationship, but to express the relationship of the action path interrupted by interlocking or verification being reconnected at a specific endpoint.

[0050] In this embodiment, the recovery edges are divided into two categories. The first type of recovery edge is the recovery edge from the lifting action unit to the next lighting action unit. That is, when there is a timing overlap between the previous lighting action unit and a certain lifting action unit, and the end time of the lifting action unit is later than the end time of the previous lighting action unit, and the start time of the next lighting action unit is not earlier than the end time of the lifting action unit, the lifting action unit and the next lighting action unit are determined as a recovery edge. The second type of recovery edge is the recovery edge from the safety verification action unit to the next lifting action unit. That is, when the end time of the safety verification action unit is not earlier than the end time of the previous lifting action unit, and the start time of the next lifting action unit is not earlier than the end time of the safety verification action unit, the safety verification action unit and the next lifting action unit are determined as a recovery edge.

[0051] Therefore, the recovery edge corresponds to the position where the action resumes after the safety boundary is released or the space occupancy is eliminated.

[0052] S2.3. Arrange the lighting action unit, lifting action unit and safety verification action unit in sequence according to the starting point and ending point of the action relationship edge set, and determine the order of appearance of the same action unit in the action relationship edge set as the action index position to generate the action index sequence.

[0053] In a preferred embodiment, the starting action units and ending action units of each edge in the action relationship edge set are registered sequentially in the order of their first appearance, and an action index position is assigned during registration; if an action unit has already been registered, a new position is not generated repeatedly, and only the position of the edge relationship where it appears again is recorded; the action index position represents the sequential position of an action unit in the current action relationship network, rather than the simple original time order.

[0054] For example, if the action relation edge set sequentially includes , , , , The action index sequence can then be denoted as: the first action is... The second place is The third place is The fourth place is The fifth place is The sixth place is ,in, and Although they are parallel edges, they still occupy adjacent positions in the action index sequence according to their first appearance order.

[0055] S2.4. Starting from the preceding action unit in the action index sequence, connect subsequent action units along directed forward and parallel edges; when connecting to the starting action unit of a mutual exclusion edge, stop the connection branch where the starting action unit is located; when connecting to the starting action unit of a recovery edge, determine the ending action unit of the recovery edge as the successor action unit, and continue to connect subsequent action units according to the action index position of the successor action unit in the action index sequence to generate a candidate linkage sequence.

[0056] In this embodiment, the preceding action unit in the action index sequence refers to the action unit that is earlier in the action index position in the action index sequence and has a directed forward edge, parallel edge, or recovery edge with the current action unit to be connected; the subsequent action unit in the connection of subsequent action units refers to the action unit that is after the preceding action unit in the action index sequence and can be reached by the preceding action unit along the directed forward edge, parallel edge, or recovery edge.

[0057] Furthermore, when generating candidate linkage sequences, the current unprocessed first position action unit is used as the starting point. The subsequent action units are first connected along the directed forward edges, and then the action units corresponding to the parallel edges are added in the same position interval. When the connection path encounters the starting action unit of a mutual exclusion edge, the branch is terminated and no further expansion is made along the branch. When the connection path encounters the starting action unit of a recovery edge, the original interrupted branch is not continued. Instead, the ending action unit of the recovery edge is used as the new successor action unit, and the connection continues from the action index position where the successor action unit is located.

[0058] For example, in a certain scene, the action relationship includes (mutually exclusive) (recover), Then from The candidate linkage sequence for departure can be expanded as follows , , , , ;in, Because of and The branch is stopped outside the original branch because of the existence of a mutually exclusive edge. Then, due to the restoration of the edge from The connection was obtained from the location.

[0059] It should be noted that while simple matrix constraint positions can reflect the relationships between actions, they still cannot directly indicate the order in which actions can be continued, where branches should stop, and where paths should be resumed, thus making it difficult to directly support linkage control orchestration. Through the above steps, directed sequential edges, parallel edges, mutually exclusive edges, and recovery edges can be clearly extracted from the hierarchical temporal constraint matrix, thereby establishing action index sequences and candidate linkage sequences, thus clarifying the action path expansion rules and defining the boundaries between blocked branches and recovery branches.

[0060] S3. Based on the link status characterized by link latency, packet loss count, and missing receipt count, determine the executable link segments from the candidate link sequences, including complete link segments, degraded link segments, and cached link segments. Then, form a link control sequence with critical lifting / lowering actions taking precedence over non-critical lighting actions. Note that the following should be noted in this step:

[0061] S3.1 Generate the link state sequence of the candidate linkage sequence based on the sending time, receipt arrival time, number of packet loss and number of receipt missing for each action unit in the candidate linkage sequence.

[0062] In a preferred embodiment, for each action unit in the candidate linkage sequence, the sending time, receipt arrival time, number of packet losses, and number of receipt missing times of the corresponding control message are collected, and the above four items of information are combined into a link status record according to the order of actions in the candidate linkage sequence; then, all link status records are arranged according to the order of actions in the candidate linkage sequence to generate a link status sequence; wherein, the sending time is the time when the stage master control server sends the action control message to the lighting control console or lifting equipment control cabinet, the receipt arrival time is the time when the corresponding control terminal returns the action confirmation receipt and is received by the stage master control server, the number of packet losses is the number of times the same action control message is not received by the control terminal during continuous retransmission, and the number of receipt missing times is the number of times the control terminal fails to send back the confirmation receipt as required during the execution of the action.

[0063] For example, if the candidate linkage sequence includes action units G2, L3, and L4, with transmission times of 26 s, 26.12 s, and 26.24 s respectively, receipt arrival times of 26.045 s, 26.430 s, and 0 respectively, packet loss counts of 0, 1, and 2 respectively, and receipt missing counts of 0, 0, and 1 respectively, then three link state records are generated accordingly, and the link state sequence is formed in this order.

[0064] S3.2. Perform sequential comparison of the link state sequence; when the delay between the sending time and the receipt arrival time of the continuous action unit meets the complete transmission condition, and the number of packet loss and receipt missing times of the continuous action unit are both zero, the continuous segment of all action units will be retained as a complete linkage segment; when there is a packet loss greater than zero or a receipt missing time greater than zero in the continuous action unit, and the receipt arrival times of the key lifting action are continuous, the continuous segment after retaining the key lifting action and removing the non-key lighting action that has a mutually exclusive edge with the key lifting action will be retained as a downgraded linkage segment; when there is a receipt missing time greater than zero in the continuous action unit, and the receipt arrival time of the non-key lighting action is interrupted, the continuous segment of the cached action units before the recovery edge endpoint action unit will be retained as a cached linkage segment.

[0065] It should be noted that the time delay between the sending time of the continuous action unit and the arrival time of the acknowledgment satisfies the complete transmission condition. Specifically, each action unit in the continuous action unit receives the acknowledgment within the allowable time delay set for the current session, and the allowable time delay adopts different thresholds for the lighting action unit and the lifting action unit.

[0066] In this embodiment, the complete transmission condition for the lighting action unit is set to a latency of less than or equal to 80 ms, the complete transmission condition for the lifting action unit is set to a latency of less than or equal to 120 ms, and the complete transmission condition for the safety verification action unit is set to a latency of less than or equal to 100 ms. The complete transmission condition also includes: the number of packet loss times for the continuous action units is zero and the number of missing receipt times is zero.

[0067] Specifically, key lifting actions refer to actions that involve the descent of the main scene, the lifting of the actor's platform, the entry of the main rigging, the exit of the main rigging, or actions directly related to personnel passage areas; non-key lighting actions refer to lighting actions that do not involve personnel safety or the positioning of the main scene, such as auxiliary coloring, background lighting, edge washing, and ambient lighting.

[0068] Furthermore, a complete linkage segment is a continuous action segment in which the link state is continuous and stable, all action units meet the complete transmission conditions, and there is no packet loss or missing receipts; a degraded linkage segment is a continuous action segment in which the link state has packet loss or missing receipts, but the receipt arrival time of the key lifting and lowering actions is continuous, so the key lifting and lowering actions are retained and the non-key lighting actions that have mutually exclusive edges with the key lifting and lowering actions are removed; a buffered linkage segment is a continuous action segment in which the receipt of non-key lighting actions in the link state is interrupted, and the recovery edge has not yet reached the continuation position, so all confirmed action units before the end action unit of the recovery edge are retained first.

[0069] S3.3. Perform segment start point comparison and segment end point comparison on complete linkage segments, downgraded linkage segments and cached linkage segments, and determine the linkage segments to be executed as the linkage segments whose segment start action unit is adjacent to the action index position of the currently executed action unit in the action index sequence.

[0070] S3.4 Prioritize the action units in the linkage segment to be executed, arrange the key lifting action before the non-key lighting action, and move the non-key lighting action that has a mutual exclusion edge with the key lifting action to the back, and generate the linkage control sequence.

[0071] In a preferred embodiment, critical lifting actions and non-critical lighting actions are first distinguished by action type, and then initially sorted by action index position from smallest to largest. In the initial sorting result, all critical lifting actions are moved forward before non-critical lighting actions. Then, the forward-moved sequence is checked one by one. When a non-critical lighting action is found to have a mutually exclusive edge with a critical lifting action in front, the non-critical lighting action is moved backward to the nearest position after the critical lifting action and no longer forms a mutually exclusive edge with it. If two critical lifting actions have simultaneous sequential edges, their sequential order remains unchanged. If two non-critical lighting actions have parallel edges, they are arranged in order of smaller original action index position. After the above processing, the linkage control sequence is obtained.

[0072] For example, a certain linkage segment to be executed includes L5, G3, L6, and G4, where G3 and G4 are both critical lifting and lowering actions. L5 and G3 have a mutual exclusion edge, while L6 and G4 do not have a mutual exclusion edge. The initial sorting result is L5, G3, L6, and G4. After priority adjustment, the linkage control sequence becomes G3, G4, L6, and L5. In this sequence, critical lifting and lowering actions are retained first, and non-critical lighting actions that have mutual exclusion edges with them are moved to the back, thereby reducing action conflicts.

[0073] S4. Using the action index sequence, the linkage control sequence is indexed and traced back to identify conflicting actions and either block or rearrange them, generating linkage control commands for the stage lighting equipment and lifting equipment. Note that the following points should be noted in this step:

[0074] S4.1. According to the position of the action index in the action index sequence, perform reverse comparison of each action unit in the linkage control sequence, and extract the directed front edge, mutual exclusion edge and recovery edge between the current action unit and the previous action unit.

[0075] In a preferred embodiment, the last action unit in the linkage control sequence is first taken as the current action unit, and then the preceding action units are taken in descending order of their action index positions as the preceding action units. The presence of directed edges, mutually exclusive edges, and recovery edges between the current action unit and each preceding action unit is checked item by item. After all the checks of the current action unit are completed, the second to last action unit in the linkage control sequence is taken as the new current action unit, and the above process is repeated until the first action unit is scanned.

[0076] It should be noted that reverse comparison is not a simple reverse traversal, but rather a backtracking check during the reverse traversal to see if the current action unit violates the constraints of the previously arranged action units. By adopting this method, conflicts caused by the insertion of subsequent actions, errors in resuming continuation, or failure to remove mutually exclusive actions can be detected first.

[0077] S4.2 When there is a mutual exclusion edge between the current action unit and the previous action unit, and the start time of the current action unit is earlier than the end time of the previous action unit, the current action unit is determined to be a conflicting action; when the current action unit is located at the end of the recovery edge, and the action index position of the previous action unit is located before the starting action unit of the recovery edge, the current action unit is determined to be a conflicting action.

[0078] S4.3. Perform type comparison on conflicting actions; when the conflicting action is a non-critical lighting action, delete the current position of the non-critical lighting action in the linkage control sequence; when the conflicting action is a critical lifting action, adjust the critical lifting action to the action index position after the preceding action unit.

[0079] In a preferred embodiment, the action layer to which the conflicting action belongs is first checked. If the action layer is a lighting action layer, the action type is further compared to see if it belongs to the main follow spot, the main character's spotlight, or the program's key light position. If it does not belong to the above types, it is determined to be a non-key lighting action. If the action layer to which the conflicting action belongs is a lifting action layer, the action type is further compared to see if it belongs to the main scene lifting, the support platform lifting, the main hoist positioning, or the actor's passage-related lifting. If it belongs to the above types, it is determined to be a key lifting action. After completing the type comparison, non-key lighting actions are processed by deleting their current position, and key lifting actions are processed by rearranging them to a legal succession position.

[0080] In this embodiment, the legal succession position refers to the first action index position that is located after the preceding action unit and does not conflict with the key lifting action with a new mutual exclusion edge or recovery edge. If there are multiple legal succession positions, the one with the smallest action index position is selected. This allows the key lifting action to be reserved first, while the source of conflict is mainly borne by non-key lighting actions.

[0081] S4.4. Rearrange the lighting action units and lifting action units in the linkage control sequence according to the adjusted action index position, generate the lighting control instructions for the stage lighting equipment and the lifting control instructions for the lifting equipment, and combine the lighting control instructions and the lifting control instructions as the linkage control instructions.

[0082] Specifically, firstly, all lighting action units are extracted from the adjusted linkage control sequence, rearranged in ascending order according to the adjusted action index position, and each lighting action unit is transcribed into a lighting control instruction. Each lighting control instruction includes at least the stage lighting equipment identifier, instruction issuance time, brightness level, color status, and duration. Secondly, all lifting action units are extracted from the adjusted linkage control sequence, rearranged in ascending order according to the adjusted action index position, and each lifting action unit is transcribed into a lifting control instruction. Each lifting control instruction includes at least the lifting equipment identifier, instruction issuance time, action direction, target position, and duration. Then, the lighting control instructions and lifting control instructions are merged according to their respective instruction issuance times. Different equipment instructions with the same instruction issuance time are grouped into the same batch of control groups, and control groups with different instruction issuance times are arranged in chronological order. Finally, the lighting control instructions and lifting control instructions are combined into a linkage control instruction.

[0083] The combination method is as follows: within the same batch of control groups, the lifting control commands are arranged first, followed by the lighting control commands; between different batches of control groups, the commands are arranged from smallest to largest according to the time of issuance; by adopting this combination method, key lifting actions can be given priority to enter the control bus when issued in the same batch.

[0084] For example, the stage is equipped with a main rigging device LG-01, an auxiliary rigging device LG-02, a front lighting device LX-01, and a background coloring device LX-02. The adjusted linkage control sequence is as follows: critical lifting action G5, critical lifting action G6, and non-critical lighting action L7. Specifically, G5 corresponds to the main rigging device LG-01 descending from a height of 8.0 m to a height of 2.5 m, with the command issued at 32 seconds and a duration of 3.5 seconds; G6 corresponds to the auxiliary rigging device LG-02 descending from a height of 7.5 m to a height of 3.0 m, with the command issued at 32.120 seconds and a duration of 3.2 seconds; L7 corresponds to the background coloring device LX-02 activating blue coloring at a brightness level of 65%, with the command issued at 35.5 seconds and a duration of 6 seconds. The original linkage control sequence also included the lighting action L8 of the surface lighting device LX-01, whose original command issuance time was 32.050s. However, since L8 and G5 have a mutual exclusion edge, and L8 is a non-critical lighting action, it was deleted in step S4.3. Based on the above adjustment results, the generated lighting control commands include: the first command is for device identifier LX-02, command issuance time is 35.5s, brightness level is 65%, color state is blue, and duration is 6s; the generated lifting control commands include: the first command is for device identifier LG-01, command issuance time is 32s, action direction is downward, target position is height 2.5 m, and running duration is 3.5s; the second command is for device identifier LG-02, command issuance time is 32.120s, action direction is downward, target position is height 3.0m. m, the running duration is 3.2s; the final combined linkage control commands are arranged in batches as follows: the first batch of control groups issues the main boom lifting control command at 32s; the second batch of control groups issues the auxiliary boom lifting control command at 32.12s; the third batch of control groups issues the background coloring light control command at 35.5s.

[0085] As can be seen from this example, during the descent of the main scene boom, the conflicting front lighting action is removed, and the background coloring action is postponed until after the lifting action is completed, so that the final output result has clear device number, time parameter and position parameter.

[0086] It should also be noted that even after link status filtering and priority adjustment, there may still be hidden conflicts in the linkage control sequence caused by incorrect recovery path connection, insertion of subsequent actions into the front row, or omission of mutually exclusive actions. If these conflicts are directly issued to the field equipment, there is still a risk of stage lights illuminating prematurely, lifting equipment entering restricted areas, or disorder in the order of critical actions. Through the above steps, the linkage control sequence can be traced back in reverse order according to the action index position to identify conflicting actions and distinguish between non-critical lighting actions and critical lifting actions. Then, these actions can be blocked or rearranged respectively, and finally, a linkage control command with a clear structure and a determined timing can be generated. This eliminates conflicting actions, prioritizes the retention of critical equipment actions, and provides clear and verifiable field control issuance results.

[0087] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for coordinated control of stage lighting and lifting equipment based on time-constraint analysis, characterized in that, include: Based on the stage lighting action set, lifting action set, and safety check action set, the action units are arranged according to the lighting action layer, lifting action layer, and safety check action layer, and a layered timing constraint matrix is ​​generated based on the start and end times of the actions, the equipment occupancy range, and the interlock boundary. The generation of the hierarchical timing constraint matrix includes: arranging each stage lighting action in the stage lighting action set into lighting action units according to the stage lighting equipment identifier, action start time, and action end time; arranging each lifting action in the lifting action set into lifting action units according to the lifting equipment identifier, action start time, and action end time; arranging each safety verification action in the safety verification action set into safety verification action units according to the safety verification object identifier, verification start time, and verification end time; and based on the stage lighting equipment identifier and illumination area of ​​the lighting action unit, the lifting equipment identifier and movement range of the lifting action unit, and the... The safety verification action unit identifies the safety verification object and verifies the boundary, generating an action unit occupancy table. Based on the start and end times of the actions of the lighting action unit, the lifting action unit, and the safety verification action unit, adjacent action units in the action unit occupancy table are judged for sequence, overlap, and interlocking, generating an action constraint edge set. The lighting action units are arranged into a lighting action layer, the lifting action units into a lifting action layer, and the safety verification action units into a safety verification action layer. The layered temporal constraint matrix is ​​generated by filling the inner-layer constraint positions and inter-layer constraint positions according to the action constraint edge set. Extract sequential edges, parallel edges, mutually exclusive edges, and recovery edges from the hierarchical temporal constraint matrix to generate action index sequences and candidate linkage sequences; The generation of the action index sequence includes: scanning the non-empty constraint positions in the hierarchical temporal constraint matrix according to the matrix row order and matrix column order, extracting directed sequential edges according to the constraint direction, extracting parallel edges according to adjacent constraint positions without sequential or interlocking constraints in the same layer, and extracting mutually exclusive edges according to the interlocking constraint positions; performing sequential comparison of the directed sequential edges, the parallel edges, and the mutually exclusive edges; when the end time of the lifting action unit is later than the end time of the previous lighting action unit, and the start time of the subsequent lighting action unit is not earlier than the end time of the lifting action unit, the lifting action unit and the subsequent lighting action unit are determined as recovery edges; When the end time of the safety verification action unit is not earlier than the end time of the previous lifting action unit, and the start time of the subsequent lifting action unit is not earlier than the end time of the safety verification action unit, the safety verification action unit and the subsequent lifting action unit are identified as recovery edges. The directed sequential edges, parallel edges, mutually exclusive edges, and recovery edges are summarized to generate an action relationship edge set. According to the start and end points of the edges in the action relationship edge set, the lighting action unit, lifting action unit, and safety verification action unit are arranged in sequence, and the order in which the same action unit appears in the action relationship edge set is determined as the action index position to generate an action index sequence. The generation of the candidate linkage sequence includes: starting from the preceding action unit in the action index sequence, connecting subsequent action units along the directed sequential edges and the parallel edges; when connecting to the starting action unit of the mutually exclusive edge, stopping the connection branch where the starting action unit is located; when connecting to the starting action unit of the recovery edge, determining the ending action unit of the recovery edge as the successor action unit, and continuing to connect subsequent action units according to the action index position of the successor action unit in the action index sequence to generate the candidate linkage sequence; Based on the link status characterized by link latency, number of packet loss, and number of missing receipts, the complete linkage segment, the downgraded linkage segment, and the cached linkage segment to be executed are determined from the candidate linkage sequence, and the linkage control sequence is formed with the critical lifting action being higher than the non-critical lighting action. The linkage control sequence is indexed and traced back using the action index sequence to identify conflicting actions and block or rearrange them, thereby generating linkage control instructions for stage lighting equipment and lifting equipment.

2. The stage lighting and lifting equipment linkage control method based on time-constraint analysis according to claim 1, characterized in that, The process of determining the order, overlap, and interlock of adjacent action units in the action unit occupancy table includes: According to the action start time in the action unit occupancy table, each action unit is arranged from small to large, and the previous action unit and the next action unit under the same device identifier are determined as adjacent action units, and the previous action unit and the next action unit under the same occupancy area are determined as adjacent action units. The start and end times of each adjacent action unit are compared; when the end time of one action unit is less than the start time of another action unit, the two action units that end first and start later are determined to be in a sequential relationship, and a directed sequential constraint edge is generated. The start and end times of the actions of each adjacent action unit are cross-compared; when the start time of one action unit is earlier than the end time of another action unit, and the start time of the other action unit is earlier than the end time of one action unit, the two action units are determined to be in an overlapping relationship, and a bidirectional overlapping constraint edge is generated. For adjacent action units that have overlapping or sequential relationships, interlock comparison is performed by combining the equipment identifier, occupied area, movement range, and verification boundary in the action unit occupancy table. When two action units occupy the same equipment, or the movement range of the lifting action unit enters the illumination area of ​​the stage lighting action unit, or the movement range of the lifting action unit crosses the verification boundary of the safety verification action unit, the two action units are determined to be interlocked, and interlock constraint edges are generated. The directed sequential constraint edges, the bidirectional overlapping constraint edges, and the interlock constraint edges are summarized to generate a set of action constraint edges.

3. The stage lighting and lifting equipment linkage control method based on time-constraint analysis according to claim 1, characterized in that, The filling of intra-layer constraint positions and inter-layer constraint positions based on the action constraint edge set includes: The lighting action unit, the lifting action unit, and the safety verification action unit are respectively used as matrix row nodes and matrix column nodes, and arranged in ascending order of the start time of the action as lighting layer node sequence, lifting layer node sequence, and verification layer node sequence; For any two light action units in the light layer node sequence, fill the constraint positions within the light layer according to the action constraint edge set; for any two lifting action units in the lifting layer node sequence, fill the constraint positions within the lifting layer according to the action constraint edge set; for any two safety verification action units in the verification layer node sequence, fill the constraint positions within the verification layer according to the action constraint edge set. For the action units between the light layer node sequence and the rising and falling layer node sequence, the action units between the rising and falling layer node sequence and the verification layer node sequence, and the action units between the light layer node sequence and the verification layer node sequence, fill the inter-layer constraint positions according to the action constraint edge set; The constraint positions within the lighting layer, the constraint positions within the rising and falling layers, the constraint positions within the verification layer, and the constraint positions between layers are combined into a block matrix to generate a hierarchical temporal constraint matrix.

4. The stage lighting and lifting equipment linkage control method based on time-constraint analysis according to claim 1, characterized in that, The determination of the linked segment to be executed includes: Based on the sending time, receipt arrival time, number of packet losses, and number of receipt missing times corresponding to each action unit in the candidate linkage sequence, a link state sequence of the candidate linkage sequence is generated. The link state sequence is compared sequentially. When the delay between the sending time and the receipt arrival time of a continuous action unit meets the complete transmission condition, and the number of packet loss and receipt missing times of the continuous action unit are both zero, the continuous segment of all action units is retained as a complete linkage segment. When there is a packet loss or receipt missing time greater than zero in a continuous action unit, and the receipt arrival times of key lifting actions are continuous, the continuous segment after retaining the key lifting action and removing non-key lighting actions that have mutually exclusive edges with the key lifting action is retained as a downgraded linkage segment. When there is a receipt missing time greater than zero in a continuous action unit, and the receipt arrival time of non-key lighting actions is interrupted, the continuous segment of cached action units before the recovery edge endpoint action unit is retained as a cached linkage segment. The complete linkage segment, the downgraded linkage segment, and the cached linkage segment are compared at the segment start point and the segment end point. The segment whose segment start action unit's action index position in the action index sequence is immediately adjacent to the action index position of the currently executing action unit is determined as the linkage segment to be executed.

5. The stage lighting and lifting equipment linkage control method based on time-constraint analysis according to claim 4, characterized in that, The formation of the linkage control sequence includes: The action units in the linkage segment to be executed are prioritized, with key lifting actions placed before non-key lighting actions, and non-key lighting actions that are mutually exclusive with the key lifting actions are moved to the back, thus generating a linkage control sequence.

6. The stage lighting and lifting equipment linkage control method based on time-constraint analysis according to claim 1, characterized in that, The determination of the conflicting action includes: According to the action index position in the action index sequence, each action unit in the linkage control sequence is compared in reverse order, and the directed sequential edge, mutual exclusion edge and recovery edge between the current action unit and the previous action unit are extracted. When there is a mutual exclusion edge between the current action unit and the preceding action unit, and the start time of the current action unit is earlier than the end time of the preceding action unit, the current action unit is determined to be a conflicting action; when the current action unit is located at the end of the recovery edge, and the action index position of the preceding action unit is located before the starting action unit of the recovery edge, the current action unit is determined to be a conflicting action.

7. The stage lighting and lifting equipment linkage control method based on time-constraint analysis according to claim 6, characterized in that, The generation of the linkage control command includes: The conflicting actions are compared by type; when the conflicting action is a non-critical lighting action, the current position of the non-critical lighting action in the linkage control sequence is deleted; when the conflicting action is a critical lifting action, the critical lifting action is adjusted to the action index position after the preceding action unit. The lighting action units and lifting action units in the linkage control sequence are rearranged according to the adjusted action index position, and lighting control instructions for stage lighting equipment and lifting control instructions for lifting equipment are generated. The lighting control instructions and the lifting control instructions are then combined as the linkage control instructions.

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