A control method and system for stage equipment

Abstract

The application discloses a stage equipment control method and system, comprising: establishing a global space coordinate system with the starting point of a slide rail as the origin and calibrating static coordinates and geometric center coordinates; collecting pressure distribution data and motion characteristic sets in real time; performing Fourier transform on the pressure distribution data to generate a smooth swing length, and obtaining a center of gravity offset and an offset direction of the audience; generating a safety area according to the motion speed and the smooth swing length, and generating a vertex coordinate sequence according to the center of gravity offset and the offset direction; publishing the vertex coordinate sequence to each peripheral equipment based on a publish-subscribe mechanism, obtaining a check distance of each peripheral equipment and the safety area boundary; comparing the check distance with a preset early warning threshold and an emergency threshold to generate a control instruction; and performing differentiated control on the mobile platform based on the control instruction. The application realizes unified safety interlocking of the mobile platform and the peripheral equipment, and solves the safety problems caused by the high center of gravity of standing audience, edge gathering and individual inertia difference.

Description

Technical Field

[0001] This invention relates to the field of stage control technology, and in particular discloses a control method and system for stage equipment. Background Technology

[0002] In recent years, a new performance format has emerged in modern performance settings such as immersive theaters, large-scale cultural performances, and theme parks: audience members stand on a stage platform that moves automatically along a track. This platform, according to the performance choreography, carries the audience between different performance areas. During the platform's movement, various peripheral devices are distributed along its path, including lifting doors that need to open to allow the platform to pass, suspended props that need to be raised to avoid collisions, and lifting platforms that need to be lowered to ground level. Precise coordination and control between these peripheral devices and the moving platform are required to ensure the safe and smooth running of the performance. However, existing stage equipment control systems mainly adopt a hierarchical control structure, sending control commands to lower-level actuators via protocols such as DMX512, Art-Net, or EtherCAT. This traditional control architecture has several technical limitations when applied to moving platforms carrying standing audience members.

[0003] First, there is a lack of unified safety interlocking logic between the mobile platform and peripheral equipment. In actual performance systems, the control system of the mobile platform is often independent of the control systems of peripheral equipment such as lifting doors, suspended props, and lifting platforms, controlled by different subsystems or equipment from different manufacturers. When the mobile platform moves along the track, there is a lack of a unified coordination mechanism for controlling the safe distance between it and the peripheral equipment. The position information of the mobile platform and the status information of the peripheral equipment belong to different control domains, making real-time data fusion and sharing impossible. More importantly, the communication protocols between different devices are different. The mobile platform usually uses the real-time Ethernet protocol, while traditional peripheral equipment uses one-way publishing or slow scanning communication methods, making direct real-time bidirectional interaction impossible. In addition, the existing stage control system lacks a unified spatial reference benchmark. The position of the mobile platform is based on its own encoder readings, while the peripheral equipment uses its own installation coordinates as a benchmark. The lack of a unified coordinate system correlation between the two leads to cumulative errors in distance calculation. Therefore, when the mobile platform approaches the lifting door at high speed, there is a dangerous situation where the door is not fully open before the mobile platform has arrived in front of it, posing a serious safety hazard.

[0004] Secondly, existing technologies typically do not adequately consider the unique behavioral characteristics of standing audience members. Unlike traditional performances where audiences are seated, immersive theaters often use moving platforms to support standing audience members. Standing audience members have a higher center of gravity and are significantly less tolerant of acceleration and deceleration than seated audience members. The center of gravity of a standing person is approximately 0.55 times their height, with adults typically having a center of gravity between 0.9 and 1.1 meters. When the moving platform brakes suddenly at a certain deceleration, the center of gravity of a standing audience member will shift forward by several centimeters, easily leading to a fall. However, existing stage equipment control methods usually set the acceleration and deceleration of the moving platform based on the equipment's mechanical performance, without considering the physiological limitations of the standing audience under this specific load. Furthermore, audience members are not evenly distributed on the moving platform but naturally tend to cluster at its edges for a better viewing experience. Existing safety control methods typically assume a uniform load distribution on the moving platform, with the safety zone symmetrically generated around the platform's geometric center. However, in actual performances, audiences tend to flock to the side closer to the stage, resulting in a significantly higher load density at the edge of the mobile platform compared to the center. This edge-gathering behavior makes the edge of the mobile platform a high-risk area, and there is currently no control method in the technology that can dynamically adjust the shape of the safe area according to the actual distribution of the audience.

[0005] Finally, existing technologies often fail to accommodate the varying inertial responses of different audience groups. When the moving platform accelerates or decelerates, standing audience members experience a shift in their center of gravity due to inertia; for example, the center of gravity shifts forward when the platform decelerates and backward when it accelerates. The magnitude of this inertial shift depends on several individual factors, including the audience member's height (determining center of gravity height), weight (determining the magnitude of the inertial force), standing posture (determining stability margin), and whether they are moving. Existing technologies typically employ a passive, conservative strategy for inertial protection of standing individuals, simply limiting the maximum acceleration or deceleration of the moving platform to a low, safe value. The limitation of this approach lies in the significant differences in physical characteristics among different audience groups. A performance may simultaneously include adults, children, and the elderly, whose center of gravity height and weight vary, resulting in drastically different responses to the same deceleration. A fixed deceleration limit cannot accommodate these individual differences. Furthermore, the audience's standing posture changes in real time; some audience members may move, turn, or adjust their standing position during the platform's movement. These actions alter their current stable state, changes that existing technologies cannot detect. While passively limiting acceleration and deceleration is conservative and safe, it severely restricts the motion performance of the mobile platform. To meet safety requirements in the most extreme situations, the mobile platform can only move at extremely low speeds, which directly affects the rhythm of the performance and the audience's immersive experience.

[0006] In summary, existing stage equipment control technologies, when applied to mobile platforms carrying standing audience members, suffer from three interconnected technical problems: a lack of unified safety interlocks between the mobile platform and surrounding equipment; failure to consider the unique behavioral characteristics of standing audience members; and inability to adapt to differences in the inertial response of different audience groups. Therefore, there is an urgent need in this field for a stage equipment control method and system that can incorporate the mobile platform and surrounding equipment into a unified safety interlock architecture, while simultaneously sensing audience distribution and dynamic characteristics in real time and dynamically adjusting safety control parameters accordingly. Summary of the Invention

[0007] The purpose of this invention is to provide a control method and system for stage equipment. This method establishes a unified safety interlock logic between the mobile platform and various peripheral devices, solving the problem of missing real-time safety distance control caused by independent control systems, heterogeneous communication protocols, and a lack of a unified spatial reference. It can also perceive the distribution characteristics and edge-gathering behavior of standing audience members on the mobile platform in real time, addressing safety zone design defects caused by the audience's high center of gravity, low tolerance, and uneven load distribution. Furthermore, it can identify differences in inertial response among different audience groups and compensate for center of gravity shifts during the acceleration and deceleration of the mobile platform, resolving the passive conservative control problem caused by differences in individual height, weight, and posture that cannot be protected by a unified model. Thus, while ensuring the continuity of the performance, it achieves synergistic optimization of the mobile platform's motion performance and audience safety protection, and maintains stable control accuracy during long-term operation.

[0008] To achieve the above objectives, a first aspect of the present invention provides a method for controlling stage equipment, comprising: S1 When the mobile platform is at the starting position on the slide rail, a global spatial coordinate system is established with the starting position of the slide rail as the origin, and the static coordinates of each peripheral device relative to the origin and the geometric center coordinates of the encoder relative to the origin are calibrated based on the global spatial coordinate system. After the mobile platform moves along the slide rail, the pressure distribution data on the surface of the mobile platform and the motion feature set of the mobile platform are collected in real time. The motion feature set includes at least the motion speed and motion direction of the mobile platform. S3 performs a Fourier transform on the pressure distribution data to generate a smooth pendulum length, and obtains the center of gravity offset and offset direction of the audience on the moving platform based on the geometric center coordinates, pressure distribution data and direction of motion. S4 generates a safe zone based on the motion speed and smooth pendulum length, and generates a vertex coordinate sequence corresponding to the safe zone based on the center of gravity offset and offset direction; S5 publishes the vertex coordinate sequence to each peripheral device based on the publish-subscribe mechanism, and obtains the verification distance between each peripheral device and the boundary of the safe area; S6 compares the verification distance with the preset warning threshold and emergency threshold of each peripheral device, generates corresponding control commands based on the comparison results, and controls the peripheral devices in a differentiated manner; S7 performs differentiated control on the mobile platform based on the control commands.

[0009] In one embodiment of the present invention, the pressure distribution data includes at least the pressure values ​​collected by each pressure monitoring point on the mobile platform and the pressure point coordinates of each pressure monitoring point relative to the origin in the global spatial coordinate system. Step S3 includes: S301 calculates the centroid coordinates of the audience distribution on the mobile platform based on the weighted average of the pressure value and pressure point coordinates; S302 acquires a pressure value sequence composed of pressure values ​​corresponding to each pressure monitoring point within a preset time window, and performs a Fourier transform on the pressure value sequence to generate the overall swing frequency of the audience on the mobile platform. S303 calculates the equivalent pendulum length of the audience based on the overall oscillation frequency; S304 obtains the center of gravity offset of the audience on the moving platform and the offset direction relative to the direction of movement based on the distributed centroid coordinates and geometric center coordinates, and performs first-order low-pass filtering on the equivalent pendulum length to generate a smooth pendulum length.

[0010] In one embodiment of the present invention, step S4 includes: S401 calculates the basic safety distance required for emergency braking of the mobile platform based on the movement speed, the load of the mobile platform and the smooth swing length. S402 calculates and obtains the warning zone extension distance and the emergency zone extension distance based on the smooth pendulum length, the basic safety distance and the center of gravity offset, respectively. S403 generates a safe zone based on the extension distance of the warning zone and the extension distance of the emergency zone. The safe zone includes a warning zone and an emergency zone. The warning zone is formed based on the extension distance of the warning zone as the radius of the geometric center coordinates, and the emergency zone is formed based on the extension distance of the emergency zone as the radius of the geometric center coordinates. S404 compares the center of gravity offset with a preset offset threshold, and determines whether to calculate the one-sided expansion distance of the safety zone based on the center of gravity offset and the offset direction based on the comparison result. S405 generates a sequence of vertex coordinates corresponding to the safe area based on the judgment result.

[0011] In one embodiment of the present invention, in step S405, Given the calculation of the unilateral extension distance, a sequence of vertex coordinates of an asymmetric polygonal safety area is generated based on the geometric center coordinates, the warning zone extension distance, the emergency zone extension distance, and the unilateral extension distance, with the warning zone extension distance, the emergency zone extension distance, and the unilateral extension distance as the center. In the absence of calculating the unilateral extension distance, a sequence of vertex coordinates of a symmetrical polygonal safety area is generated based on the extension distances of the warning zone and the emergency zone, with the geometric center coordinates as the center.

[0012] In one embodiment of the present invention, step S5 includes: S501 encapsulates the vertex coordinate sequence into a data frame at a preset frequency and publishes the data frame to various peripheral devices based on real-time Ethernet; S502 calculates and obtains the minimum distance between each peripheral device and the safety zone based on the data frame and static coordinates; S503 performs cross-validation on the minimum distance to obtain the validation distance.

[0013] In one embodiment of the present invention, if the warning threshold is greater than the emergency threshold, in step S6, If the verification distance is less than the warning threshold but greater than the emergency threshold, control the surrounding device corresponding to the verification distance to trigger the warning state and generate a deceleration command containing the first deceleration value to be sent to the mobile platform. If the verification distance is less than or equal to the emergency threshold, control the peripheral device corresponding to the verification distance to perform an emergency lock and generate an emergency braking command containing a second deceleration value to be sent to the mobile platform. If the verification distance is greater than or equal to the warning threshold, a maintenance command is generated and sent to the mobile platform to maintain the current motion of the mobile platform.

[0014] In one embodiment of the present invention, in step S7, if the control command is a deceleration command or an emergency braking command, Based on the smoothed pendulum length and the first or second deceleration value, the expected offset of the audience's center of gravity is calculated. Based on the type of the mobile platform, a reverse compensation instruction corresponding to the mobile platform type is generated in combination with the expected offset. The reverse compensation command and the deceleration command or emergency braking command are executed synchronously in time.

[0015] In one embodiment of the present invention, when the control command is a deceleration command or an emergency braking command, after step S7, when the verification distance between each peripheral device and the boundary of the safe area is greater than the warning threshold and the continuous stable time reaches the preset time threshold, a resumption operation command is sent to the mobile platform.

[0016] In one embodiment of the present invention, in step S303, the formula for calculating the equivalent pendulum length of the audience is as follows:

[0017] in, The equivalent pendulum length for the audience reflects the average center of gravity height of each audience member on the mobile platform. It is the acceleration due to gravity. The overall sway frequency of the audience is obtained through analysis of a pressure sensor array.

[0018] A second aspect of the present invention provides a control system for stage equipment, used to execute the control method of the stage equipment described above, comprising: The coordinate system construction module is used to establish a global spatial coordinate system with the starting position of the slide rail as the origin when the mobile platform is at the starting position on the slide rail, and to calibrate the static coordinates of each peripheral device relative to the origin and the geometric center coordinates of the encoder relative to the origin based on the global spatial coordinate system. The data acquisition module is used to collect pressure distribution data on the surface of the mobile platform and motion feature set of the mobile platform in real time after the mobile platform moves along the slide rail. The motion feature set includes at least the motion speed and motion direction of the mobile platform. The data processing module is used to perform Fourier transform on the pressure distribution data to generate a smooth pendulum length, and to obtain the center of gravity offset and offset direction of the audience on the moving platform based on the geometric center coordinates, pressure distribution data and motion direction. The safe zone definition module is used to generate a safe zone based on the motion speed and smooth pendulum length, and to generate a vertex coordinate sequence corresponding to the safe zone based on the center of gravity offset and offset direction; The distance verification module is used to publish the vertex coordinate sequence to each peripheral device based on a publish-subscribe mechanism, and obtain the verification distance between each peripheral device and the boundary of the safe area; The instruction generation module is used to compare the verification distance with the preset warning threshold and emergency threshold of each peripheral device, generate corresponding control instructions based on the comparison results, and control the peripheral devices in a differentiated manner. A motion control module is used to perform differentiated control on the mobile platform based on the control commands.

[0019] By establishing a global spatial coordinate system and calibrating the static coordinates of each peripheral device and the geometric center coordinates of the mobile platform, the distance calculation between the mobile platform and each peripheral device is performed under a unified spatial reference, solving the problem of safety distance calculation errors caused by coordinate system separation. By generating a dynamic safety zone that moves with the mobile platform and publishing it to each peripheral device in real time via a publish-subscribe mechanism, each peripheral device can synchronously perceive the safety boundary of the mobile platform, solving the information silo problem caused by an independent control system. By comparing the verification distance with warning and emergency thresholds to generate differentiated control commands, a unified safety interlock logic is established between the mobile platform and each peripheral device, solving the problem of not being able to achieve real-time safety distance control. By collecting audience pressure distribution data in real time using a pressure sensor array and calculating the center of gravity offset, the safety zone can be dynamically adjusted to an asymmetrical shape according to the actual distribution of the audience, solving the problem of insufficient safety protection when the audience gathers at the edge of the mobile platform. By performing a Fourier transform on the pressure distribution data to generate the overall oscillation frequency and inverting the equivalent pendulum length, the system can obtain the average center of gravity height of the current audience group in real time, solving the problem of not being able to perceive the differences in inertial response among audiences of different heights. By calculating the expected offset based on the equivalent pendulum length and deceleration value, and generating a reverse compensation command that is simultaneously superimposed with an emergency braking command, the mobile platform can actively counteract the inertial shift of the audience's center of gravity during braking, thus solving the problem of limited motion performance of the mobile platform caused by passively limiting deceleration.

[0020] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 The schematic diagram illustrates a flow chart of a control method for stage equipment according to an embodiment of the present invention; Figure 2 This schematic diagram illustrates the structural block diagram of a stage equipment control system according to an embodiment of the present invention; Explanation of icon numbers: 100. Control system for stage equipment; 10. Coordinate system construction module; 20. Data acquisition module; 30. Data processing module; 40. Safe zone definition module; 50. Distance verification module; 60. Instruction generation module; 70. Motion control module. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustrating and explaining the embodiments of the present invention and are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this invention all comply with relevant laws and regulations. In the embodiments of this invention, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this invention, and do not imply that the applicant has already used or necessarily used such solutions.

[0024] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0025] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0026] like Figure 1 As shown, an embodiment of the present invention provides a control method for stage equipment, which may include the following steps: When the mobile platform is at the starting position on the slide rail, the starting position of the slide rail is used as the origin to establish a global spatial coordinate system, and the static coordinates of each peripheral device relative to the origin and the geometric center coordinates of the encoder relative to the origin are calibrated based on the global spatial coordinate system.

[0027] After the mobile platform moves along the slide rail, the pressure distribution data on the surface of the mobile platform and the motion feature set of the mobile platform are collected in real time. The motion feature set includes at least the motion speed and motion direction of the mobile platform.

[0028] S3 performs a Fourier transform on the pressure distribution data to generate a smooth pendulum length, and obtains the center of gravity offset and offset direction of the audience on the moving platform based on the geometric center coordinates, pressure distribution data, and direction of motion.

[0029] S4 generates a safe zone based on the motion speed and smooth pendulum length, and generates a vertex coordinate sequence corresponding to the safe zone based on the center of gravity offset and offset direction.

[0030] S5 publishes the vertex coordinate sequence to each peripheral device based on the publish-subscribe mechanism, and obtains the verification distance between each peripheral device and the boundary of the safe area.

[0031] S6 compares the verification distance with the preset warning threshold and emergency threshold of each peripheral device, generates corresponding control commands based on the comparison results, and controls the peripheral devices in a differentiated manner.

[0032] S7 performs differentiated control on the mobile platform based on the control commands.

[0033] Specifically, when the mobile platform is docked at the starting position of the slide rail, the spatial position of the fixed zero-point calibration block at the starting end of the slide rail is defined as the origin of the global spatial coordinate system, establishing a three-dimensional rectangular coordinate system covering the entire performance area. The zero-point calibration block is a metal boss, fixedly installed on the ground embedded part at the starting end of the slide rail. The spatial position of the zero-point calibration block is determined by engineering surveying during slide rail installation and permanently fixed. A laser rangefinder sensor is installed at the corresponding position on the bottom of the mobile platform. When the mobile platform moves to the starting end of the slide rail, the sensor interacts with the zero-point calibration block, triggering a zero-calibration signal, resetting the encoder reading to zero. The setting of the zero-point calibration block ensures that the position measurement of the mobile platform starts from the same reference every time the system starts, eliminating the influence of encoder cumulative error on the position measurement accuracy. Based on this coordinate system, a laser rangefinder or total station is used to measure the three-dimensional coordinates of key points of each peripheral device relative to the origin, and stored in the controller as static coordinates. At the same time, the coordinates recorded by the encoder at the geometric center of the mobile platform are calibrated as the geometric center coordinates. The encoder is actually installed on the drive wheel axle or motor output shaft of the mobile platform, rather than precisely at the platform's geometric center. Since the relative position between the encoder mounting point and the platform's geometric center is precisely determined during platform manufacturing, the fixed offset between them is a known constant. Therefore, the instantaneous position coordinates read by the encoder in real time can be superimposed with this fixed offset to calculate the real-time geometric center coordinates of the platform in the global spatial coordinate system. This operation ensures that the mobile platform and all surrounding equipment describe their spatial positions in a unified coordinate system, providing a spatially consistent basis for subsequent distance calculations. Data acquisition continues as the mobile platform moves along the slide rail. The encoder calculates the instantaneous position, velocity vector, and direction of motion of the mobile platform's geometric center in the global spatial coordinate system using a kinematic model. Simultaneously, a distributed pressure sensor array on the surface of the mobile platform collects pressure values ​​at each pressure monitoring point at a frequency of at least 50Hz. The spatial position of each pressure monitoring point is converted from its relative coordinates in the mobile platform's own coordinate system to global coordinates by combining the instantaneous position of the mobile platform. The pressure distribution data and motion feature set obtained in this operation provide raw data input for subsequent audience behavior analysis and safety zone calculation. Based on the collected pressure distribution data, signal processing operations extract the dynamic parameters of the audience group. A sliding window Fourier transform is performed on the time series of each pressure monitoring point to extract the dominant frequency of pressure fluctuations. The overall swaying frequency of the audience is obtained by weighting the pressure values ​​at each point. The equivalent pendulum length is derived from the simple pendulum period formula to reflect the average center of gravity height of the audience. Simultaneously, a weighted average of the pressure values ​​and global coordinates at each pressure monitoring point is performed to calculate the center of gravity coordinates of the audience group's pressure distribution. The difference between these coordinates and the geometric center coordinates of the moving platform yields the center of gravity offset and the offset azimuth angle relative to the direction of motion. A first-order low-pass filter is applied to the equivalent pendulum length to eliminate instantaneous fluctuation interference, generating smoothed pendulum length parameters. A dynamic protection boundary is constructed based on the motion speed and the smoothed pendulum length to generate a safety zone.The basic safety distance required for emergency braking is calculated based on the movement speed, mobile platform load, and smooth swing length. A spectator factor correction coefficient is introduced, and the extension distances of the warning zone and emergency zone are calculated based on the smooth swing length and center of gravity offset, respectively. Circular warning and emergency zones are defined with the geometric center of the mobile platform as the center and the distance as the radius, with the warning zone completely surrounding the emergency zone. When the center of gravity offset exceeds a preset offset threshold, the unilateral extension distance is calculated in the offset direction, modifying the circular area into an asymmetric polygon to provide a larger buffer space on the offset side. The final output is the coordinate sequence of the safety zone boundary vertices in the global spatial coordinate system. Communication and distance verification operations utilize a publish-subscribe architecture for real-time data distribution. Decision and control command generation operations respond in stages based on the comparison results between the verified distance and preset warning and emergency thresholds. When the verified distance is between the warning and emergency thresholds, the device is determined to have entered the warning zone. When the verified distance is less than or equal to the emergency threshold, the device is determined to have entered the emergency zone. When the verified distance recovers to above the warning threshold, a maintenance command is sent to maintain the current movement state of the mobile platform. Motion control operations perform differentiated speed adjustments on the mobile platform. Upon receiving a deceleration or emergency braking command, the deceleration value is first extracted from the command, and the expected shift of the audience's center of gravity is calculated by combining it with the smoothed pendulum length. A corresponding reverse compensation command is generated based on the type of moving platform. For six-degree-of-freedom moving platforms, a backward tilt command is generated, with the tilt angle calculated by dividing the shift by the average center of gravity height. For ordinary track-type moving platforms, a reverse horizontal displacement pulse is generated, with the displacement of the reverse horizontal displacement pulse obtained by multiplying the expected shift by a scaling factor. The reverse compensation command and the emergency braking command are strictly synchronized in time and executed simultaneously by the servo drive system, actively counteracting the inertia's effect on the audience's center of gravity shift while the moving platform decelerates. When the verification distance of all surrounding equipment exceeds the warning threshold and the stable duration reaches a preset value, a resumption command is sent to the moving platform.

[0034] In some embodiments of the present invention, the pressure distribution data includes at least the pressure values ​​collected by each pressure monitoring point on the mobile platform and the pressure point coordinates of each pressure monitoring point relative to the origin in the global spatial coordinate system. Step S3 may include: S301 calculates the centroid coordinates of the audience distribution on the mobile platform based on the weighted average of the pressure value and pressure point coordinates.

[0035] S302 acquires a pressure value sequence composed of pressure values ​​corresponding to each pressure monitoring point within a preset time window, and performs a Fourier transform on the pressure value sequence to generate the overall swing frequency of the audience on the mobile platform.

[0036] S303 calculates the equivalent pendulum length of the audience based on the overall oscillation frequency.

[0037] S304 obtains the center of gravity offset of the audience on the moving platform and the offset direction relative to the direction of movement based on the distributed centroid coordinates and geometric center coordinates, and performs first-order low-pass filtering on the equivalent pendulum length to generate a smooth pendulum length.

[0038] Specifically, in the complete process of extracting dynamic parameters such as the smoothed pendulum length of the audience on the moving platform from the raw pressure distribution data, it is first necessary to determine the instantaneous distribution center of gravity coordinates of the audience on the moving platform. Each pressure monitoring point integrated on the moving platform can collect pressure values, and the coordinates of the installation position of each pressure monitoring point in the global spatial coordinate system are also known constants, so the pressure point coordinates can be obtained. Subsequently, the pressure values ​​and pressure point coordinates are processed separately using a weighted average algorithm to obtain the abscissa and ordinate of the distribution center of gravity coordinates. The calculation formula is as follows:

[0039]

[0040] Among them, in the molecule This represents the weight of the audience that the pressure monitoring point can withstand. and These represent the position of the point in space, and the denominator... This represents the total load on the mobile platform. This calculation is used to synthesize discrete tactile information into a continuous spatial point. For example, when the pressure values ​​detected by the pressure sensors on the right side of the mobile platform are generally higher than those on the left, the calculated center of gravity coordinates will inevitably be biased to the right. This provides a quantitative benchmark for subsequently determining whether the audience is biased towards the edge of the mobile platform.

[0041] Next, the natural swaying frequency of the audience is extracted. Since the human body sways periodically due to breathing and muscle micro-adjustments when standing, this process first captures continuous pressure readings from each pressure monitoring point within a preset time window, forming a time series. Then, a Fast Fourier Transform is performed on each series to find the frequency with the largest amplitude, which is taken as the dominant frequency for that pressure monitoring point. Considering that heavier audience members have a more significant impact on the safety of the mobile platform, the algorithm uses the real-time pressure values ​​of each pressure monitoring point as weights to calculate a weighted average of all dominant frequencies. The calculation formula is as follows:

[0042] in, The primary frequency of the pressure monitoring point is used to ultimately output a single frequency value representing the entire audience. The significance of performing this transformation lies in converting the chaotic pressure fluctuations in the time domain into clear frequency characteristics in the frequency domain, thereby enabling the quantification of the audience's height characteristics.

[0043] Subsequently, the frequency parameter is converted into the equivalent pendulum length. Since a standing human body can be abstracted into a physical pendulum model, the height of the center of gravity is inversely proportional to the square of the oscillation frequency. Therefore, the easily measurable frequency parameter can be converted into the center of gravity height parameter, which is difficult to measure directly, providing a key input for subsequent inertial compensation.

[0044] Finally, the direction of the audience's center of gravity offset relative to the moving platform is calculated, and the equivalent pendulum length is smoothed. The offset direction is obtained by comparing the difference between the coordinates of the distributed center of gravity and the coordinates of the geometric center of the moving platform. The method for determining the offset direction is as follows: Using the direction of movement of the moving platform as the forward direction, establish the platform's own coordinate system. When the x-coordinate of the distributed center of gravity is greater than the x-coordinate of the platform's geometric center, the audience's center of gravity is determined to be offset to the right of the platform. Otherwise, it is offset to the left. When the y-coordinate of the distributed center of gravity is greater than the y-coordinate of the platform's geometric center, the audience's center of gravity is determined to be offset forward of the platform; otherwise, it is offset backward. The center of gravity offset is the Euclidean distance between the distributed center of gravity and the platform's geometric center. Because the instantaneous swaying of the audience will cause the original calculated values ​​to fluctuate drastically, a first-order low-pass filter needs to be applied to the equivalent pendulum length. The calculation formula is:

[0045] in, These are the filter coefficients, with values ​​ranging from 0 to 1. Given the original equivalent pendulum length at the current moment, This is the filtered output value from the previous moment. The significance of this processing is to eliminate high-frequency noise components, so that the output smooth pendulum length parameter can stably reflect the average height characteristics of the audience, and avoid malfunctions in the control system due to parameter jumps.

[0046] In some embodiments of the present invention, step S4 may include: S401 calculates the basic safety distance required for emergency braking of the mobile platform based on the movement speed, the load of the mobile platform, and the smooth swing length.

[0047] S402 calculates and obtains the warning zone extension distance and the emergency zone extension distance based on the smooth pendulum length, the basic safety distance, and the center of gravity offset, respectively.

[0048] S403 generates a safe zone based on the extension distance of the warning zone and the extension distance of the emergency zone. The safe zone includes a warning zone and an emergency zone. The warning zone is formed based on the extension distance of the warning zone as the radius of the geometric center coordinates, and the emergency zone is formed based on the extension distance of the emergency zone as the radius of the geometric center coordinates.

[0049] S404 compares the center of gravity offset with a preset offset threshold, and determines whether to calculate the one-sided expansion distance of the safety zone based on the center of gravity offset and the offset direction based on the comparison result.

[0050] S405 generates a sequence of vertex coordinates corresponding to the safe area based on the judgment result.

[0051] Specifically, in the process of generating a dynamic safety zone, the first step is to collect the load of the moving platform using a pressure sensor array. The sum of the pressure values ​​at each pressure monitoring point output by the pressure sensor array in real time is the instantaneous load of the moving platform. However, this instantaneous value can fluctuate drastically due to dynamic behaviors such as walking, jumping, and sitting down. For example, when a spectator walks on the platform, the pressure value at the pressure monitoring point corresponding to one foot drops to near zero the instant one foot leaves the ground, while the pressure value at the other foot increases accordingly. However, due to the switching of the support state of both feet, the instantaneous load of the moving platform may experience brief fluctuations. That is, when a spectator turns around or adjusts their posture on the platform, the center of gravity shifts between the two feet, the pressure values ​​at each pressure monitoring point are redistributed, and the instantaneous load of the moving platform will also change. These dynamic behaviors will cause the instantaneous load of the moving platform to deviate from the actual value. Therefore, the instantaneous value of the moving platform load cannot be used directly, but should be collected within a time window when the movement of the moving platform tends to be stable and the spectator does not make any violent movements. Specific collection conditions include that the absolute value of the rate of change of the moving platform's speed is less than a certain threshold, and that the absolute value of the rate of change of the pressure at each pressure monitoring point is less than a certain threshold for a certain period of time. As an example, the threshold for the rate of change of the mobile platform's speed can be set to 0.05 meters per second squared. The threshold for the rate of change of pressure at each pressure monitoring point can be set to 10% per second, and the stabilization time window can be set to 0.5 seconds. Therefore, in this example, it is necessary to determine whether the absolute value of the rate of change of the mobile platform's speed is less than 0.05 meters per second squared, and whether the absolute value of the rate of change of pressure at all pressure monitoring points is less than 10% per second for 0.5 consecutive seconds. When both conditions are met, the system determines that the mobile platform is in a stable operating state. At this time, the arithmetic mean of all instantaneous total load values ​​over a continuous period of time is calculated, and the average value is used as the current load of the mobile platform. If the mobile platform is accelerating or decelerating or if violent actions such as audience jumping are detected, the update of the mobile platform load is paused, and the previous valid value is used until the mobile platform re-enters a stable state. The significance of this acquisition strategy is to eliminate dynamic interference and ensure that the mobile platform load used for safe distance calculation truly reflects the actual weight of the audience. After obtaining a reliable mobile platform load, the system dynamically calculates the maximum permissible deceleration of the mobile platform accordingly. The tolerance of standing spectators to deceleration is closely related to their weight and center of gravity height; greater weight results in stronger inertial forces, and a higher center of gravity leads to a greater forward lean. The formula for calculating the maximum permissible deceleration is:

[0052] in, The reference maximum deceleration is set to a certain value, such as 0.8 m / s². The pendulum length is for smoothing out the average height of the audience's center of gravity. The reference pendulum length is set to a fixed value, such as 1 meter. For the collected mobile platform load, As a baseline load capacity, a certain value is selected, such as 500 kg. and These are preset coefficients, set to 0.3 and 0.2 respectively. The meaning of this formula is that the taller the audience or the greater the load, the smaller the maximum allowable deceleration. This avoids limiting the performance of the mobile platform with fixed, conservative values, automatically reducing deceleration to ensure safety when taller audience members are in the majority, and allowing greater deceleration to maintain the performance rhythm when shorter audience members are in the majority.

[0053] Secondly, based on the maximum permissible deceleration, the basic safety distance required for emergency braking of the mobile platform is further calculated. This distance reflects the minimum spatial length required to decelerate from the current speed to zero at the maximum permissible deceleration. The calculation formula is as follows:

[0054] in, The motion speed obtained from the previous process, The maximum permissible deceleration is dynamically calculated based on the mobile platform's load and smooth swing length. This represents the total system response delay. The significance of performing this calculation lies in translating kinematic principles into concrete spatial values. For example, when the mobile platform moves at a speed of 2 meters per second and the maximum deceleration is set to 0.8 meters per square second, the braking distance is approximately 2.5 meters, which provides a benchmark for the subsequent dimensions of the safety zone.

[0055] Next, the extension distances of the warning zone and the emergency zone are calculated. These two distances define the boundaries of two concentric circles centered on the geometric center of the mobile platform, with the warning zone located on the outer side and the emergency zone on the inner side. The calculation formula is as follows:

[0056]

[0057] in, and They are preset coefficients and Greater than , Based on the safe distance, A correction factor for audience factors is calculated based on the smoothed pendulum length and the center of gravity offset. The significance of performing this calculation is to ensure that the safety zone responds to the height and distribution characteristics of the audience. For example, when the smoothed pendulum length is large, reflecting a taller audience, the correction factor increases, and the warning zone and emergency zone expand accordingly to compensate for the additional risks brought about by a high center of gravity.

[0058] Subsequently, a conceptual model of a safety zone comprising a warning zone and an emergency zone is generated. Using the geometric center coordinates of the mobile platform as the center, a circle is drawn with the calculated extension distance of the warning zone as the radius to form the warning zone boundary, and a circle is drawn with the extension distance of the emergency zone as the radius to form the emergency zone boundary. The two circles are concentric, and the warning zone completely surrounds the emergency zone, establishing a two-layered nested protection system. The outer warning zone is used to notify surrounding equipment in advance to prepare for locking, while the inner emergency zone is used to trigger emergency braking. This hierarchical design avoids frequent performance interruptions caused by triggering an emergency stop every time someone approaches.

[0059] Next, it's determined whether unilateral expansion of the safety zone is needed by comparing the center-of-gravity offset with a preset offset threshold. When the offset is less than or equal to the threshold, the audience distribution is considered relatively uniform, and expansion is unnecessary. When the offset exceeds the threshold, the audience is clearly biased to one side, posing a risk of uneven distribution. In this case, the unilateral expansion distance needs to be calculated based on the offset and the offset direction relative to the direction of movement. This ensures that asymmetric expansion is only initiated when the audience has actually gathered at the edge, avoiding frequent area changes due to slight shaking. For example, if the moving platform width is 3 meters, the offset threshold is set to 0.3 meters. When the offset reaches 0.5 meters, expansion is triggered, adding an extra 1-meter buffer distance to the offset side. Finally, a sequence of vertex coordinates for the safety zone is generated based on the determination results. This transforms the abstract distance values ​​into discrete coordinate points that can be understood and transmitted by a computer. Each vertex is represented by a coordinate pair in the global spatial coordinate system. Multiple vertices connected sequentially form a closed polygon boundary. This vertex coordinate sequence will be published to peripheral devices via Ethernet in subsequent steps for distance calculation.

[0060] In some embodiments of the present invention, in step S405, If it is determined that the unilateral extension distance needs to be calculated, a sequence of vertex coordinates of an asymmetric polygonal safety area is generated based on the geometric center coordinates, the warning zone extension distance, the emergency zone extension distance, and the unilateral extension distance.

[0061] If it is determined that the unilateral extension distance does not need to be calculated, a sequence of vertex coordinates of a symmetrical polygonal safety area is generated based on the extension distance of the warning zone and the extension distance of the emergency zone, with the geometric center coordinates as the center.

[0062] Specifically, this process corresponds to two methods for generating the vertex coordinate sequence of the safety zone, depending on whether the unilateral extension distance is calculated. When the center of gravity offset exceeds a preset offset threshold and the unilateral extension distance is calculated, the asymmetric polygonal safety zone generation operation is performed. This operation uses the geometric center coordinates of the moving platform as a reference point. First, it determines that the leading edge extension distance of the safety zone in the direction of movement is equal to the warning zone extension distance. This value reflects the maximum safety buffer space required in front of the moving platform. In the opposite direction of movement, the rear extension distance is reduced by a preset ratio of the leading edge distance, usually 30%, because the reversing speed of the moving platform is much lower than its forward speed. On the left and right sides perpendicular to the direction of movement, the extension distance is set to 60% of the leading edge distance. When a unilateral extension distance exists, on the side where the audience offsets, the original lateral extension distance is increased, making the total buffer distance on that side significantly greater than that on the other side. For example, if the mobile platform moves forward at a speed of 1.5 meters per second, the warning zone extends 3 meters, 0.9 meters behind, and 1.8 meters to each side. If the audience's center of gravity shifts 0.5 meters to the right and the expansion coefficient is 2.0, the right-side extension increases by 1 meter to 2.8 meters, while the left-side extension remains unchanged at 1.8 meters. This asymmetric generation operation provides stronger safety protection for the side where the audience is concentrated, preventing edge audiences from colliding with surrounding equipment due to their center of gravity shifting out of the mobile platform. The extension distances in each direction are then converted into specific vertex coordinate sequences. Using the geometric center of the mobile platform as the origin, vertex positions are calculated in eight directions: front, front right, right, rear right, rear, rear left, left, and front left. The global coordinates of each vertex are equal to the coordinates of the mobile platform's center plus the unit vector in that direction multiplied by the corresponding extension distance. Connecting the eight vertices in a clockwise order forms an asymmetric octagonal safety zone. The circumscribed shape of this polygon makes the bulge on the audience-concentrated side significantly larger than on the other side. The significance of performing this coordinate transformation operation lies in discretizing a continuous spatial range into a finite number of vertices. These vertex coordinates can be encapsulated into data frames for transmission over the network, allowing peripheral devices to calculate their shortest distance to the boundary of the safe zone. It's important to note that the safe zone is a virtual protective area generated around the mobile platform, and its boundary is not the physical boundary of the mobile platform. The physical boundary of the mobile platform is fixed and determined by its structural dimensions, remaining unchanged regardless of audience distribution or platform movement. However, the boundary of the safe zone moves with the mobile platform, and its shape can be asymmetrically adjusted according to audience distribution characteristics, making it a dynamically changing virtual spatial range. Each peripheral device calculates its own distance to the virtual boundary of the safe zone, not its distance to the physical boundary of the mobile platform. In other words, the safe zone can expand outwards from the physical boundary of the mobile platform, compensating for the loss of safety margin caused by the audience's center of gravity shifting to one side.When the audience's center of gravity shifts to one side, the edge of the platform on that side bears a greater load, reducing the platform's attitude stability during movement and resulting in an actual safety margin that is less than the nominal distance. By extending the safety zone towards the side where the center of gravity shifts, surrounding equipment on that side can trigger a safety response at a greater distance, thereby compensating for the safety margin lost due to the shift in the center of gravity.

[0063] When the center of gravity offset is determined to be within the preset offset threshold, a symmetrical polygonal safety zone is generated. This operation also uses the geometric center coordinates of the mobile platform as the reference point, and the extension distance in each direction is set exactly according to the basic ratio, without any additional unilateral expansion. For example, the extension distance directly in front is the warning zone extension distance, the extension distance directly behind is 0.3 times the warning zone extension distance, and the extension distance on both the left and right sides is 0.6 times the warning zone extension distance. The global coordinate of each vertex is equal to the center coordinate of the mobile platform plus the unit vector in that direction multiplied by the extension distance in the corresponding direction. The extension distance in the diagonal directions (right front, right rear, left rear, left front) is the vector sum of the extension distances in the two adjacent axial directions. The calculation formula for the coordinates of the eight vertices is the same as in the asymmetrical case, but because the extension distances on the left and right sides are equal, the generated octagon is symmetrical about the axis of motion. For example, when moving at the same speed of 1.5 meters per second and the warning zone extension distance is 3 meters, the left and right sides are 1.8 meters each, the left and right sides are completely equal, and the safety zone is mirror symmetrical about the center line of the mobile platform. The significance of performing this symmetrical generation operation is to maintain a standard safety protection range when the audience is evenly distributed, avoiding unnecessary asymmetrical expansion that would complicate the control logic. Regardless of whether it's asymmetrical or symmetrical, the final output vertex coordinate sequence is stored as an array, with each element being a tuple containing horizontal and vertical coordinate values. This sequence will serve as the data source for subsequent encapsulation and publishing. After performing unilateral expansion, the safety zone extends outwards on the side where the audience gathers, reducing the computational distance between the peripheral devices on that side and the safety zone boundary. Due to the reduced computational distance, these peripheral devices will enter the warning or emergency zone before the actual physical distance, thus triggering a safety response (warning or emergency lockout) earlier. This is done to compensate for the safety margin loss caused by the audience's center of gravity shifting to one side. When the audience's center of gravity shifts to one side, the edge of the platform on that side bears a greater load, reducing the platform's attitude stability during movement, and the actual safety margin is less than the nominal distance. By expanding the safety zone towards the side with the shifted center of gravity, the peripheral devices on that side trigger a safety response at a greater distance, thus compensating for the safety margin lost due to the shift in the center of gravity. In short, the unilateral expansion of the safety zone is equivalent to dynamically adjusting the safety buffer distance based on the actual distribution of the audience's center of gravity, so that the safety zone matches the mass distribution of the audience group and ensures balanced safety protection capabilities in all directions. For example, when the audience gathers to the right, the right-side safety zone expands outward by 1 meter, and the triggering distance of the right-side equipment changes from 1.8 meters to 2.8 meters. That is, the equipment begins to trigger a safety response 2.8 meters away from the physical boundary of the platform, reacting 1 meter earlier than when it is not expanded, thus reserving a larger safety space for the moving platform and the audience whose center of gravity shifts on the moving platform.

[0064] In some embodiments of the present invention, step S5 may include: S501 encapsulates the vertex coordinate sequence into a data frame at a preset frequency and publishes the data frame to various peripheral devices based on real-time Ethernet.

[0065] S502 calculates and obtains the minimum distance between each peripheral device and the safe zone based on the data frame and static coordinates.

[0066] S503 performs cross-validation on the minimum distance to obtain the validation distance.

[0067] Specifically, this process involves publishing the vertex coordinate sequence of the safe zone and verifying its distance. The peripheral devices further include real-time and non-real-time devices, with different processing methods distinguished between them. First, the vertex coordinate sequence of the safe zone is encapsulated into a data frame and published. The mobile platform's control unit reads the vertex coordinate sequence at a frequency of at least 50Hz. The x and y coordinates of each vertex are arranged in a predetermined order, and after adding a timestamp and sequence number, a standard Ethernet data frame is formed. This data frame is sent to all nodes in the network via the real-time Ethernet protocol to ensure that all peripheral devices receive the same safe zone boundary information at the same time, avoiding discrepancies in the devices' judgment of the mobile platform's position due to inconsistent data arrival times. For example, when the mobile platform approaches the lifting door at a speed of 2 meters per second, the 50Hz publishing frequency means that the safe zone is refreshed every 20 milliseconds, and the boundary is refreshed every 4 centimeters the mobile platform moves, meeting the requirements of high-precision safety control.

[0068] The minimum distance between each peripheral device and the boundary of the safe zone is then calculated. This process employs different execution architectures for real-time and non-real-time devices. For real-time devices, their controllers directly receive the published data frames, parse the sequence of vertex coordinates of the safe zone from the frames, and combine this with their calibrated static coordinates to calculate the shortest Euclidean distance from the device boundary to the polygonal boundary of the safe zone using a geometric algorithm. This calculation is performed locally on the real-time device, with a response time typically within 10 milliseconds. For non-real-time devices, since traditional communication protocols such as DMX512 do not support real-time bidirectional interaction and cannot directly receive Ethernet broadcasts, a separate security proxy module is deployed at the device's front end. This module has a built-in Ethernet interface, specifically for subscribing to published data frames, and caches the latest received vertex coordinate sequence in local random access memory with a cache validity period of 500 milliseconds. The security proxy module performs local distance calculations every 10 milliseconds. Even if the network connection with the central control engine is briefly interrupted, it can still make judgments based on the cached data, allowing traditional stage equipment without real-time communication capabilities to participate in safety interlocking, while preventing protection failure due to network fluctuations. For example, a lifting door that only supports the DMX512 protocol can still calculate the distance to the safe area within 500 milliseconds after the Ethernet is disconnected, which is sufficient to cover most network interruption scenarios.

[0069] Finally, cross-validation is performed based on the calculated minimum distance to obtain a reliable verification distance. Each peripheral device simultaneously sends its minimum distance value to the central control engine through two independent channels. The first channel is a real-time Ethernet channel, transmitting the complete floating-point value of the minimum distance. The second channel is an independent hardwired emergency stop bus channel; when the minimum distance is less than or equal to the emergency threshold, this channel outputs a high-level signal to indicate an emergency. The central control engine continuously compares the signals from the two channels. When both channels report an emergency or a non-emergency state, and the numerical deviation is within the allowable range, the minimum distance is accepted as the verification distance. When the signals from the two channels are inconsistent and the duration exceeds 50 milliseconds, a communication failure or sensor failure is determined in the system, immediately triggering a safety default state, locking all peripheral devices, and stopping the mobile platform. The significance of performing this cross-validation operation is to prevent single-point failures from causing safety function failures. For example, when the Ethernet cable is damaged, the hardwired channel can still transmit emergency signals; when the hardwired interface fails, the Ethernet channel can still transmit accurate distances. The two serve as backups to ensure that the system can maintain basic safety protection under any single failure.

[0070] In some embodiments of the present invention, if the warning threshold is greater than the emergency threshold, in step S6, If the verification distance is less than the warning threshold but greater than the emergency threshold, the surrounding device corresponding to the verification distance is controlled to trigger the warning state and generate a deceleration command containing a first deceleration value to be sent to the mobile platform.

[0071] If the verification distance is less than or equal to the emergency threshold, control the peripheral device corresponding to the verification distance to perform an emergency lock and generate an emergency braking command containing a second deceleration value to be sent to the mobile platform.

[0072] If the verification distance is greater than or equal to the warning threshold, a maintenance command is generated and sent to the mobile platform to maintain the current motion of the mobile platform.

[0073] Specifically, this process issues differentiated control commands to the mobile platform and peripheral devices. A warning threshold is set to a value greater than the emergency threshold, and together they divide the space into three zones: a safe zone where the verification distance is greater than or equal to the warning threshold; a warning zone where the verification distance is between the emergency and warning thresholds; and an emergency zone where the verification distance is less than or equal to the emergency threshold. When the verification distance is less than the warning threshold but greater than the emergency threshold, the peripheral device is determined to have entered the warning zone. At this point, the system executes a first-level response, controlling the peripheral device to trigger a warning state. For real-time peripheral devices, a warning command is sent to the device controller via real-time Ethernet. The controller then illuminates a yellow indicator light on the device, alerting on-site operators that the device is about to enter a danger zone. For non-real-time peripheral devices, the security agent module deployed at the front end, after locally determining that the verification distance falls into the warning zone, illuminates a yellow indicator light at its hard-wired output endpoint and simultaneously reports the warning event to the central control engine. The system then generates a deceleration command containing a first deceleration value to be sent to the mobile platform. The first deceleration value is typically set to 0.3 meters per second squared; this deceleration is relatively small, designed to allow the mobile platform to decelerate smoothly without causing discomfort to the audience. For example, if the verification distance between a sliding door and the boundary of a safety zone is 2.1 meters, the warning threshold is set at 2.5 meters, and the emergency threshold is set at 0.8 meters, then 2.1 meters falls between the two. The sliding door will illuminate a yellow light to indicate it is about to lock, and the moving platform will begin to decelerate from its current speed at a rate of 0.3 meters per second squared. The significance of this level of response is to provide early warning, avoiding direct emergency braking that could interrupt the performance, while also allowing the moving platform time to decelerate smoothly, providing a comfortable experience for the audience.

[0074] When the verification distance is less than or equal to the emergency threshold, the surrounding device is determined to have entered the emergency zone. At this point, the system executes a second-level response, controlling the surrounding device to perform an emergency lock. For real-time surrounding devices, an emergency lock command is sent to the device controller via real-time Ethernet. The device controller immediately cuts off the power output, stopping the device's movement. For non-real-time surrounding devices, since their communication protocol does not support real-time emergency lock commands, the front-end safety agent module, after locally determining that the verification distance has fallen into the emergency zone, immediately disconnects the actuator power supply circuit of the device via a hard-wired relay, with a response time of no more than 5 milliseconds. For example, for a lifting door controlled by a DMX512, when its verification distance to the safety zone boundary is 0.6 meters, and the emergency threshold is set to 0.8 meters, the safety agent module detects that 0.6 meters is less than 0.8 meters and directly cuts off the power line to the lifting door motor, causing the lifting door to immediately stop descending. The system then generates an emergency braking command containing a second deceleration value to be sent to the moving platform. This second deceleration value is mostly equal to the maximum permissible deceleration dynamically calculated based on the moving platform's load and smooth swing length, typically between 0.6 m / s² and 0.8 m / s². Upon receiving the instruction, the mobile platform immediately performs emergency braking, which is used to simultaneously lock surrounding equipment and brake the mobile platform as quickly as possible when a collision risk is imminent, forming a dual safety protection.

[0075] When the verification distance is greater than or equal to the warning threshold, the surrounding equipment is determined to be within the safe zone. The system generates a maintenance command and sends it to the mobile platform. The mobile platform continues to maintain its current motion state to avoid unnecessary deceleration intervention and ensure the smooth progress of the performance. In the above three-level decision-making process, the emergency locking of the surrounding equipment and the emergency braking of the mobile platform are executed simultaneously. They complement each other rather than replace each other, forming a complete collision avoidance safety mechanism.

[0076] In some embodiments of the present invention, in step S7, if the control command is a deceleration command or an emergency braking command, Based on the smoothed pendulum length and the first or second deceleration value, the expected offset of the audience's center of gravity is calculated.

[0077] Based on the type of the mobile platform, a reverse compensation instruction corresponding to the mobile platform type is generated in conjunction with the expected offset.

[0078] The reverse compensation command and the deceleration command or emergency braking command are executed synchronously in time.

[0079] Specifically, this process describes the inertial feedforward compensation performed by the mobile platform after receiving a deceleration command or an emergency braking command. When the control command issued is a deceleration command or an emergency braking command, the control system first calculates the expected offset of the audience's center of gravity based on the smooth pendulum length and the deceleration value in the command. This is used to quantify the degree to which each audience member will lean forward under the current braking intensity, providing a basis for the magnitude of subsequent compensation actions.

[0080] Based on the type of mobile platform, the system generates a corresponding reverse compensation command based on the expected offset. There are two types of mobile platforms: six-degree-of-freedom platforms and ordinary track platforms. For six-degree-of-freedom platforms, the mobile platform has an independent tilting degree of freedom, enabling it to actively change the angle between the platform and the horizontal plane. The reverse compensation command is a backward tilt command. The tilt angle is calculated by dividing the expected offset by the arctangent of the average center of gravity height of the audience. The formula is: tilt angle = arctan(expected offset / average center of gravity height of the audience), where the average center of gravity height of the audience is the smoothed pendulum length. For example, when the expected offset is 8.2 cm and the smoothed pendulum length is 1.0 m, the calculated tilt angle is approximately 4.7 degrees. While the mobile platform decelerates forward, it actively tilts backward by this angle, forming a slope with a higher front and lower back. The component of the audience's weight moving backward along the slope precisely counteracts the forward thrust due to inertia, keeping the audience's center of gravity stationary relative to the ground. Physically and geometrically, this actively cancels out inertia, making the audience almost unaware of the deceleration impact of the mobile platform. For a standard track platform, the mobile platform only has horizontal movement freedom and cannot actively tilt. The reverse compensation command is a reverse horizontal displacement pulse, the displacement of which is equal to the expected offset multiplied by a scaling factor, with the scaling factor ranging from 0.6 to 0.8. The scaling factor is less than 1 because horizontal displacement compensation is less efficient than tilt compensation, and it is necessary to avoid the mobile platform deviating too much from the predetermined trajectory. For example, when the expected offset is 8.2 cm and the scaling factor is 0.7, the displacement of the reverse horizontal displacement pulse is approximately 5.7 cm, in the opposite direction to the platform's current movement, i.e., moving backward. When the mobile platform executes a deceleration command, the servo drive system synchronously superimposes the main braking command and the reverse displacement pulse in time. The physical effect of this superposition is that the main braking command causes the platform to decelerate forward, while the reverse displacement pulse generates a brief reverse velocity component. After the two are combined, the platform's actual displacement-time curve is smoother than in the pure braking case, and the peak value of the instantaneous deceleration is reduced. In other words, the platform trades a slightly longer braking distance and braking time for a smoother deceleration process. This reduces the peak inertial impact on the audience, significantly weakening the jolting sensation and thus lowering the risk of instability due to the impact. Because the platform's peak deceleration is reduced, the total braking time is slightly longer, and the platform eventually stops approximately 5.7 centimeters further back than in pure braking. This compensation essentially trades travel for smoothness, increasing the braking distance slightly to achieve a smoother deceleration curve, rather than altering the audience's forward tilt angle relative to the platform surface.

[0081] Finally, the generated reverse compensation command is synchronously superimposed on the original deceleration command or emergency braking command and executed. The central control engine simultaneously issues emergency braking and reverse compensation commands, both with identical timestamps and durations. Within one control cycle, the mobile platform servo drive system couples the target deceleration of the emergency braking command with the target tilt angle or displacement of the reverse compensation command. Through a control algorithm, it drives each actuator to start and stop moving simultaneously, ensuring that the inertial impact and compensation action occur simultaneously. If compensation lags behind braking, the audience will already be leaning forward, and subsequent compensation will exacerbate the swaying. If compensation precedes braking, the mobile platform will make abnormal movements before decelerating, also causing discomfort. Only complete synchronization can ensure that the compensation force accurately counteracts the inertial force, achieving smooth braking that is imperceptible to the audience.

[0082] In some embodiments of the present invention, when the control command is a deceleration command or an emergency braking command, after step S7, when the verification distance between each peripheral device and the boundary of the safe area is greater than the warning threshold and the continuous stable time reaches a preset time threshold, a resumption operation command is sent to the mobile platform.

[0083] Specifically, the system resumes operation after the deceleration or emergency braking command is executed. Once inertia compensation and braking are completed and the moving platform speed drops to zero, the system enters the conflict resolution detection phase. The central control engine continuously monitors the verification distance between each peripheral device and the boundary of the safety zone. When the verification distance of a peripheral device recovers from less than the emergency threshold to greater than the warning threshold, the collision risk of that device is determined to be eliminated. The system needs to wait until the verification distance of all peripheral devices is greater than the warning threshold, and this stable state continues for a preset time threshold, before considering the overall conflict completely resolved. This time threshold is typically set to 2 seconds to avoid repeated locking and unlocking caused by the verification distance fluctuating around the warning threshold boundary. For example, after the lifting door undergoes emergency braking, it is 1.5 meters away from the safety zone boundary. The warning threshold is 1.2 meters. At this point, the verification distance is greater than the warning threshold. However, if the lifting door's control circuit experiences fluctuations of a fraction of a second, the distance may fluctuate between 1.5 meters and 1.1 meters. Setting a 2-second continuous stabilization time can filter out such instantaneous fluctuations, ensuring the platform is indeed far enough away before initiating the recovery process. This avoids frequent recovery and relocking, preventing unnecessary impact on equipment and spectators. After confirming that the verification distance of all peripheral devices is greater than the warning threshold and the continuous stabilization time reaches the preset time threshold, the system executes a differentiated unlocking process. This is because the emergency braking command previously controlled the peripheral devices to perform emergency locking. Real-time devices received the emergency locking command via the communication protocol, while non-real-time devices disconnected their power through the hard-wiring of the safety agent module. Unlocking requires processing based on the reset mode of each device. For equipment set to automatic reset mode, the central control engine directly sends a remote reset command to the equipment controller. The equipment then restores power and automatically returns to standby mode. For example, after a suspended prop is locked in an emergency, it will automatically unlock after the platform moves away and the distance consistently exceeds the warning threshold for 2 seconds, and the suspended prop will rise to a safe height. For high-risk equipment set to manual reset mode, the central control engine only illuminates the reset request indicator on the equipment and sends a notification to the monitoring interface of the performance management system. On-site operators must go to the location of the equipment, confirm that there are no people lingering nearby and that the mechanical structure is not jammed, before pressing the physical reset button on the equipment to restore power. For example, lifting doors are equipment with extremely high shear risk. If the lifting door is descending while the platform is moving during automatic reset, it could cause a serious accident. Therefore, manual confirmation is mandatory. The significance of this differentiated unlocking operation is to balance safety and performance efficiency. Automatic reset of low-risk equipment reduces the impact of human intervention on the performance, while mandatory manual confirmation for high-risk equipment eliminates the potential dangers of automatic reset. After all peripheral equipment has been unlocked, the system sends a resumption command to the mobile platform. After receiving the instruction, the mobile platform controller gradually accelerates from a stationary state to the target speed according to the preset acceleration curve in the performance choreography.During acceleration, an inertial feedforward compensation mechanism is also activated to counteract the backward shift of the audience's center of gravity during acceleration. As the platform accelerates, the audience's center of gravity shifts backward; the reverse compensation command is a forward tilt or forward displacement, executed synchronously with the acceleration command. For example, if the platform accelerates from rest to 1.5 meters per second, with an acceleration of 0.4 meters per second squared and a smooth pendulum length of 1.0 meter, the expected backward displacement is approximately 4.1 centimeters. A six-degree-of-freedom platform tilts forward approximately 2.4 degrees, while a conventional track platform displaces forward approximately 2.9 centimeters, ensuring the audience maintains balance throughout the acceleration process. The significance of this recovery command lies in enabling the performance to continue automatically without manual intervention to restart the system, while ensuring the audience receives inertial protection during the restart process, achieving a smooth transition from an emergency to a normal performance.

[0084] In some embodiments of the present invention, in step S303, the formula for calculating the equivalent pendulum length of the audience is as follows:

[0085] in, The equivalent pendulum length for the audience reflects the average center of gravity height of each audience member on the mobile platform. It is the acceleration due to gravity. The overall sway frequency of the audience is obtained through analysis of a pressure sensor array.

[0086] Specifically, the derivation of this formula is based on the law of period of a simple pendulum. In physics, the oscillation period of an ideal pendulum is directly proportional to the square root of its length and inversely proportional to the square root of gravitational acceleration. Squaring both sides of the equation yields the pendulum length, which is inversely proportional to the square of the oscillation frequency. A higher frequency results in a shorter pendulum length, corresponding to a lower center of gravity and shorter stature for the spectator. Conversely, a lower frequency results in a longer pendulum length, corresponding to a higher center of gravity and taller stature for the spectator. This calculation is used to convert frequency parameters, which are easily measured by sensors, into center of gravity height parameters, which are difficult to measure directly. Pressure sensor arrays can acquire pressure fluctuation signals from the spectator's feet with high precision, and the frequency components of these pressure fluctuations can be accurately extracted using Fourier transform. However, sensors cannot directly measure the spectator's height or center of gravity. Utilizing the physical relationships of the simple pendulum model, the system can deduce the unmeasurable center of gravity height from measurable frequencies, providing crucial input parameters for subsequent inertial compensation and safety zone adjustment.

[0087] As an example, in a performance, a pressure sensor array collects data on the pressure fluctuations under the feet of the audience. After Fast Fourier Transform analysis, the overall oscillation frequency f0 is found to be 0.55Hz. Substituting the overall oscillation frequency and gravitational acceleration into the formula, the equivalent pendulum length is calculated to be 0.82 meters, which corresponds to the average center of gravity height of the audience. According to ergonomic data, the center of gravity height in a standing position is approximately 0.55 times the height, therefore the average height of the audience is approximately 0.82 divided by 0.55, or approximately 1.49 meters. If the overall oscillation frequency in another performance is 0.65Hz, substituting into the formula, the equivalent pendulum length is calculated to be approximately 0.59 meters, corresponding to an average height of approximately 1.07 meters, indicating that this performance mainly targets children. The direct application of this calculation result is reflected in subsequent processes. During the generation of the safety zone, a larger equivalent pendulum length results in a greater extension distance of the safety zone, compensating for the greater forward lean risk of audiences with higher centers of gravity. In addition, the smoothed pendulum length after smoothing the equivalent pendulum length is directly used to calculate the expected offset. The longer the pendulum length, the greater the offset under the same deceleration, requiring a larger reverse compensation amplitude. In this way, the control system can automatically adjust safety parameters according to the actual height characteristics of the current audience group, achieving personalized safety protection for different audience compositions.

[0088] In summary, the stage equipment control method provided by this invention solves the problem of safety distance calculation errors caused by coordinate system separation by establishing a global spatial coordinate system and calibrating the static coordinates of each peripheral device and the geometric center coordinates of the platform, enabling the mobile platform and each peripheral device to perform distance calculations under a unified spatial reference. By generating a dynamic safety zone that moves with the platform and publishing it to each peripheral device in real time via a publish-subscribe mechanism, each peripheral device can synchronously perceive the platform's safety boundary, solving the information silo problem caused by an independent control system. By comparing the verification distance with warning and emergency thresholds to generate differentiated control commands, a unified safety interlock logic is established between the mobile platform and each peripheral device, solving the problem of not being able to achieve real-time safety distance control. By collecting audience pressure distribution data in real time using a pressure sensor array and calculating the center of gravity offset, the safety zone can be dynamically adjusted to an asymmetrical shape according to the actual audience distribution, solving the problem of insufficient safety protection when audiences gather at the platform edge. By performing a Fourier transform on the pressure distribution data to generate the overall swing frequency and inverting the equivalent swing length, the system can obtain the average center of gravity height of the current audience group in real time, solving the problem of not being able to perceive differences in inertial response among audiences of different heights. By calculating the expected offset based on the equivalent pendulum length and deceleration value, and generating a reverse compensation command that is simultaneously superimposed with an emergency braking command, the platform actively counteracts the inertial shift of the audience's center of gravity during braking, thus solving the problem of limited platform motion performance caused by passively limiting deceleration.

[0089] In one embodiment, such as Figure 2As shown, a control system 100 for stage equipment is provided, including a coordinate system construction module 10, a data acquisition module 20, a data processing module 30, a safety zone definition module 40, a distance verification module 50, an instruction generation module 60, and a motion control module 70, wherein: The coordinate system construction module 10 is used to establish a global spatial coordinate system with the starting position of the slide rail as the origin when the mobile platform is at the starting position on the slide rail, and to calibrate the static coordinates of each peripheral device relative to the origin and the geometric center coordinates of the encoder relative to the origin based on the global spatial coordinate system.

[0090] The data acquisition module 20 is used to collect pressure distribution data on the surface of the mobile platform and motion feature set of the mobile platform in real time after the mobile platform moves along the slide rail. The motion feature set includes at least the motion speed and motion direction of the mobile platform.

[0091] The data processing module 30 is used to perform Fourier transform on the pressure distribution data to generate a smooth pendulum length, and to obtain the center of gravity offset and offset direction of the audience on the moving platform based on the geometric center coordinates, pressure distribution data and motion direction.

[0092] The safe zone definition module 40 is used to generate a safe zone based on the motion speed and smooth pendulum length, and to generate a vertex coordinate sequence corresponding to the safe zone based on the center of gravity offset and offset direction.

[0093] The distance verification module 50 is used to publish the vertex coordinate sequence to each peripheral device based on a publish-subscribe mechanism, and obtain the verification distance between each peripheral device and the boundary of the safe area.

[0094] The instruction generation module 60 is used to compare the verification distance with the preset warning threshold and emergency threshold of each peripheral device, generate corresponding control instructions based on the comparison results, and control the peripheral devices in a differentiated manner.

[0095] The motion control module 70 is used to perform differentiated control on the mobile platform based on the control commands.

[0096] The control system 100 of the stage equipment includes a processor and a memory. The coordinate system construction module 10, data acquisition module 20, data processing module 30, safety area definition module 40, distance verification module 50, instruction generation module 60 and motion control module 70 are all stored in the memory as program units. The processor executes the above program modules stored in the memory to realize the corresponding functions.

[0097] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and stage equipment control methods are implemented by adjusting kernel parameters.

[0098] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can be implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0099] Please refer to the flowcharts and / or block diagrams of the methods, apparatus (systems), and computer program products of this invention. It should be understood that each block of the flowcharts and / or block diagrams, as well as combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the machine executes the instructions via the processor of the computer or other programmable data processing apparatus for implementing the flowcharts and / or block diagrams. Figure 1 One or more processes, and / or boxes Figure 1 The function specified in one or more boxes.

[0100] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means for implementing the process. Figure 1 One or more processes, and / or boxes Figure 1 The function specified in one or more boxes.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby the instructions that execute on the computer or other programmable equipment are used to implement the process. Figure 1 One or more processes, and / or boxes Figure 1 The function specified in one or more boxes.

[0102] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0103] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0104] Computer-readable media include both permanent and non-permanent, removable and non-removable media, where information can be stored by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0105] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0106] The above are merely embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A method for controlling stage equipment, characterized in that, The stage equipment includes a slide rail, a mobile platform, and peripheral equipment; the mobile platform is slidably mounted on the slide rail, the peripheral equipment is arranged along the slide rail, and the mobile platform can be controlled to slide along the slide rail and pass through the peripheral equipment, thereby moving to various performance areas. The upper surface of the mobile platform is provided with several pressure monitoring points consisting of a pressure sensor array, and an encoder is installed on the mobile platform, including: When the mobile platform is at the starting position on the slide rail, the starting position of the slide rail is used as the origin to establish a global spatial coordinate system, and the static coordinates of each peripheral device relative to the origin and the geometric center coordinates of the encoder relative to the origin are calibrated based on the global spatial coordinate system. After the mobile platform moves along the slide rail, the pressure distribution data on the surface of the mobile platform and the motion feature set of the mobile platform are collected in real time. The motion feature set includes at least the motion speed and motion direction of the mobile platform. S3 performs a Fourier transform on the pressure distribution data to generate a smooth pendulum length, and obtains the center of gravity offset and offset direction of the audience on the moving platform based on the geometric center coordinates, pressure distribution data, and direction of motion. The pressure distribution data includes at least the pressure values ​​collected by each pressure monitoring point on the moving platform and the pressure point coordinates of each pressure monitoring point relative to the origin in the global spatial coordinate system, including: S301 calculates the centroid coordinates of the audience distribution on the mobile platform based on the weighted average of the pressure value and pressure point coordinates; S302 acquires a pressure value sequence composed of pressure values ​​corresponding to each pressure monitoring point within a preset time window, and performs a Fourier transform on the pressure value sequence to generate the overall swing frequency of the audience on the mobile platform. S303 calculates the equivalent pendulum length of the audience based on the overall oscillation frequency; S304 obtains the center of gravity offset of the audience on the moving platform and the offset direction relative to the direction of movement based on the distributed centroid coordinates and geometric center coordinates, and performs first-order low-pass filtering on the equivalent pendulum length to generate a smooth pendulum length. S4 generates a safe zone based on the motion speed and smooth pendulum length, and generates a sequence of vertex coordinates corresponding to the safe zone based on the center of gravity offset and offset direction, including: S401 calculates the basic safety distance required for emergency braking of the mobile platform based on the movement speed, the load of the mobile platform and the smooth swing length. S402 calculates and obtains the warning zone extension distance and the emergency zone extension distance based on the smooth pendulum length, the basic safety distance and the center of gravity offset, respectively. S403 generates a safe zone based on the extension distance of the warning zone and the extension distance of the emergency zone. The safe zone includes a warning zone and an emergency zone. The warning zone is formed based on the extension distance of the warning zone as the radius of the geometric center coordinates, and the emergency zone is formed based on the extension distance of the emergency zone as the radius of the geometric center coordinates. S404 compares the center of gravity offset with a preset offset threshold, and determines whether to calculate the one-sided expansion distance of the safety zone based on the center of gravity offset and the offset direction based on the comparison result. S405 generates a sequence of vertex coordinates corresponding to the safe area based on the judgment result; Specifically, when calculating the unilateral extension distance, a sequence of vertex coordinates of an asymmetric polygonal safety area is generated based on the early warning zone extension distance, the emergency zone extension distance, and the unilateral extension distance, with the geometric center coordinates as the center. In the absence of calculating the unilateral extension distance, a sequence of vertex coordinates of a symmetrical polygonal safety area is generated based on the extension distances of the warning zone and the emergency zone, with the geometric center coordinates as the center. S5 publishes the vertex coordinate sequence to each peripheral device based on the publish-subscribe mechanism, and obtains the verification distance between each peripheral device and the boundary of the safe area; S6 compares the verification distance with the preset warning threshold and emergency threshold of each peripheral device, generates corresponding control commands based on the comparison results, and controls the peripheral devices in a differentiated manner; S7 performs differentiated control on the mobile platform based on the control commands.

2. The stage device control method according to claim 1, characterized by, Step S5 includes: S501 encapsulates the vertex coordinate sequence into a data frame at a preset frequency and publishes the data frame to various peripheral devices based on real-time Ethernet; S502 calculates and obtains the minimum distance between each peripheral device and the safety zone based on the data frame and static coordinates; S503 performs cross-validation on the minimum distance to obtain the validation distance.

3. The stage device control method according to claim 1, characterized by, If the warning threshold is greater than the emergency threshold, in step S6... If the verification distance is less than the warning threshold but greater than the emergency threshold, control the surrounding device corresponding to the verification distance to trigger the warning state and generate a deceleration command containing the first deceleration value to be sent to the mobile platform. If the verification distance is less than or equal to the emergency threshold, control the peripheral device corresponding to the verification distance to perform an emergency lock and generate an emergency braking command containing a second deceleration value to be sent to the mobile platform. If the verification distance is greater than or equal to the warning threshold, a maintenance command is generated and sent to the mobile platform to maintain the current motion of the mobile platform.

4. The stage apparatus control method according to claim 3, characterized by, In step S7, if the control command is a deceleration command or an emergency braking command, Based on the smoothed pendulum length and the first or second deceleration value, the expected offset of the audience's center of gravity is calculated. Based on the type of the mobile platform, a reverse compensation instruction corresponding to the mobile platform type is generated in combination with the expected offset. The reverse compensation command and the deceleration command or emergency braking command are executed synchronously in time.

5. The stage device control method according to claim 4, characterized by, When the control command is a deceleration command or an emergency braking command, after step S7, when the verification distance between each peripheral device and the boundary of the safe area is greater than the warning threshold and the continuous stable time reaches the preset time threshold, a resumption command is sent to the mobile platform.

6. The stage device control method according to claim 1, wherein In step S303, the formula for calculating the equivalent pendulum length of the audience is as follows: in, The equivalent pendulum length for the audience reflects the average center of gravity height of each audience member on the mobile platform. It is the acceleration due to gravity. The overall sway frequency of the audience is obtained through analysis of a pressure sensor array.

7. A stage device control system for executing the stage device control method according to any one of claims 1 to 6, characterized by include: The coordinate system construction module is used to establish a global spatial coordinate system with the starting position of the slide rail as the origin when the mobile platform is at the starting position on the slide rail, and to calibrate the static coordinates of each peripheral device relative to the origin and the geometric center coordinates of the encoder relative to the origin based on the global spatial coordinate system. The data acquisition module is used to collect pressure distribution data on the surface of the mobile platform and motion feature set of the mobile platform in real time after the mobile platform moves along the slide rail. The motion feature set includes at least the motion speed and motion direction of the mobile platform. The data processing module is used to perform Fourier transform on the pressure distribution data to generate a smooth pendulum length, and to obtain the center of gravity offset and offset direction of the audience on the moving platform based on the geometric center coordinates, pressure distribution data and motion direction. The safe zone definition module is used to generate a safe zone based on the motion speed and smooth pendulum length, and to generate a vertex coordinate sequence corresponding to the safe zone based on the center of gravity offset and offset direction; The distance verification module is used to publish the vertex coordinate sequence to each peripheral device based on a publish-subscribe mechanism, and obtain the verification distance between each peripheral device and the boundary of the safe area; The instruction generation module is used to compare the verification distance with the preset warning threshold and emergency threshold of each peripheral device, generate corresponding control instructions based on the comparison results, and control the peripheral devices in a differentiated manner. A motion control module is used to perform differentiated control on the mobile platform based on the control commands.

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