A light cooperative tracking control method and system of a space mobile cable

Abstract

This invention discloses a lighting collaborative tracking control method and system for spatial moving wires, relating to the field of cultural performance equipment. The invention acquires the three-dimensional spatial coordinates broadcast by the wire's host computer and performs inverse coordinate decomposition. It innovatively employs a cross-domain motion shaping and anti-shake mechanism, first extracting the low-frequency main trajectory through sliding average filtering, then dynamically limiting the motor speed / acceleration to prevent shock, and superimposing mechanical backlash compensation at the moment of commutation. Simultaneously, it utilizes the Art-Net protocol stack to achieve high-concurrency command streaming; and introduces a time valve system to suppress network transmission and maintain background pre-calculation before the timestamp arrives, instantly releasing the data stream upon arrival, achieving microsecond-level spatiotemporal collaboration with audio and video. This invention achieves delay-free, high-precision, and smooth tracking of high-speed moving targets in space by a large number of lighting fixtures.

Description

Technical Field

[0001] This invention relates to the field of cultural performance equipment and stage machinery control technology, and in particular to a method and system for coordinated lighting tracking control of spatial moving wires. Background Technology

[0002] In recent years, with the development of cultural performance technology, multi-point wire rigging systems (such as 3D quad-axis parallel flexible cable-stayed flight performance systems) have been widely used in large-scale stage plays, live performances, and sporting events. These devices control the length of the steel cables to achieve complex movements of the work platform (target object or performer) in three-dimensional space.

[0003] In traditional stage lighting control, the "follow spot" effect is primarily achieved by experienced lighting technicians manually manipulating the follow spot. However, due to the complex movement trajectory, high speed, and unpredictable acceleration and deceleration of spatial motion wires, relying entirely on manual tracking has the following significant drawbacks:

[0004] Response lag and low accuracy: The human reaction speed cannot match the high-speed spatial displacement of the wire system, causing the light to frequently deviate from the target.

[0005] Operational vibration and impact: Follow spot lights are often far away from the performers, and even small vibrations from manual operation will be amplified over a long distance, causing the light spot to shake violently; at the same time, traditional lighting equipment is prone to generating high-order mechanical harmonics when frequently starting, stopping and changing direction, causing the lighting fixtures to vibrate.

[0006] Bottlenecks of traditional control protocols: Existing lighting control mostly uses the traditional DMX512 protocol, which only supports 512 channels per port, resulting in limited bandwidth. This makes it impossible to meet the real-time collaborative tracking of hundreds of moving lights simultaneously with low latency and high concurrency for high-speed moving targets in space. Summary of the Invention

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

[0008] Therefore, the present invention provides a method and system for coordinated lighting tracking control of spatial moving wires to solve the above problems.

[0009] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0010] In a first aspect, the present invention provides a method for coordinated lighting tracking control of spatial moving wires, comprising the following steps:

[0011] Step S1: The core tracking controller receives the three-dimensional spatial coordinates of the working platform broadcast by the flight control host computer in real time at a fixed frequency of not less than 100Hz, and at the same time receives the time code sent by the main control console to establish an absolute time reference.

[0012] Step S2: Establish a three-dimensional coordinate system with the geometric center point of the performance area as the origin. Combine the pre-recorded absolute coordinates of each stage computer light to inversely solve the three-dimensional spatial coordinates into the yaw angle and pitch angle of each stage computer light.

[0013] Step S3: Perform cross-domain motion shaping and anti-jitter processing on the inversely solved yaw and pitch angles: First, use a moving average filtering algorithm to filter out high-frequency jitter harmonics to extract the low-frequency main trajectory; then calculate the target angular velocity and angular acceleration based on the low-frequency main trajectory. When they exceed the preset motor physical limit threshold, slope clipping and amplitude limiting are performed to prevent physical overshoot; and at the instant of commutation when the sign of the angular velocity reverses, mechanical backlash compensation value is superimposed to offset the mechanical dead zone.

[0014] Step S4: Map the angle data after image stabilization to DMX channel values ​​and encapsulate them into an Art-Net network packet based on Ethernet UDP;

[0015] Step S5: Based on the absolute time reference, compare with the preset time threshold. During the period before the specific timestamp is reached, continue to execute the inverse solution and anti-jitter pre-calculation of S1-S4, but suppress the network transmission of Art-Net messages; when the specific timestamp is reached, instantly release the transmission suppression and push the Art-Net messages of the current period to the Art-Net to DMX node via the local area network to realize real-time synchronous tracking of the stage moving lights.

[0016] Preferably, the mathematical logic of the moving average filtering and dynamic limiting in step S3 specifically includes: Let the current sampling time be k, and the original angle value be k. Establish a data buffer of length N, and output the smoothed angle as follows:

[0017] ;

[0018] Instruction cycle calculation based on smooth output Target angular velocity within:

[0019] and angular acceleration: ;

[0020] Preset maximum angular velocity and maximum angular acceleration α max ,like or ,

[0021] If |ω(k)|>ωmax|ω(k)|>ωmax or |α(k)|>αmax|α(k)|>αmax, then according to or α max The envelope of the instruction is used to trim the slope of the current instruction to reduce its speed.

[0022] Preferably, the coordinate inverse algorithm in step S2 is based on a specific stage space coordinate system:

[0023] The coordinate system takes the geometric center point of the performance area as the reference origin O(0,0,0), the X-axis is parallel to the stage opening, the Y-axis is perpendicular to the stage opening and points to the depth of the stage, and the Z-axis is perpendicular to the ground and points upward.

[0024] For the i-th stage moving head light, the formula for calculating the yaw angle is:

[0025] ,

[0026] The formula for calculating the pitch angle is: First, calculate the projected distance in the XY plane:

[0027] ,but, ,

[0028] in, The three-dimensional spatial coordinates of the working platform Let be the stationary absolute coordinates of the i-th lamp.

[0029] Preferably, the high-concurrency delivery logic based on the Art-Net protocol in step S4 specifically includes:

[0030] Within a single 100Hz control beat, the core tracking controller completes the floating-point inverse kinematics and anti-shake calculations for all stage lights in the subnet. It then maps multiple physical angles in parallel into multiple DMX channel values ​​and packages them into single or multicast Art-Net messages. These messages are then pushed to each Art-Net to DMX node at once via an Ethernet switch, enabling up to 512 lighting commands to be delivered synchronously at the same frequency.

[0031] Secondly, the present invention provides a light-coordinated tracking control system for spatial mobile wire work, used to implement the above-mentioned method, comprising:

[0032] The 3D quadcopter flight controller host computer is used to control the movement of the wire and broadcast the three-dimensional spatial coordinates of the work platform at a frequency of not less than 100Hz.

[0033] The central control console is used to issue time codes and time valve signals, providing an absolute time reference.

[0034] The core tracking controller CPU communicates with the flight control host computer and the main control console. It has a built-in coordinate inverse kinematics module, a cross-domain motion shaping module, and a spatiotemporal coordination valve module. The cross-domain motion shaping module is used to execute the timing logic of first extracting the main trajectory by sliding filtering, then performing dynamic amplitude limiting based on the main trajectory, and finally superimposing gap compensation at the reversal point. The spatiotemporal coordination valve module is used to suppress network transmission and maintain internal pre-calculation before the timestamp arrives, and release the message instantly when the timestamp arrives.

[0035] Ethernet and Art-Net to DMX nodes, connected to the core tracking controller, are used to receive Art-Net messages and convert them into standard DMX512 electrical signals;

[0036] The stage moving light array is connected to the Art-Net to DMX node, and drives its own motor to complete target tracking based on the parsed signal.

[0037] The beneficial effects of this invention are as follows: It pioneers cross-domain motion shaping and anti-jitter technology, resolving physical coupling conflicts. This invention is not a simple superposition of general algorithms. While using only moving average filtering can filter out high-frequency jitter, it causes severe lag in commands, resulting in light "ghosting." If only acceleration limiting is used, high-frequency jitter will directly impact the motor, causing resonance. This invention first uses moving average filtering to cut off high-frequency harmonics, then applies dynamic velocity / acceleration limiting on the filtered low-frequency main trajectory, and finally superimposes gap compensation at the commutation dead zone caused by limiting. This timing closed loop achieves decoupling and synergy between "jitter filtering-anti-jamming-gap filling," perfectly resolving the cross-domain physical conflict between high-frequency jitter in the wire harness and the large inertia of the lighting fixture.

[0038] Breaking through protocol bottlenecks to achieve high-frequency computation and high-concurrency streaming collaboration: Utilizing the Art-Net protocol stack to replace traditional DMX direct connection is not simply a media replacement. The core controller performs floating-point inverse computation at a high frequency of 100Hz, mapping all lighting instructions in parallel within a single cycle and encapsulating them into Art-Net messages for streaming, achieving "massive concurrency + zero-latency delivery" communication and algorithm collaboration.

[0039] A spatiotemporally coupled data stream gate enables zero-delay coordination: Traditional timecode synchronization is merely a "trigger command at the designated time," inevitably causing a lag when light accelerates from a stationary position to track a high-speed target. This invention's time valve blocks and releases a continuous spatial data stream. During the blocking period, inverse kinematics and anti-jitter pre-calculation are continuously performed in the background. The moment the valve opens, a smoothed dynamic data stream is released, achieving microsecond-level "zero-delay" spatiotemporal alignment between light and audio / video. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a flowchart of a light-coordinated tracking control method for a space-moving wire according to the present invention.

[0042] Figure 2 This is a schematic diagram of a light-coordinated tracking control system for a space-moving wire harness according to the present invention. Detailed Implementation

[0043] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0044] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0045] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0046] The core tracking controller in this patent monitors and receives the three-dimensional spatial coordinates of the working platform (target TCP, Tool Center Point) broadcast by the 3D quadcopter flight controller host computer in real time via Ethernet (such as TCP / IP or UDP multicast protocol) at a fixed frequency (such as 100Hz). Simultaneously, the system receives time valve signals (such as SMPTE timecode) from the central control console to establish the current system's absolute time reference, Tsys.

[0047] Example 1:

[0048] Reference Figure 1 and Figure 2 As one embodiment of the present invention, this embodiment provides a method for collaborative lighting tracking control of spatial moving wires. Addressing the problems of lag in manual lighting tracking, mechanical jitter during high-speed lighting tracking, and concurrency bottlenecks in traditional DMX protocols in existing technologies, this method employs a collaborative architecture of "cross-domain motion shaping" and "strong spatiotemporal coupling synchronization." The specific steps are as follows:

[0049] Step S1: The core tracking controller receives the three-dimensional spatial coordinates of the working platform broadcast by the flight control host computer in real time at a fixed frequency of not less than 100Hz, and at the same time receives the time code sent by the main control console to establish an absolute time reference.

[0050] Specifically, the 3D quadcopter flight controller's host computer controls a winch to wind up and unwind a steel cable, propelling actors or objects at high speed in space. It also broadcasts the (X, Y, Z) coordinates of the work platform (TCP) at a frequency of 100Hz via Ethernet (using UDP multicast protocol). The core tracking controller listens to this port to acquire the high-frequency spatial position. Simultaneously, the system receives SMPTE timecode signals from the central control console, establishing the absolute time base Tsys for the entire system, providing a time anchor point for subsequent spatiotemporal coordination.

[0051] Step S2: Establish a three-dimensional coordinate system with the geometric center point of the performance area as the origin. Combine the pre-recorded absolute coordinates of each stage computer light and decompose the three-dimensional spatial coordinates into the yaw angle and pitch angle of each stage computer light.

[0052] Specifically, to eliminate calculation errors caused by differences in the installation positions of various lights, a right-handed Cartesian three-dimensional coordinate system is established with the center point of the performance area ground as the origin O(0,0,0). The X-axis is parallel to the stage opening, the Y-axis is perpendicular to the stage opening and points towards the stage depth, and the Z-axis is perpendicular to the ground and points upward. The absolute coordinates of the i-th stage moving light in this coordinate system are pre-measured and recorded. , and the beam pointing reference vector of the luminaire in the reset state.

[0053] During the system initialization phase, the stationary absolute coordinates of each stage moving light on site are entered into the system using surveying tools such as a total station. Upon receiving the target TCP coordinates, the controller uses geometric trigonometric functions to calculate the direction vector of the target relative to each light fixture in real time, thereby determining the required horizontal yaw angle and vertical pitch angle for each light fixture.

[0054] Step S3: Perform cross-domain motion shaping and anti-shaking processing on the inversely solved yaw and pitch angles: First, use a moving average filtering algorithm to filter out high-frequency jitter harmonics to extract the low-frequency main trajectory; then calculate the target angular velocity and angular acceleration based on the low-frequency main trajectory. When they exceed the preset physical limit threshold of the motor, perform slope clipping and amplitude limiting to prevent physical overshoot; and at the instant of commutation when the sign of the angular velocity is reversed, superimpose the mechanical backlash compensation value to offset the mechanical dead zone.

[0055] It is important to emphasize that this step is not a simple superposition of filtering and limiting algorithms, but rather a cross-domain motion shaping mechanism proposed to address the physical coupling conflict between "high-frequency abrupt changes in the wire harness" and "large inertia lag in the lighting fixtures":

[0056] (1) Moving average filtering must be performed first: The wire movement is accompanied by a lot of high-frequency jitter. If the noisy command is sent directly to the motor, it will cause mechanical resonance. Filtering extracts a smooth low-frequency main trajectory, but this inevitably brings about a delay in the command and sharpening of the trajectory;

[0057] (2) Dynamic limiting must be performed again: Since the rate of change of the extracted low-frequency main trajectory at sudden stops or sharp turns may still exceed the physical response limit of the heavy-duty lighting motor, overshoot and physical jitter are likely to occur if not processed. Angular velocity / angular acceleration limiting is performed based on the filtered low-frequency main trajectory to cut the abrupt slope into the motor envelope;

[0058] (3) Gap compensation must be superimposed at the moment of commutation: During the limiting cut and motor commutation, the gear mechanism will inevitably pass through the mechanical dead zone, causing the actual angle to lag behind the command. By detecting the sign reversal of the angular velocity (i.e., at the moment of commutation) and superimposing the feedforward compensation value, the dead zone is filled. The three have a strict causal timing logic and none of them can be omitted.

[0059] Step S4: Map the angle data after image stabilization to DMX channel values ​​and encapsulate them into an Art-Net network packet based on Ethernet UDP.

[0060] Specifically, the physical angle values ​​are linearly mapped to DMX protocol channel values ​​of 0-255 or 0-65535, and then packaged and encapsulated into Art-Net standard messages to prepare data for subsequent high-concurrency network streaming.

[0061] Step S5: Based on the absolute time reference, compare with the preset time threshold. During the period before the specific timestamp is reached, continue to perform the inverse solution and anti-jitter pre-calculation of S1-S4, but suppress the network transmission of Art-Net messages; when the specific timestamp is reached, instantly release the transmission suppression and push the Art-Net messages of the current period to the Art-Net to DMX node via the local area network to realize real-time synchronous tracking of the stage moving lights.

[0062] It should be noted that traditional timecode synchronization often involves "time-triggered calculation," which inevitably results in significant start-up lag when the lights accelerate from a standstill to track the high-speed moving wire. This invention creatively proposes a "data stream gate" mechanism: before the timestamp arrives, the inverse kinematics and anti-jitter calculations of S1-S4 run continuously at high speed in the background (i.e., pre-calculation), but the sent messages are intercepted and suppressed by the gate; when the timestamp arrives, the gate opens, releasing the data stream that has already undergone anti-jitter processing and is in a continuous dynamic trajectory. The lights do not need to accelerate from zero and directly enter a smooth tracking state, achieving microsecond-level zero-latency spatiotemporal coordination.

[0063] Example 2:

[0064] Based on Example 1, this embodiment further discloses the specific mathematical logic of moving average filtering and dynamic limiting in step S3:

[0065] Let the current sampling time be k, and the original angle value be k. Create a data buffer of length N (e.g., N=10), and output the smoothed angle as follows:

[0066] This formula is used to filter out high-frequency jitter harmonics and extract the low-frequency main trajectory. The command cycle is calculated based on the smooth output. Target angular velocity within:

[0067] and angular acceleration: ;

[0068] The maximum angular velocity is preset according to the specific characteristics of the lamp motor. and maximum angle addition

[0069] velocity α max ,like or ,

[0070] If |ω(k)|>ωmax|ω(k)|>ωmax or |α(k)|>αmax|α(k)|>αmax, then according to or α max The envelope of the current instruction is slope-trimmed to reduce its speed. For example, when acceleration exceeds the limit, the target angle increment of the current cycle is reduced to α. max Within permissible limits, the motor motion is forcibly constrained within the physical envelope to prevent overshoot.

[0071] Example 3:

[0072] Based on Example 1, this embodiment further discloses the inverse solution algorithm for the stage-specific spatial coordinate system in step S2:

[0073] The coordinate system uses the geometric center point of the performance area as the origin O(0,0,0), with the X-axis parallel to the stage opening, the Y-axis perpendicular to the stage opening pointing into the stage depth, and the Z-axis perpendicular to the ground and upward. This coordinate system serves as the reference point for all equipment in the venue.

[0074] Inverse coordinate calculation: For the i-th moving head light, calculate the direction vector of the target TCP relative to that light. Based on trigonometric geometric relationships, this is converted into the required horizontal yaw angle (Pan, denoted as α) for the computer light. ) and vertical pitch angle (denoted as ): For the i-th stage moving light (coordinates are...) The formula for calculating the yaw angle is:

[0075] The formula for calculating the pitch angle is: First, calculate the projected distance between the target and the lighting fixture in the XY plane:

[0076] Then the vertical elevation angle is: ,

[0077] in, Using the three-dimensional spatial coordinates of the working platform, the three-dimensional spatial coordinates are precisely converted into the dual-axis rotation angle of the lamp through the geometric mapping of the arctangent function mentioned above.

[0078] Example 4:

[0079] Based on Example 1, this embodiment further discloses the high-concurrency delivery logic based on the Art-Net protocol in step S4:

[0080] Traditional DMX512 single-port serial transmission requires approximately 23ms to refresh one frame across 512 channels, which is completely insufficient to meet the 100Hz tracking refresh rate of hundreds of lights. This invention reconstructs the protocol stack using the Art-Net protocol stack:

[0081] Within a single 100Hz control beat (10ms), the core tracking controller completes the floating-point inverse kinematics and anti-shake calculations for all stage moving lights within the subnet. It then maps multiple physical angles in parallel into multiple DMX channel values ​​and packages them into a single or multicast Art-Net message. This message is then directly pushed to each Art-Net to DMX conversion node via an industrial-grade Ethernet switch. After stripping the IP header, the nodes convert the signal to RS-485 level and send it to the subnet. This mechanism leverages the high bandwidth of Ethernet to achieve synchronous delivery of up to 512 lighting commands at the same frequency, completely eliminating command queuing delays.

[0082] Example 5: This example discloses the hardware topology and module logic connection relationships for implementing the control system of the above method, specifically including:

[0083] 3D quadcopter flight controller host computer: The data source of the system, used to control the movement of the wire and broadcast the three-dimensional spatial coordinates of the working platform at a frequency of not less than 100Hz;

[0084] Central console: Used to issue time codes and time valve signals, providing the absolute time reference for the entire system;

[0085] The core tracking controller CPU: Communicates with the flight control host computer and the main control console, and is the brain of the system. Its internal logic is not a simple combination of hardware and software, but rather built-in:

[0086] Inverse coordinate solution module: Performs the arctangent operation for the specific coordinate system described above;

[0087] Cross-domain motion shaping module: Used to execute a rigorous timing logic that first extracts the main trajectory through sliding filtering, then performs dynamic amplitude limiting based on the main trajectory, and finally superimposes gap compensation at the reversal point;

[0088] Spatiotemporal Coordination Valve Module: This module is used to suppress network transmission and maintain internal pre-calculation before the timestamp arrives, and to release the data stream gate logic of the message instantly when the timestamp arrives.

[0089] Ethernet and Art-Net to DMX node: Connects to the core tracking controller, receives high-frequency, high-concurrency Art-Net messages, and converts them into standard DMX512 electrical signals that can be recognized by the luminaire;

[0090] Stage computerized lighting array: Connects to Art-Net to DMX node, with built-in servo motors, and drives itself to smoothly track spatial wire targets according to the parsed instructions.

[0091] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for coordinated lighting tracking control of spatial motion wires, characterized in that, Includes the following steps: Step S1: The core tracking controller receives the three-dimensional spatial coordinates of the working platform broadcast by the flight control host computer in real time at a fixed frequency of not less than 100Hz, and at the same time receives the time code sent by the main control console to establish an absolute time reference. Step S2: Establish a three-dimensional coordinate system with the geometric center point of the performance area ground as the origin, and combine it with the pre-recorded absolute coordinates of each stage computer light to inversely solve the three-dimensional spatial coordinates into the yaw angle and pitch angle of each stage computer light. Step S3: Perform cross-domain motion shaping and anti-jitter processing on the inversely solved yaw and pitch angles: First, use a moving average filtering algorithm to filter out high-frequency jitter harmonics to extract the low-frequency main trajectory; then calculate the target angular velocity and angular acceleration based on the low-frequency main trajectory. When they exceed the preset motor physical limit threshold, perform slope clipping and amplitude limiting to prevent physical overshoot; and at the instant of commutation when the sign of the angular velocity reverses, superimpose a mechanical backlash compensation value to offset the mechanical dead zone. Step S4: Map the angle data after image stabilization to DMX channel values ​​and encapsulate them into an Art-Net network packet based on Ethernet UDP; Step S5: Based on the absolute time reference, compare with the preset time threshold. During the period before the specific timestamp is reached, continue to perform the inverse solution and anti-jitter pre-calculation of S1-S4, but suppress the network transmission of Art-Net messages; when the specific timestamp is reached, instantly release the transmission suppression and push the Art-Net messages of the current period to the Art-Net to DMX node via the local area network to realize real-time synchronous tracking of the stage moving lights.

2. The method according to claim 1, characterized in that, The mathematical logic of the moving average filtering and dynamic limiting in step S3 specifically includes: Let the current sampling time be k, and the original angle value be k. Establish a data buffer of length N, and output the smoothed angle as follows: ； Instruction cycle calculation based on smooth output Target angular velocity within: and angular acceleration: ; Preset maximum angular velocity and maximum angular acceleration α max ,like or , If |ω(k)|>ωmax|ω(k)|>ωmax or |α(k)|>αmax|α(k)|>αmax, then according to or α max The envelope of the instruction is used to trim the slope of the current instruction to reduce its speed.

3. The method according to claim 1, characterized in that, The coordinate inverse algorithm in step S2 is based on a specific stage space coordinate system: The coordinate system takes the geometric center point of the performance area as the reference origin O(0,0,0), the X-axis is parallel to the stage opening, the Y-axis is perpendicular to the stage opening and points to the depth of the stage, and the Z-axis is perpendicular to the ground and points upward. For the i-th stage moving head light, the formula for calculating the yaw angle is: ， The formula for calculating the pitch angle is: First, calculate the projected distance in the XY plane: ,but, , in, The three-dimensional spatial coordinates of the working platform Let be the stationary absolute coordinates of the i-th lamp.

4. The method according to claim 1, characterized in that, The high-concurrency delivery logic based on the Art-Net protocol in step S4 specifically includes: Within a single 100Hz control beat, the core tracking controller completes the floating-point inverse kinematics and anti-shake calculations for all stage lights in the subnet. It then maps multiple physical angles in parallel into multiple DMX channel values ​​and packages them into single or multicast Art-Net messages. These messages are then pushed to each Art-Net to DMX node at once via an Ethernet switch, enabling up to 512 lighting commands to be delivered synchronously at the same frequency.

5. A lighting-coordinated tracking control system for spatial motion wires, used to implement the method as described in any one of claims 1-4, characterized in that, include: The 3D quadcopter flight controller host computer is used to control the movement of the wire and broadcast the three-dimensional spatial coordinates of the work platform at a frequency of not less than 100Hz. The central control console is used to issue time codes and time valve signals, providing an absolute time reference. The core tracking controller CPU communicates with the flight control host computer and the main control console, and has a built-in coordinate inverse kinematics module, a cross-domain motion shaping module, and a spatiotemporal coordination valve module. The cross-domain motion shaping module is used to execute the timing logic of first extracting the main trajectory by sliding filtering, then performing dynamic amplitude limiting based on the main trajectory, and finally superimposing gap compensation at the reversal point. The spatiotemporal coordination valve module is used to suppress network transmission and maintain internal pre-calculation before the timestamp is reached, and release the message instantly when the timestamp is reached. Ethernet and Art-Net to DMX nodes are connected to the core tracking controller to receive Art-Net messages and convert them into standard DMX512 electrical signals; The stage computer light array is connected to the Art-Net to DMX node and drives its own motor to complete target tracking based on the parsed signal.

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