Stage light following control system based on millimeter wave radar

Abstract

The embodiment of the utility model relates to the technical field of radars, and discloses a stage light following control system based on a millimeter-wave radar, which comprises an upper computer, a single-chip microcomputer, a steering engine module and a millimeter-wave radar module, the single-chip microcomputer is connected with the upper computer through a USB-to-TTL interface and a connecting line, the millimeter-wave radar module is connected with the upper computer through two USB lines and a network cable, and the steering engine module is connected with the upper computer through a USB-to-TTL interface. The steering engine module is connected with a pin of the single-chip microcomputer, and a stage follow spotlight is carried on the steering engine module. The millimeter-wave radar module comprises a millimeter-wave radar, an evaluation board and a 5V / 3A power supply. The millimeter-wave radar and the evaluation board are connected through screws. Based on the all-time and all-weather characteristic of the millimeter-wave radar, the follow spot lamp of the stage is controlled by using the millimeter-wave radar, so that light tracking can be well performed in a dark room under the condition of not using a thermal imaging sensor and the like.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of radar technology, and in particular to a stage light tracking control system based on millimeter-wave radar. Background Art

[0002] There are currently three methods for controlling stage spotlights: manual control, optical automatic positioning control, and UWB communication automatic positioning control. Among them, manual control consumes manpower and has high requirements for practitioners; optical automatic positioning control has high requirements for the environment, is greatly affected by light, and is prone to failure in dark conditions; UWB communication automatic positioning control relies on the UWB system, but the UWB system occupies a wide bandwidth and may interfere with other wireless communication systems or be interfered with by other wireless communication devices.

[0003] The characteristics of millimeter-wave radar are that it can be used all day and all weather, and only one radar is needed to achieve a good positioning effect. It has a low cost and can better overcome the shortcomings of the above three methods. At present, there is no research on the application of millimeter-wave radar related technologies to control follow-spot lights on the stage. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a stage follow-light control system based on millimeter-wave radar, aiming to solve the technical problems that the current manual stage follow-light control method is labor-intensive, and the non-artificial intelligent UWB system used for large stages is costly and easily interfered with by other wireless systems. By controlling the stage follow-light through millimeter-wave radar, a good control effect can be achieved, and it has a strong anti-interference ability.

[0005] To solve the above technical problems, an embodiment of the present application provides a millimeter-wave radar-based stage spotlight control system, comprising: a host computer, a single-chip microcomputer, a servo module and a millimeter-wave radar module, wherein the single-chip microcomputer is connected to the host computer via a USB to TTL interface and a connecting line, the millimeter-wave radar module is connected to the host computer via two USB cables and a network cable, the servo module and the single-chip microcomputer are connected via pins, and a stage spotlight is mounted on the servo module; the millimeter-wave radar module comprises a millimeter-wave radar, an evaluation board and a 5V / 3A power supply, the millimeter-wave radar and the evaluation board are connected via screws; the 5V / 3A power supply is used to power the millimeter-wave radar and the evaluation board, the millimeter-wave radar is used to collect information of moving objects on the stage and convert it into a number of spatial coordinates, the host computer is used to obtain a moving trajectory of the moving object based on the several spatial coordinates, the single-chip microcomputer is used to generate a control instruction based on the moving trajectory and send it to the servo module, and the servo module is used to rotate in response to the control instruction to drive the stage spotlight to achieve real-time tracking and spotlighting.

[0006] The millimeter-wave radar-based stage spotlight control system provided in the embodiment of the present application uses the millimeter-wave radar to control the stage spotlight based on the all-day and all-weather characteristics of the millimeter-wave radar, so that light tracking can be well performed in a dark room without using sensors such as thermal imaging; at the same time, when practitioners use the millimeter-wave radar-based stage spotlight control system of the present application in a specific implementation scenario, they only need to run the developed program and change the running time to achieve the stage spotlight control. Compared with the manual control of the stage spotlight, the technical requirements of the present application for practitioners are greatly reduced, and no advance rehearsal communication and cooperation are required, and the error rate of automated control is lower than that of manual control; the AWR1843 radar used in the embodiment of the present application is a MIMO radar, and only one radar is needed to achieve a good positioning effect. Compared with optical automatic positioning control and UWB communication automatic positioning control, the cost is lower, and the millimeter-wave radar is more sensitive to personnel detection, which can achieve a better tracking effect, and its anti-interference ability is also strong.

[0007] In some optional embodiments, before the stage light tracking control starts, the host computer burns a preset control program into the single-chip microcomputer. After the burning is successful, the servo module automatically returns to the preset initial angle position, and the host computer starts the built-in Matlab software, and through the Radar Toolbox Support Package for Texas Instruents mmWave Radar Sensors toolkit in the Matlab software, the millimeter-wave radar is connected to the host computer for communication;

[0008] After the millimeter-wave radar is successfully connected to the host computer, an instance of the millimeter-wave radar has been created in the Matlab software. When the stage light tracking control starts, the millimeter-wave radar starts to collect information of moving objects on the stage and completes the collection of the preset collection time;

[0009] After the steering engine module completes the response to the current acquisition of the millimeter-wave radar, the millimeter-wave radar once again collects information of the moving objects in the stage and completes the acquisition for a preset acquisition time.

[0010] In some optional embodiments, the preset collection time is 3 seconds.

[0011] In some optional embodiments, the model of the single-chip microcomputer is STM32, and the model of the smallest core board of the single-chip microcomputer is STM32F103C8T6.

[0012] In some optional embodiments, the servo module includes two digital servos, each of which is equipped with a stage follow spot, and the model of the digital servos is AT-TBSK20.

[0013] In some optional embodiments, the model of the millimeter wave radar is AWR1843.

[0014] In some optional embodiments, the model of the evaluation board is DCA1000. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] One or more embodiments are exemplarily described by the pictures in the corresponding drawings, and these exemplary descriptions do not constitute limitations on the embodiments.

[0016] Figure 1 It is a structural block diagram of a stage light tracking control system based on millimeter wave radar provided by an embodiment of the present application;

[0017] Figure 2 It is a functional block diagram of a millimeter wave radar in one embodiment of the present application. DETAILED DESCRIPTION

[0018] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not be construed as any limitation, and the various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0019] The structural block diagram of the stage light tracking control system based on millimeter wave radar in this embodiment can be shown as follows: Figure 1 As shown, it includes: a host computer 10, a single-chip microcomputer 20, a steering gear module 30, a millimeter-wave radar module 40 and a stage follow spot 50; the single-chip microcomputer 10 is connected to the host computer 20 through a USB to TTL interface and a connecting line, the millimeter-wave radar module 40 is connected to the host computer 10 through two USB cables and a network cable, the steering gear module 30 is connected to the pins of the single-chip microcomputer 20, and the stage follow spot is mounted on the steering gear module 30.

[0020] The host computer 10 is a PC, the single-chip microcomputer 20 includes a USB to TTL interface and a minimum core board, the servo module 30 includes two digital servos, a fixing frame and a plurality of screws, and the millimeter-wave radar module 40 includes a millimeter-wave radar, an evaluation board and a 5V / 3A power supply; the digital servo is fixed to the fixing frame by screws, and the millimeter-wave radar is connected to the evaluation board by screws.

[0021] It should be noted that in the embodiment of the present application, the millimeter wave radar and the digital servo are placed in the same horizontal plane and the height is 1m. During the specific implementation process, the implementer can make adjustments according to the actual situation.

[0022] In the embodiment of the present application, the single chip microcomputer 20 is of STM32 model; the minimum core board adopts the STM32F103C8T6 minimum core board; the digital servo uses the AT-TBSK20 digital servo; the millimeter wave radar and the evaluation board use the AWR1843 millimeter wave radar and DCA1000 evaluation board developed by TI.

[0023] See also Figure 2 , Figure 2 This is the functional block diagram of the millimeter wave radar.

[0024] The implementation method of the embodiment of the present application is as follows: the millimeter-wave radar and the evaluation board are powered by a 5V / 3A power supply in the millimeter-wave radar module 40, the millimeter-wave radar is used to collect movement information of the moving object on the stage, and a number of spatial coordinates of the moving object are obtained, the USB line of the acquisition board in the millimeter-wave radar and the USB line of the evaluation board are connected to the host computer 10, the host computer 10 processes a number of spatial coordinates of the moving object, and obtains the movement trajectory of the moving personnel, the single-chip microcomputer 20 is connected to the host computer 10, the digital servo in the servo module 30 is connected to the pins of the single-chip microcomputer 20, the single-chip microcomputer 20 generates a control instruction based on the movement trajectory of the moving personnel and sends it to the digital servo, the digital servo responds to the control instruction to rotate, and then drives the stage follow-up light 50 to realize real-time tracking and chasing.

[0025] It should be noted that, in the embodiment of the present application, the acquisition time of each millimeter-wave radar is set to 3s, that is, within 3s, the millimeter-wave radar collects information about moving objects on the stage and immediately processes it through the host computer 10 and the single-chip microcomputer 20. While the digital servo is tracking, the millimeter-wave radar performs the next 3s acquisition and processing cycle. In the embodiment of the present application, before the stage light chasing control, the preset control program is burned into the single-chip microcomputer 20. After the burning is successful, the servo module automatically returns to the preset initial angle position, and the host computer starts the built-in Matlab software. Through the Radar ToolboxSupport Package for Texas Instruents mmWave Radar Sensors toolkit in the Matlab software, the millimeter-wave radar is connected to the host computer for communication. After the connection is successful, the millimeter-wave radar has created an instance in the Matlab software. When the stage light chasing control starts, the millimeter-wave radar starts to collect information about moving objects on the stage and completes the preset acquisition time, i.e., 3s.

[0026] It should be further explained that the embodiment of the present application uses a Kalman filter tracking algorithm to process the radar signal collected by the millimeter wave radar, generate the moving trajectory of the target, calculate a set of continuous coordinates, and input them into the single-chip microcomputer 20 through the serial port transceiver protocol. The single-chip microcomputer 20 is used to write communication instructions and PWM wave generators; in the embodiment of the present application, the digital servo prevents stage spotlights and is used to realize automatic control of spotlights. It should be explained that the serial port transceiver protocol in the embodiment of the present application is a prior art, and the use of a Kalman filter tracking algorithm to process the signal to obtain the moving trajectory is a prior art.

[0027] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. The stage light tracking control system based on millimeter wave radar is characterized by: include: A host computer, a single-chip microcomputer, a steering gear module and a millimeter-wave radar module. The single-chip microcomputer is connected to the host computer via a USB to TTL interface and a connecting line. The millimeter-wave radar module is connected to the host computer via two USB cables and a network cable. The steering gear module is connected to the single-chip microcomputer via pins. The steering gear module is equipped with a stage follow light. The millimeter wave radar module includes a millimeter wave radar, an evaluation board and a 5V / 3A power supply, and the millimeter wave radar and the evaluation board are connected by screws; The 5V / 3A power supply is used to power the millimeter-wave radar and the evaluation board. The millimeter-wave radar is used to collect information of moving objects on the stage and convert it into a number of spatial coordinates. The host computer is used to obtain the moving trajectory of the moving object based on the several spatial coordinates. The single-chip microcomputer is used to generate a control instruction based on the moving trajectory and send it to the servo module. The servo module is used to rotate in response to the control instruction to drive the stage follow-up light to achieve real-time tracking and chasing.

2. The millimeter-wave radar-based stage light tracking control system according to claim 1, characterized in that: The model of the single-chip microcomputer is STM32, and the model of the smallest core board of the single-chip microcomputer is STM32F103C8T6.

3. The millimeter wave radar-based stage light tracking control system according to claim 1, characterized in that: The servo module includes two digital servos, each of which is equipped with a stage follow spot, and the model of the digital servos is AT-TBSK20.

4. The millimeter wave radar-based stage light tracking control system according to claim 1, characterized in that: The model of the millimeter wave radar is AWR1843.

5. The millimeter wave radar-based stage light tracking control system according to claim 1, characterized in that: The model of the evaluation board is DCA1000.

Images