Actor walking and prop scheduling method for stage play

Abstract

This invention discloses an intelligent planning method for actor movement and prop scheduling in stage plays, belonging to the field of intelligent auxiliary technology for stage performances. This method uses a tactile channel instead of a visual channel as the main guidance channel, and includes the following steps: acquiring preset movement plan data and stage lighting control data; constructing a spatiotemporal prediction map of light and shadow interference field based on lighting control signals, marking the visual positioning interference level at each spatiotemporal point; encoding the movement plan into a tactile guidance primitive sequence, encoding direction by vibration position and speed by vibration rhythm; adaptively adjusting the tactile guidance intensity according to the interference level of the actor's position; fusing positioning data to predict collision probability, and orthogonally superimposing safety warning pulses on the tactile guidance primitives when the risk exceeds a threshold. This invention achieves uninterrupted movement guidance within visual blind spots, while simultaneously integrating artistic guidance and safety prompts within the same sensory channel.

Description

Technical Field

[0001] This invention relates to the field of intelligent auxiliary technology for stage performances, specifically to an intelligent planning method for actor movement and prop scheduling in stage plays. Background Technology

[0002] In the rehearsal and production process of stage plays, the choreography and execution of actors' movements face two interrelated core issues.

[0003] The first core problem lies in the failure of visual guidance during the rehearsal stage. Traditional rehearsals rely on verbal instructions from the director, two-dimensional blocking diagrams, and physical markings on the ground to convey blocking strategies. However, when rehearsals enter the technical integration stage, and dynamic lighting effects such as spotlights, strobe lights, projections, and dark scenes are introduced into the stage space, the visual reference system upon which actors rely for positioning is severely disrupted: ground markings become invisible under strong light, are replaced by projections, and are unrecognizable in dark scenes. This causes the blocking memory that actors have initially mastered in the clean rehearsal hall to significantly degrade when first facing complex lighting environments, forcing the director to spend a considerable amount of time on "lighting adaptation rehearsals." While existing technologies include blocking guidance solutions based on spatial augmented reality projection, these also rely on visual channels, and their guiding effect is sharply reduced or even completely ineffective in areas where stage lighting changes drastically.

[0004] The second core issue lies in the safety risks arising from visual guidance failures. During technical integration and subsequent dress rehearsals, actors move with limited vision, making it difficult for them to accurately perceive the position and trajectory of moving props on stage (such as turntables, lifts, and prop carts). This significantly increases the safety hazard of collisions between actors and mechanical equipment. Existing safety monitoring systems largely rely on visual positioning technology, but dynamic stage lighting can also cause frequent failures of these systems, further exacerbating the problem of blind spots in areas with complex lighting. Summary of the Invention

[0005] This invention aims to address the problems described in the background section by providing an intelligent planning method for actor movement and prop scheduling in stage plays. This method replaces the visual channel with a tactile channel, which is unaffected by visible light interference, as the primary guidance channel. It proactively models the spatiotemporal distribution of light and shadow interference using the predictability of stage lighting control signals, and adaptively adjusts the intensity of tactile guidance accordingly to compensate for the lack of visual reference. Simultaneously, it integrates safety warning information within the tactile channel using orthogonal coding, thereby fundamentally solving the problem of visual guidance failure while also addressing the resulting safety risks.

[0006] According to one aspect of the present invention, an intelligent planning method for actor movement and prop scheduling in stage plays is provided, comprising the following steps:

[0007] S10. Acquire preset movement scheme data and stage lighting control data. The preset movement scheme data includes the three-dimensional coordinate sequence and movement speed curve of each character on the performance timeline. The stage lighting control data includes timing signals collected from the lighting control console.

[0008] S20. Based on the stage lighting control data and the preset three-dimensional stage model, construct a spatiotemporal prediction map of light and shadow interference field. The spatiotemporal prediction map of light and shadow interference field indicates the visual positioning interference level at each coordinate point on the stage ground at each future moment.

[0009] S30. Encode the preset movement scheme data into a tactile guidance primitive sequence, wherein the tactile guidance primitive sequence includes encoding the movement direction by the foot vibration position and encoding the movement speed by the vibration rhythm density;

[0010] S40. Adjust the output intensity of the tactile guidance primitive sequence according to the visual positioning interference level corresponding to the actor's current spatiotemporal coordinates in the light and shadow interference field spatiotemporal prediction map;

[0011] S50. Obtain real-time positioning data of actors and props, predict the collision probability of actors and props within a future time window based on the real-time positioning data, and when the collision probability exceeds a preset safety threshold, superimpose a safety warning tactile pulse on the tactile guidance primitive sequence.

[0012] Furthermore, step S10 also includes: acquiring individual actor tactile perception threshold data, the individual actor tactile perception threshold data including the actor's minimum perceptible intensity value for foot vibration stimulation; in step S30, when encoding the preset movement scheme data into a tactile guidance primitive sequence, the basic output intensity of tactile guidance is personalized and calibrated according to the minimum perceptible intensity value.

[0013] Furthermore, the visual positioning interference level in step S20 is calculated based on the lighting intensity of the lamp, the angle between the illumination direction and the ground normal, and the calculation formula is as follows: ,in For the stage ground coordinates, For the future moment, This represents the total number of light fixtures. For the first Each lamp is constantly dimming intensity, For the first The direction and point of illumination of each lamp The angle between the ground normal and the ground. For the first Each light fixture arrived at the designated location. distance, To prevent division by zero constants, For the first The beam angle attenuation coefficient of each lamp.

[0014] Furthermore, in step S40, adjusting the output intensity of the tactile guidance primitive sequence employs a nonlinear mapping function. ,in This represents the tactile guidance gain coefficient. The visual positioning interference level is [not specified]. As a reference interference threshold, This is the maximum gain amplitude parameter. This is the parameter for controlling the steepness of the curve.

[0015] Furthermore, the step S30 of encoding the preset movement scheme data into a tactile guidance primitive sequence further includes: based on the desired speed value in the movement speed curve. Calculate vibration rhythm density ,in The minimum vibration frequency, The maximum vibration frequency, This is the preset maximum reference speed.

[0016] Furthermore, the safety warning tactile pulse adopts a vibration coding mode orthogonal to the tactile guidance primitive sequence. The real-time positioning data in step S50 includes ultra-wideband positioning data and inertial measurement unit data. The prediction of the collision probability between the actor and the prop within a future time window further includes: fusing the ultra-wideband positioning data and the inertial measurement unit data using an adaptive covariance scaling Kalman filter, wherein the observation noise covariance matrix is ​​dynamically scaled according to the visual positioning interference level to obtain the fused real-time position, and the collision probability is calculated based on the fused real-time position and the prop movement trajectory.

[0017] Furthermore, the dynamic scaling of the observation noise covariance matrix employs... ,in Based on the observation noise covariance matrix, Scaling factor The visual positioning interference level corresponding to the current spatiotemporal coordinates also includes step S60: when the collision probability calculated in step S50 exceeds the preset safety threshold, a safety warning tactile pulse is superimposed on the tactile guidance primitive sequence.

[0018] Furthermore, it also includes: step S70, obtaining the cumulative number of rehearsal sessions, and calculating the tactile guidance fading factor based on the cumulative number of rehearsal sessions. ,in To accumulate the number of rehearsal sessions, The memory decay coefficient is the output intensity of the tactile guidance primitive sequence multiplied by the tactile guidance fading factor. This causes the intensity of tactile guidance to gradually decrease as the number of rehearsals increases.

[0019] Furthermore, in step S30, encoding the preset movement scheme data into a tactile guidance primitive sequence further includes: for the synchronous movement requirements of multiple actors in a group dance segment, obtaining the tactile perception delay parameters of each actor, calculating the group synchronization advance based on the maximum tactile perception delay value, and shifting the tactile guidance primitive sequence corresponding to each actor forward on the time axis by the group synchronization advance to compensate for individual perception differences.

[0020] Furthermore, the timing signal is a DMX512 timing signal, and step S20 further includes: acquiring the screen playback timeline data of the projection media server, spatially combining the projection screen coverage area determined by the screen playback timeline data with the light interference area calculated based on the DMX512 timing signal, and calculating the comprehensive visual positioning interference level according to the weighted sum of the projection screen brightness and the light interference intensity.

[0021] The present invention has the following beneficial technical effects:

[0022] 1. This invention fundamentally eliminates dependence on lighting conditions by establishing the tactile channel as the main channel for guiding movement. Tactile perception is unaffected by the intensity, color, or flicker of visible light, allowing actors to stably receive guidance information on movement direction and speed through foot vibrations in any visually challenging environment, such as direct spotlighting, complete darkness, or projection covering the ground. This completely eliminates the problems of inaccurate movement and repetitive rehearsals caused by the lack of visual reference.

[0023] 2. This invention utilizes the predictability of stage lighting control signals to construct a spatiotemporal prediction map of light and shadow interference fields, and performs anti-light and shadow interference fusion compensation on the positioning system, thereby accurately predicting the collision probability even in high-risk areas where visual positioning fails. When the collision risk exceeds a threshold, this invention further superimposes safety warning pulses in the tactile channel using orthogonal coding, enabling actors to simultaneously receive artistic positioning guidance and safety prompts without confusion within the same sensory channel, effectively avoiding collision risks without interrupting the performance's smoothness. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall process of the intelligent planning method for actor movement and prop scheduling for stage plays provided in an embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram illustrating the principle of constructing the spatiotemporal prediction map of the light and shadow interference field in step S20 of this embodiment of the invention.

[0026] Figure 3 This is a schematic diagram of the encoding rules for step S30 of the present invention, which encodes the movement scheme into a tactile guidance primitive sequence;

[0027] Figure 4 This is a waveform diagram of the orthogonal superposition of the safety warning tactile pulse and the tactile guidance primitive sequence in step S60 of this embodiment of the invention;

[0028] Figure 5 This is a block diagram illustrating the principle of the adaptive covariance scaling Kalman filter in an embodiment of the present invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments.

[0030] This embodiment provides an intelligent planning method for actor movement and prop scheduling in stage plays. This method is executed by a computer system deployed in a theater rehearsal hall or performance venue. The system includes a computing server, an ultra-wideband positioning base station network, an inertial measurement unit, a haptic feedback wearable device, a DMX512 signal acquisition interface, a projection media server interface, and a three-dimensional stage model database. Figure 1 The overall flow of the method is shown.

[0031] The following uses a rehearsal scene from the musical "The Phantom of the Opera" as a specific example to explain each step of this method in detail.

[0032] Step S10: Obtain preset movement plan data and stage lighting control data

[0033] The pre-set movement plan data is generated by the director and choreographer during the production stage using professional movement choreography software or a 3D motion capture system. This data is stored in a structured format, containing a 3D coordinate sequence and motion velocity curve for each character throughout the performance timeline. The 3D coordinate sequence defines the actor's target position in stage space at each moment. The coordinate system has its origin at the center of the stage, with the X-axis along the stage depth (positive towards the audience), the Y-axis along the stage horizontally (positive to the right when facing the stage), and the Z-axis vertically. The motion velocity curve defines the relationship between the actor's expected movement speed from one point to another and the change in speed over time.

[0034] In this embodiment, the preset movement scheme data includes the movement trajectory of the character "Phantom" from the 120th to the 135th second of the first act: from the left rear side coordinate (-5, 3, 0) of the stage, it moves along a straight line at the desired speed of 0.8 m / s to the right front side coordinate (4, -2, 0) of the stage, and has a face-to-face interaction with the character "Christine" at the 128th second.

[0035] Stage lighting control data is acquired via an Ethernet connection to the lighting control console. The lighting control console continuously outputs digital control signals conforming to the DMX512 protocol. This system converts these signals into Ethernet data packets using an Art-Net protocol converter and parses them to extract the dimming intensity value, beam angle parameters, and illumination direction parameters of each lamp at various times.

[0036] Step S10 also acquires individual tactile perception threshold data for the actors. This data is obtained by performing a tactile calibration procedure before rehearsal: the system outputs foot vibration stimuli of different intensity levels sequentially through the tactile feedback device worn by the actors. When the actors feel the vibration, they press the hand confirmation button. The system records the minimum stimulus intensity value at which the actor can stably perceive the vibration, as the actor's minimum perceptible intensity value.

[0037] Step S20: Construct a spatiotemporal prediction map of light and shadow interference field based on stage lighting control data and a 3D stage model.

[0038] A 3D stage model is a digital model of the stage space that is pre-built using 3D modeling software. The model accurately records the planar dimensions of the stage floor, the spatial installation position of each lighting fixture (3D coordinates, hanging height, projection angle), and the spatial occupancy information of scenery obstructions.

[0039] Figure 2 The principle of constructing the spatiotemporal prediction map of light and shadow interference field is illustrated schematically. This is based on the real-time dimming intensity of each lamp in the stage lighting control data obtained in step S10. Based on the illumination direction vector and the spatial positions of the lighting fixtures recorded in the 3D stage model, this step uses a ray projection algorithm from geometric optics to calculate each future moment. Coordinates of each point on the stage floor Visual positioning interference level at the location .

[0040] In a preferred implementation of this embodiment, the visual positioning interference level Calculate using the following formula:

[0041]

[0042] In the formula: The coordinates of the stage floor grid; For the future; The total number of luminaires that contribute to illumination at the target point; For the first Each lamp is constantly The dimming intensity is obtained by parsing the corresponding channel of the DMX512 signal; For the first The illumination direction vector of each lamp and the point The angle between the ground normal vectors; For the first Each light fixture arrived at the designated location. The Euclidean distance; To prevent extremely small constants with a denominator of zero; For the first The beam angle attenuation coefficient of each lamp.

[0043] The spatiotemporal prediction map of the light and shadow interference field output in this step is a four-dimensional data structure. Based on the division of the stage ground into grids, each grid cell stores the visual positioning interference level at each discrete moment in the future.

[0044] Step S20 also obtains the playback timeline data of the projection media server, performs spatial union fusion of the projection screen coverage area and the light interference area, and calculates the comprehensive visual positioning interference level according to the weighted sum of the projection screen brightness and the light interference intensity.

[0045] Step S30: Encode the preset movement scheme data into a haptic guidance primitive sequence.

[0046] The tactile guidance primitive sequence is a set of sequentially arranged vibration commands used to drive a tactile feedback device worn by the actor to generate perceptible tactile stimulation. In this embodiment, the tactile feedback device is a smart insole integrating a linear resonant motor.

[0047] Figure 3 The coding rules for this step are illustrated schematically. The specific coding method is as follows:

[0048] S10 encodes the direction of movement by the position of foot vibration: when the angle of change of direction is positive (turning to the right), the right foot is triggered to vibrate; when it is negative (turning to the left), the left foot is triggered to vibrate; when the absolute value of the angle of change is less than a preset threshold, alternating vibration of both feet is triggered to indicate straight-line movement.

[0049] S20 encodes travel speed using vibration rhythm density: based on the desired speed value in the motion speed curve. Calculate the vibration rhythm density using the following formula. :

[0050]

[0051] In the formula: The minimum vibration frequency; The maximum vibration frequency; This is the preset maximum reference speed.

[0052] S30 marks key interactive events using characteristic pulse patterns.

[0053] If step S10 obtains the individual actor's tactile perception threshold data, then the basic vibration amplitude is calibrated to a preset multiple of the actor's minimum perceptible intensity value.

[0054] For group dance segments, the tactile perception delay parameters of each actor are obtained, and the maximum delay value is used as the group synchronization advance. The tactile guidance primitive sequences of each actor are uniformly shifted forward by this advance on the time axis.

[0055] Step S40: Adjust the output intensity of the tactile guidance primitive sequence according to the spatiotemporal prediction map of the light and shadow interference field.

[0056] The actor's current position is obtained in real time through the positioning system, and the current spatiotemporal coordinates are indexed from the spatiotemporal prediction map of the light and shadow interference field constructed in step S20. Corresponding visual positioning interference level .

[0057] Based on visual positioning interference level The haptic guidance gain coefficient is calculated using a nonlinear mapping function. :

[0058]

[0059] In the formula: Visual positioning interference level; This is a preset reference interference threshold; This is the maximum gain amplitude parameter; This is the parameter for controlling the steepness of the curve.

[0060] Multiply the vibration amplitude in the tactile guidance primitive sequence generated in step S30 by the tactile guidance gain coefficient. Then, the feedback is sent to the actor's haptic feedback device.

[0061] Step S50: Obtain real-time positioning data of actors and props and predict collision probability.

[0062] Real-time positioning data is acquired through an ultra-wideband positioning system and an inertial measurement unit (IMU). This step employs an adaptive covariance scaling Kalman filter to fuse the ultra-wideband positioning data and the IMU data, observing the noise covariance matrix. Perform dynamic scaling:

[0063]

[0064] In the formula: Based on the observation noise covariance matrix; This is the scaling factor; This represents the visual positioning interference level corresponding to the current spatiotemporal coordinates.

[0065] After obtaining the real-time location after fusion, construct the prop's future position based on the prop's preset movement trajectory. A spacetime occupancy within seconds, constructing the actor's future based on the actor's current position and movement speed. The spatiotemporal reachable domain within a second is calculated, and the ratio of the intersection volume to the actor's safe envelope volume is used as the collision probability.

[0066] Step S60: When the collision probability exceeds the threshold, superimpose a safety warning tactile pulse onto the tactile guidance primitive sequence.

[0067] When the collision probability calculated in step S50 exceeds the preset safety threshold, a safety warning tactile pulse is superimposed on the tactile guidance primitive sequence. Figure 4 The waveforms are shown as orthogonally superimposed.

[0068] The safety warning tactile pulses employ a vibration coding pattern orthogonal to the tactile guidance primitive sequence: the tactile guidance primitive sequence uses continuous or gradual vibrations within a first frequency range (e.g., 20Hz to 60Hz); the safety warning tactile pulses use short pulse trains within a second frequency range (e.g., above 100Hz). Pulse interval Based on collision probability Dynamic adjustment:

[0069]

[0070] In the formula: This represents the maximum pulse interval. The attenuation coefficient; This represents the collision probability.

[0071] Step S70 (Preferred Step): Haptic-Guided Fading Strategy

[0072] Get the cumulative number of rehearsals for the current production. Calculate the fading factor of tactile guidance :

[0073]

[0074] In the formula: To accumulate the number of rehearsal sessions; This is the memory decay coefficient.

[0075] Multiply the output intensity of the tactile guided primitive sequence adjusted in step S40 by This allows the tactile intensity to decrease smoothly with increasing rehearsal frequency.

[0076] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for intelligent planning of actor movement and prop scheduling for stage plays, characterized in that, Includes the following steps: S10. Acquire preset movement scheme data and stage lighting control data. The preset movement scheme data includes the three-dimensional coordinate sequence and movement speed curve of each character on the performance timeline. The stage lighting control data includes timing signals collected from the lighting control console. S20. Based on the stage lighting control data and the preset three-dimensional stage model, construct a spatiotemporal prediction map of light and shadow interference field. The spatiotemporal prediction map of light and shadow interference field indicates the visual positioning interference level at each coordinate point on the stage ground at each future moment. S30. Encode the preset movement scheme data into a tactile guidance primitive sequence, wherein the tactile guidance primitive sequence includes encoding the movement direction by the foot vibration position and encoding the movement speed by the vibration rhythm density; S40. Adjust the output intensity of the tactile guidance primitive sequence according to the visual positioning interference level corresponding to the actor's current spatiotemporal coordinates in the light and shadow interference field spatiotemporal prediction map; S50. Obtain real-time positioning data of actors and props, predict the collision probability of actors and props within a future time window based on the real-time positioning data, and when the collision probability exceeds a preset safety threshold, superimpose a safety warning tactile pulse on the tactile guidance primitive sequence.

2. The intelligent planning method for actor movement and prop scheduling for stage plays according to claim 1, characterized in that, Step S10 further includes: acquiring individual actor tactile perception threshold data, which includes the actor's minimum perceptible intensity value for foot vibration stimulation; in step S30, when encoding the preset movement scheme data into a tactile guidance primitive sequence, the basic output intensity of tactile guidance is personalized based on the minimum perceptible intensity value.

3. The intelligent planning method for actor movement and prop scheduling for stage plays according to claim 1, characterized in that, The visual positioning interference level in step S20 is calculated based on the lighting intensity of the lamps, the angle between the illumination direction and the ground normal, and the calculation formula is as follows: ,in For the stage ground coordinates, For the future moment, This represents the total number of light fixtures. For the first Each lamp is constantly dimming intensity, For the first The direction and point of illumination of each lamp The angle between the ground normal and the ground. For the first Each light fixture arrived at the designated location. distance, To prevent division by zero constants, For the first The beam angle attenuation coefficient of each lamp.

4. The method of claim 1, wherein the method further comprises: In step S40, adjusting the output intensity of the tactile guidance primitive sequence employs a nonlinear mapping function. ,in This represents the tactile guidance gain coefficient. The visual positioning interference level is [not specified]. As a reference interference threshold, This is the maximum gain amplitude parameter. This is the parameter for controlling the steepness of the curve.

5. The method of claim 1, wherein the method further comprises: The step S30, which encodes the preset movement scheme data into a tactile guidance primitive sequence, further includes: based on the desired speed value in the movement speed curve. Calculate vibration rhythm density ,in The minimum vibration frequency, The maximum vibration frequency, This is the preset maximum reference speed.

6. The method of claim 1, wherein the method further comprises: The safety warning tactile pulse adopts a vibration coding mode orthogonal to the tactile guidance primitive sequence. The real-time positioning data in step S50 includes ultra-wideband positioning data and inertial measurement unit data. The prediction of the collision probability between the actor and the prop in the future time window further includes: using an adaptive covariance scaling Kalman filter to fuse the ultra-wideband positioning data and the inertial measurement unit data, wherein the observation noise covariance matrix is ​​dynamically scaled according to the visual positioning interference level to obtain the fused real-time position, and the collision probability is calculated based on the fused real-time position and the prop movement trajectory.

7. The method according to claim 6, wherein, The dynamic scaling of the observation noise covariance matrix employs wherein is a base observation noise covariance matrix, is a scaling factor, is the visual positioning interference level corresponding to the current spatio-temporal coordinate; It also includes step S60: when the collision probability calculated in step S50 exceeds the preset safety threshold, a safety warning tactile pulse is superimposed on the tactile guidance primitive sequence. 8.The stage play-oriented actor blocking and prop scheduling intelligent planning method of claim 1, wherein, It also includes: step S70, obtaining the cumulative number of rehearsal sessions, and calculating the tactile guidance fading factor based on the cumulative number of rehearsal sessions. ,in To accumulate the number of rehearsal sessions, The memory decay coefficient is the output intensity of the tactile guidance primitive sequence multiplied by the tactile guidance fading factor. This causes the intensity of tactile guidance to gradually decrease as the number of rehearsals increases.

9. The intelligent planning method for actor movement and prop scheduling for stage plays according to claim 1, characterized in that, In step S30, the preset movement scheme data is encoded into a tactile guidance primitive sequence. This further includes: for the synchronous movement requirements of multiple actors in a group dance segment, obtaining the tactile perception delay parameters of each actor, calculating the group synchronization advance based on the maximum tactile perception delay value, and shifting the tactile guidance primitive sequence corresponding to each actor forward on the time axis by the group synchronization advance to compensate for individual perception differences.

10. The method of claim 1, wherein the method further comprises: The timing signal is a DMX512 timing signal. Step S20 further includes: acquiring the screen playback timeline data of the projection media server, spatially combining the projection screen coverage area determined by the screen playback timeline data with the light interference area calculated based on the DMX512 timing signal, and calculating the comprehensive visual positioning interference level according to the weighted sum of the projection screen brightness and the light interference intensity.

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