Automation and motion control system

• US 9,026,235 B2
• Filed: 12/13/2013
• Issued: 05/05/2015
• Est. Priority Date: 05/21/2012
• Status: Active Grant

• Current Assignee: Tait Towers Manufacturing, LLC
• Original Assignee: Tait Towers Manufacturing, LLC
• Inventors: Fisher, Scott
• Primary Examiner(s): HARTMAN JR, RONALD D
• Application Number:
  US14/105,472
• Publication Number:
  US 20140180439A1
• Time in Patent Office: 508 Days
• Field of Search: 700/56, 700/61, 700/62, 700/63
• US Class Current: 700/61
• CPC Class Codes: A63J 1/028 Means for moving hanging scenery
• CPC Class Codes: A63J 99/00 Subject matter not provided for in other groups of this subclass
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05B 19/052 Linking several PLC's
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/23416 Enter application program into I-O module, like motion program, servo program
• CPC Class Codes: G05B 2219/33114 Configure motion controller to drive any kind of motor type connected
• CPC Class Codes: G05B 2219/33116 Configuration of motion control
• CPC Class Codes: G05B 2219/33273 DCS distributed, decentralised controlsystem, multiprocessor
• CPC Class Codes: G05B 2219/35585 Motion command profile
• CPC Class Codes: G05B 2219/36036 Motion, graphical motion control language gmcl
• CPC Class Codes: G05B 2219/36171 Edit velocity, motion profile, graphic plot of speed as function of time, position
• CPC Class Codes: G05B 2219/43173 Synchronize motion with scenery, sound
• CPC Class Codes: G05B 2219/45008 Theatre

Abstract

An automation and motion control system for theatrical objects, such as theatrical props, cameras, stunt persons, lighting, scenery, drapery or other similar types of devices or items, is provided to coordinate the movement of the objects on a large scale and/or to control the operation of the objects.

Claims

1. A computer implemented method to control the movement of an object in a predefined space, the method comprising:

establishing a starting point for an object in a predefined space using an operator console node, the starting point defining a position and an orientation of the object in the predefined space;

determining a motion profile for the object using the operator console node, the motion profile including a plurality of points and being used to move the object along a path beginning at the starting point, the motion profile having a position and an orientation for the object at each point of the plurality of points along the path;

converting the motion profile into a plurality of control instructions for at least one component associated with the object using a node controlling the at least one component, the at least one component being a plurality of components and defining a relationship between the object and the plurality of components using the operator console node, the plurality of control instructions enabling the at least one component to move the object along the path; and

connecting a component of the plurality of components to a connection point on the object with at least one lace using the operator console node;

generating the plurality of control instructions by calculating changes in lengths of laces connecting the object and the plurality of components moving the object along the path with the at least one component in response to the execution of the plurality of control instructions by the at least one component.

2. The computer implemented method of claim 1 wherein said determining a motion profile comprises establishing an end point for the path using the operator console node, the ending point defining a position and orientation of the object in the predefined space.

3. The computer implemented method of claim 2, wherein said converting the motion profile comprises calculating a plurality of control instructions to move from the starting point to the ending point using the node controlling the at least one component.

4. The computer implemented method of claim 1 wherein said determining a motion profile comprises establishing the plurality of points for the object along the path with a user interface.

5. The computer implemented method of claim 4 wherein said establishing the plurality of points for the object comprises manually entering by a user, position coordinates and orientation coordinates for each point into the user interface.

6. The computer implemented method of claim 1 further comprising:

simulating a movement of the object in the predefined space using the node associated with the at least one component; and

displaying the simulated movement of the object for a user in the operator console node.

7. The computer implemented method of claim 1 further comprising displaying a movement of the object in the operator console node as the object is moved along the path by the execution of the plurality of control instructions by the at least one component.

8. The computer implemented method of claim 1 wherein the position of an object includes an x coordinate, a y coordinate and a z coordinate and the orientation of an object includes an alpha angle, a beta angle and a gamma angle.

9. The computer implemented method of claim 8 wherein the x coordinate, the y coordinate and the z coordinate of the object are defined relative to a set of axis defined for the predefined space and the alpha angle, the beta angle and the gamma angle of the object are defined relative to a second set of axis defined relative to a single point on the object.

10. The computer implemented method of claim 1 further comprising determining possible collision events for the object by processing the path for the object and a relationship between the object and the plurality of components.