CN110636677B - Automatic light following method and system based on wireless communication and image recognition - Google Patents
Automatic light following method and system based on wireless communication and image recognition Download PDFInfo
- Publication number
- CN110636677B CN110636677B CN201810652873.9A CN201810652873A CN110636677B CN 110636677 B CN110636677 B CN 110636677B CN 201810652873 A CN201810652873 A CN 201810652873A CN 110636677 B CN110636677 B CN 110636677B
- Authority
- CN
- China
- Prior art keywords
- lamp
- moving target
- target body
- light
- stage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Circuit Arrangement For Electric Light Sources In General (AREA)
Abstract
The invention provides an automatic light following method and an automatic light following system based on wireless communication and image recognition, wherein the automatic light following method comprises the following steps: a wireless sensor network is formed by a plurality of first wireless sensor nodes fixed on the periphery of the stage and a second wireless sensor node arranged on a stage moving object; determining a lamp to be controlled, acquiring a stage image and identifying a moving target body image in the stage image; determining a first precision position of the moving target body according to the wireless sensor network and determining a second precision position of the moving target body according to the moving target body image in the stage image within the first precision position range; and adjusting the irradiation position of the lamp according to the second precision position, so that the irradiation position of the lamp follows the position of the moving target body. The invention can automatically follow the light of the moving target body on the stage, effectively saves labor and time and improves the control intelligence of the lamp.
Description
Technical Field
The invention relates to the technical field of light control, in particular to the technical field of stage light, and specifically relates to an automatic light following method and system based on wireless communication and image recognition.
Background
Stage lighting is also called stage lighting, and is called lighting for short. One of the means of stage art modeling. With the development of the scenario, stage lighting equipment (such as lighting lamps, slide projectors, control systems and the like) and technical means are used for displaying the environment and rendering the atmosphere by light colors and changes thereof, highlighting central characters, creating the sense of space and time of the stage, shaping the external image of the stage performance and providing necessary lighting effects (such as wind, rain, clouds, water and lightning). Stage lighting is an important component of a performance space, and is an artistic creation that performs all-around visual environment lighting design on characters and required specific scenes according to the development of plots and reproduces design intentions to audiences in a visual image mode purposefully. The space modeling of characters and plots is comprehensively and systematically considered, modeling rules are strictly followed, and means are used.
In a stage lighting system, a follow spot lamp has special application requirements, and the follow spot operation of the existing follow spot lamp is basically operated manually in real time by an operator and does not have an automatic follow spot function.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide an automatic light-following method and system based on wireless communication and image recognition, which are used to solve the problem of manpower and time consumption caused by manual control required by a light-following lamp for stage lighting to follow a moving object on a stage during application.
In order to achieve the above and other related objects, the present invention provides an automatic light tracking method based on wireless communication and image recognition, for tracking light of lamps installed around a stage, the automatic light tracking method based on wireless communication and image recognition comprising: a wireless sensor network is formed by a plurality of first wireless sensor nodes fixed on the periphery of the stage and a second wireless sensor node arranged on a stage moving object; determining a lamp to be controlled, acquiring a stage image and identifying a moving target body image in the stage image; determining a first precision position of the moving target body according to the wireless sensor network and determining a second precision position of the moving target body according to the moving target body image in the stage image within the first precision position range; and adjusting the irradiation position of the lamp according to the second precision position, so that the irradiation position of the lamp follows the position of the moving target body.
In an embodiment of the present invention, the determining the first precision position of the moving object according to the wireless sensor network includes: acquiring position information of at least three first wireless sensor nodes; establishing a reference coordinate system according to the position information of at least three first wireless sensor nodes; and calculating the position information of the first wireless sensor node, namely the first precision position of the moving target body, through the communication time of the first wireless sensor node and at least three first wireless sensor nodes and the reference coordinate system.
In an embodiment of the present invention, the automatic light tracking method based on wireless communication and image recognition further includes: acquiring position space data of the lamp; and adjusting the lamp according to the position space data of the lamp and the second precision position of the moving target body to enable the irradiation position of the lamp to follow the position of the moving target body.
In an embodiment of the present invention, the acquiring the position space data of the lamp specifically includes: obtaining coordinates of three light spots formed by irradiating three beams of light emitted by the lamp in different directions on the stage ground; obtaining the distance between every two of the three light spots and the included angle between every two of the three beams of light; acquiring the lengths of the three beams of light between the lamp and the three light spots according to the distance between every two of the three light spots and the included angle between every two of the three beams of light; and acquiring three-dimensional coordinate space data of the lamp according to the coordinates of the three light spots and the lengths of the three beams of light.
In an embodiment of the invention, the adjusting the lamp according to the position space data of the lamp and the second precision position of the moving target so that the irradiation position of the lamp follows the position of the moving target includes: acquiring a second precision position of the moving target body; adjusting the lamp according to the distance and the direction of the position space data of the lamp relative to the second precision position of the moving target body, so that the irradiation position of the lamp gradually approaches the position of the moving target body; repeating the supplementing until the irradiation position of the lamp follows the position of the moving target body.
The embodiment of the present invention further provides an automatic light following system based on wireless communication and image recognition, configured to perform light following control on lamps installed around a stage, where the automatic light following system based on wireless communication and image recognition includes: the stage positioning system comprises a wireless positioning module and a stage positioning module, wherein the wireless positioning module comprises a plurality of first wireless sensor nodes fixed on the periphery of a stage and a second wireless sensor node which is arranged on a stage moving object and wirelessly communicates with the first wireless sensor nodes to form a wireless sensor network; the camera device is used for collecting stage images; luminaire control device comprising: an image receiving unit for receiving the stage image from the image pickup device; the lamp selecting unit is used for determining a lamp to be controlled; an image recognition unit for recognizing a moving target image in the stage image; a first precision position determination unit for determining a first precision position of the moving target body according to the wireless sensor network; a second precision position determination unit for determining a second precision position of the moving target from the moving target image in the stage image within the first precision position range; and the light following unit is used for adjusting the irradiation position of the lamp according to the second precision position so that the irradiation position of the lamp follows the position of the moving target body.
In an embodiment of the present invention, the first-precision position determining unit determines the first-precision position of the moving target by: the method comprises the steps of obtaining position information of at least three first wireless sensor nodes, establishing a reference coordinate system according to the position information of the at least three first wireless sensor nodes, and measuring and calculating the position information of the first wireless sensor nodes through the communication time of the first wireless sensor nodes and the at least three first wireless sensor nodes and the reference coordinate system, wherein the position information is the first precision position of the mobile target body.
In an embodiment of the present invention, the lamp control device further includes: the lamp space position acquisition unit is used for acquiring position space data of the lamp; and the light following unit adjusts the lamp according to the position space data of the lamp and the second precision position of the moving target body so that the irradiation position of the lamp follows the position of the moving target body.
In an embodiment of the present invention, the lamp spatial position obtaining unit obtains the position spatial data of the lamp by: the method comprises the steps of obtaining coordinates of three light spots formed by three beams of light emitted by the lamp in different directions irradiating the stage ground, obtaining distances between every two three light spots and included angles between every two three beams of light, obtaining lengths of the three beams of light between the lamp and the three light spots according to the distances between every two three light spots and the included angles between every two three beams of light, and obtaining three-dimensional coordinate space data of the lamp according to the coordinates of the three light spots and the lengths of the three beams of light.
In an embodiment of the present invention, a specific manner of adjusting the lamp by the light following unit according to the position space data of the lamp and the second precision position of the moving target body so that the irradiation position of the lamp follows the position of the moving target body is as follows: acquiring a second precision position of the moving target body; adjusting the lamp according to the distance and the direction of the position space data of the lamp relative to the second precision position of the moving target body, so that the irradiation position of the lamp gradually approaches the position of the moving target body; repeating the supplementing until the irradiation position of the lamp follows the position of the moving target body.
As described above, the automatic light following method and system based on wireless communication and image recognition according to the present invention have the following advantages:
according to the invention, firstly, the target object is roughly positioned through the wireless communication network equipment, then the stage field image is obtained through the camera, and the target object is further positioned through image identification.
Drawings
Fig. 1 is a flowchart illustrating an automatic light tracking method based on wireless communication and image recognition according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart illustrating the determination of the position of the moving object according to the wireless sensor network in the automatic light tracking method based on wireless communication and image recognition according to an embodiment of the present invention.
Fig. 3 is a schematic flowchart illustrating a specific process of following the position of the moving target by the illumination position of the lamp in the automatic light tracking method based on wireless communication and image recognition according to an embodiment of the present invention.
Fig. 4 is a schematic flow chart illustrating the process of acquiring the position space data of the lamp in the automatic light tracking method based on wireless communication and image recognition according to an embodiment of the present invention.
Fig. 5 is a schematic view of a space of a lamp in an automatic light following method based on wireless communication and image recognition according to an embodiment of the present invention.
Fig. 6 is a schematic flowchart illustrating a specific process of following the position of a moving target preferably according to the illumination position of a lamp in an automatic light tracking method based on wireless communication and image recognition according to an embodiment of the present invention.
Fig. 7 is a schematic block diagram of an automatic light tracking system based on wireless communication and image recognition according to an embodiment of the present invention.
Fig. 8 is a schematic block diagram of an automatic light tracking system based on wireless communication and image recognition according to an embodiment of the present invention.
Description of the element reference numerals
100 automatic light following system
110 camera device
120 lamp control device
121 image receiving unit
122 lamp selecting unit
123 image recognition unit
124 first precision position determination unit
125 second precision position determination unit
126 light following unit
127 lamp space position obtaining unit
130 wireless location module
S1-S4
S31-S33
S41-S42
S411 to S414 steps
S421 to S423 steps
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Please refer to fig. 1 to 8. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The embodiment of the invention aims to provide an automatic light following method and system based on wireless communication and image recognition, which are used for solving the problem that in the prior art, manual control is required to be used for light following of a moving target body on a stage by a light following lamp in application of stage lighting, so that labor and time are consumed.
The principle and implementation of the automatic light tracking method and system based on wireless communication and image recognition according to the present embodiment will be described in detail below, so that those skilled in the art can understand the automatic light tracking method and system based on wireless communication and image recognition without creative labor.
The embodiment provides an automatic light following method based on wireless communication and image recognition, which is used for performing light following control on lamps installed around a stage, and as shown in fig. 1, the automatic light following method based on wireless communication and image recognition includes the following steps:
step S1, forming a wireless sensor network by a plurality of first wireless sensor nodes fixed on the periphery of the stage and a second wireless sensor node arranged on a stage moving object;
step S2, determining a lamp to be controlled, collecting a stage image and identifying a moving target body image in the stage image;
step S3, determining a first precision position of the moving target according to the wireless sensor network and determining a second precision position of the moving target according to the moving target image in the stage image within the first precision position range;
and step S4, adjusting the irradiation position of the lamp according to the second precision position, so that the irradiation position of the lamp follows the position of the moving target body.
The following describes steps S110 to S140 of the automatic light tracking method based on wireless communication and image recognition in this embodiment in detail.
Step S1, a wireless sensor network is formed by a plurality of first wireless sensor nodes fixed around the stage and a second wireless sensor node installed on the stage moving object.
Preferably, the plurality of first wireless sensor nodes fixed around the stage and the second wireless sensor nodes installed on the stage moving object communicate by adopting an IEEE 802.15.4 standard to form an LR-WPAN wireless sensor network.
And step S2, determining the lamps to be controlled, collecting the stage images and identifying the moving target body images in the stage images.
In this embodiment, the determining the lamp to be controlled specifically includes but is not limited to: and displaying a lamp control interface of each lamp of the control stage through a display screen of the lamp control device, and selecting the lamp to be controlled through touch control of the lamp control interface.
In addition, the manner of determining the controlled lamp is not limited to the above manner, and the above manner is only one of the preferable manners, and the lamp to be controlled may be selected by controlling a lamp control button provided on the light control device.
In this embodiment, the stage image is captured by a camera device, for example, at least one camera captures the stage image. The collected stage image and the moving target image are displayed through a display screen of the lighting control device.
Methods for identifying moving object images in images are well known to those skilled in the art and will not be described herein.
Step S3, determining a first precision position of the moving object according to the wireless sensor network, and determining a second precision position of the moving object according to the moving object image in the stage image within the first precision position range.
Specifically, in this embodiment, as shown in fig. 2, the determining the first precision position of the moving target according to the wireless sensor network includes:
step S31, acquiring the position information of at least three first wireless sensor nodes;
step S32, establishing a reference coordinate system according to the position information of at least three first wireless sensor nodes;
step S33 is a step of measuring position information of the first wireless sensor node, which is a first-precision position of the moving object, based on the communication time between the first wireless sensor node and at least three first wireless sensor nodes and the reference coordinate system.
In the wireless network, the method for positioning the communication node is not limited to the above method, and any measurement and calculation method in the prior art may be used to position the communication node in the line sensor network.
And step S4, adjusting the irradiation position of the lamp according to the second precision position, so that the irradiation position of the lamp follows the position of the moving target body.
Specifically, in this embodiment, as shown in fig. 3, the automatic light tracking method based on wireless communication and image recognition further includes:
step S41, obtaining position space data of the lamp;
and step S42, adjusting the lamp according to the position space data of the lamp and the second precision position of the moving target body to enable the irradiation position of the lamp to follow the position of the moving target body.
Specifically, in this embodiment, as shown in fig. 4, the acquiring the position space data of the lamp specifically includes:
step S411, obtaining coordinates of three light spots formed on the stage ground by the three beams of light emitted by the lamp in different directions.
As shown in fig. 5, point a is assumed to be a lamp, point L1, point L2, point L3 are 3 light beams emitted by lamp a, point B, point C, point D are points where lamp a strikes the ground, and coordinates of three light spots formed on the stage ground by three light beams emitted by the lamp and having different directions are obtained and set as (x1, y1, 0), (x2, y2, 0), (x3, y3, 0). Our goal is to work out the coordinates of luminaire a (x, y, z), i.e. the spatial data. Theoretically, the a coordinate can be accurately located by only calculating the lengths of the light beams L1, L2, and L3.
Step S412, obtaining the distance between every two of the three light spots and the included angle between every two of the three beams of light.
The distances among the three points B, C and D are respectively as follows:
s1＝sqrt((x1-x2)^2+(y1-y2)^2)；
s2＝sqrt((x2-x3)^2+(y2-y3)^2)；
s3＝sqrt((x3-x1)^2+(y3-y1)^2)；
and calculating included angles (a, b and c) between the light beams according to the pan/tilt value of the lamp, wherein pan is the up-and-down motion of the lamp, and tilt is the left-and-right motion.
And step S413, acquiring the lengths of the three beams of light between the lamp and the three light spots according to the distances between the three light spots and the included angles between the three beams of light.
Assuming that the lamp emits 3 beams of light L1, L2 and L3, three groups of pan/tilt values are obtained, which are set as p1/t1, p2/t2 and p3/t 3.
And establishing a coordinate system by taking the lamp as an origin, and obtaining three groups of light beam vectors according to the pan/tilt value.
(cos(Pi/2-t1)*cos(p1)，cos(Pi/2-t1)*sin(p1)，sin(Pi/2-t1))；
(cos(Pi/2-t2)*cos(p2)，cos(Pi/2-t2)*sin(p2)，sin(Pi/2-t2))；
(cos(Pi/2-t3)*cos(p3)，cos(Pi/2-t3)*sin(p3)，sin(Pi/2-t3))；
The vector angle formula can be used to obtain:
cos(L1，L2)＝L1×L2/|L1|*|L2|，
cos(L2，L3)＝L1×L2/|L1|*|L2|，
cos(L3，L1)＝L1×L2/|L1|*|L2|，
let w1 ═ cos (L1, L2), w2 ═ cos (L2, L3), w3 ═ cos (L3, L1),
the distances between the lamp and the light spot on the ground are respectively L1, L2 and L3, and the following equation can be obtained according to the cosine law:
s1^2＝L1^2+L2^2-2*L1*L2*w1，
s2^2＝L2^2+L3^2-2*L2*L3*w2，
s3^2＝L3^2+L1^2-2*L3*L1*w3，
wherein L1, L2 and L3 are variables, s1, s2, s3, w1, w2 and w3 are constants.
The equation set has 3 equations, 3 unknowns and a unique solution, and L1, L2 and L3 can be calculated by a Newton interpolation method, namely the lengths of the three beams of light between the lamp and the three light spots are obtained.
And S414, acquiring three-dimensional coordinate space data of the lamp according to the coordinates of the three light spots and the lengths of the three beams of light. With L1, L2, L3, s1, s2, s3, complete ABCD tetrahedrons are obtained, and thus XYZ coordinates of the lamp are calculated.
In this embodiment, as shown in fig. 6, the adjusting the lamp according to the position space data of the lamp and the second precision position of the moving target so that the irradiation position of the lamp follows the position of the moving target includes:
step S421, acquiring a second precision position of the moving target;
step S422, adjusting the lamp according to the distance and the direction of the position space data of the lamp relative to the second precision position of the moving target body, so that the irradiation position of the lamp gradually approaches the position of the moving target body;
step S423, repeating the above supplementing until the irradiation position of the lamp follows the position of the moving target.
Therefore, the automatic light following method of the embodiment can automatically control the lamp to gradually approach to the target irradiation position according to the movement of the position of the moving target body until the target position is finally reached, thereby effectively saving labor and time and improving the control intelligence of the lamp.
In this embodiment, if there are a plurality of controlled lamps, each lamp is distinguished by the color of the light spot on the image, so that each lamp is controlled to follow the corresponding target position according to the light following method.
In this embodiment, a self-learning training may be further performed on the lamp, and the light following speed when the lamp is controlled next time is increased, specifically, the automatic light following method may further include: recording a following track of the lamp following the moving target body; and when the irradiation position of the lamp is adjusted next time, adjusting the irradiation position of the lamp according to the recorded following track of the lamp following the moving target body.
As shown in fig. 7, an embodiment of the present invention further provides an automatic light tracking system 100 based on wireless communication and image recognition, for performing light tracking control on light fixtures installed around a stage, where the automatic light tracking system 100 based on wireless communication and image recognition includes: the camera device 110, the lamp control device 120 and the wireless positioning module 130.
In this embodiment, the wireless positioning module 130 includes a plurality of first wireless sensor nodes fixed around the stage and a second wireless sensor node installed on the stage moving object and wirelessly communicating with the first wireless sensor nodes to form a wireless sensor network.
Preferably, the plurality of first wireless sensor nodes fixed around the stage and the second wireless sensor nodes installed on the stage moving object communicate by adopting an IEEE 802.15.4 standard to form an LR-WPAN wireless sensor network.
In the present embodiment, the camera device 110 is used for capturing stage images.
In the present embodiment, the stage image is captured by the camera device 110, for example, at least one camera captures the stage image. The collected stage image and the moving target image are displayed on the display screen of the lamp control device 120.
In this embodiment, as shown in fig. 7, the lamp control device 120 includes: the system comprises an image receiving unit 121, a lamp selecting unit 122, an image identifying unit 123, a first precision position determining unit 124, a second precision position determining unit 125 and a light tracing unit 126.
In this embodiment, the image receiving unit 121 is configured to receive the stage image from the image capturing device 110. The lamp control device 120 and the camera may transmit image data through a wireless network, or may transmit image data through a wired connection.
In the present embodiment, the lamp selecting unit 122 is used for determining a lamp to be controlled.
In this embodiment, the determining the lamp to be controlled specifically includes but is not limited to: by displaying the lamp control interface of each lamp controlling the stage on the display screen of the lamp control device 120, the lamp to be controlled is selected by touching the lamp control interface.
In addition, the manner of determining the controlled lamp is not limited to the above, and the above manner is only one of the preferable manners, and the lamp to be controlled may be selected by a lamp control button provided on the lamp control device 120.
In this embodiment, the image recognition unit 123 is configured to recognize the moving object image in the stage image.
Methods for identifying moving object images in images are well known to those skilled in the art and will not be described herein.
In this embodiment, the first precision position determining unit 124 is configured to determine a first precision position of the moving target according to the wireless sensor network.
Specifically, in the present embodiment, the first-precision position determining unit 124 determines the first-precision position of the moving target by: the method comprises the steps of obtaining position information of at least three first wireless sensor nodes, establishing a reference coordinate system according to the position information of the at least three first wireless sensor nodes, and measuring and calculating the position information of the first wireless sensor nodes through the communication time of the first wireless sensor nodes and the at least three first wireless sensor nodes and the reference coordinate system, wherein the position information is the first precision position of the mobile target body.
In the wireless network, the method for positioning the communication node is not limited to the above method, and the first precision position determining unit 124 may also position the communication node in the line sensor network by using any measuring and calculating method in the prior art.
In this embodiment, the second precision position determining unit 125 is configured to determine the second precision position of the moving object according to the moving object image in the stage image within the first precision position range.
In this embodiment, the light following unit 126 is configured to adjust the irradiation position of the lamp according to the second precision position, so that the irradiation position of the lamp follows the position of the moving target.
Specifically, in the present embodiment, as shown in fig. 8, the lamp control device 120 further includes: a lamp spatial position obtaining unit 127 for obtaining position spatial data of the lamp; the light following unit 126 adjusts the lamp according to the position space data of the lamp and the second precision position of the moving target body so that the irradiation position of the lamp follows the position of the moving target body.
The lamp spatial position obtaining unit 127 obtains the position spatial data of the lamp by: the method comprises the steps of obtaining coordinates of three light spots formed by three beams of light emitted by the lamp in different directions irradiating the stage ground, obtaining distances between every two three light spots and included angles between every two three beams of light, obtaining lengths of the three beams of light between the lamp and the three light spots according to the distances between every two three light spots and the included angles between every two three beams of light, and obtaining three-dimensional coordinate space data of the lamp according to the coordinates of the three light spots and the lengths of the three beams of light.
As shown in fig. 5, point a is assumed to be a lamp, point L1, point L2, point L3 are 3 light beams emitted by lamp a, point B, point C, point D are points where lamp a strikes the ground, and coordinates of three light spots formed on the stage ground by three light beams emitted by the lamp and having different directions are obtained and set as (x1, y1, 0), (x2, y2, 0), (x3, y3, 0). Our goal is to work out the coordinates of luminaire a (x, y, z), i.e. the spatial data. Theoretically, the a coordinate can be accurately located by only calculating the lengths of the light beams L1, L2, and L3.
The distances among the three points B, C and D are respectively as follows:
s1＝sqrt((x1-x2)^2+(y1-y2)^2)；
s2＝sqrt((x2-x3)^2+(y2-y3)^2)；
s3＝sqrt((x3-x1)^2+(y3-y1)^2)；
and calculating included angles (a, b and c) between the light beams according to the pan/tilt value of the lamp, wherein pan is the up-and-down motion of the lamp, and tilt is the left-and-right motion.
Assuming that the lamp emits 3 beams of light L1, L2 and L3, three groups of pan/tilt values are obtained, which are set as p1/t1, p2/t2 and p3/t 3.
And establishing a coordinate system by taking the lamp as an origin, and obtaining three groups of light beam vectors according to the pan/tilt value.
(cos(Pi/2-t1)*cos(p1)，cos(Pi/2-t1)*sin(p1)，sin(Pi/2-t1))；
(cos(Pi/2-t2)*cos(p2)，cos(Pi/2-t2)*sin(p2)，sin(Pi/2-t2))；
(cos(Pi/2-t3)*cos(p3)，cos(Pi/2-t3)*sin(p3)，sin(Pi/2-t3))；
The vector angle formula can be used to obtain:
cos(L1，L2)＝L1×L2/|L1|*|L2|，
cos(L2，L3)＝L1×L2/|L1|*|L2|，
cos(L3，L1)＝L1×L2/|L1|*|L2|，
let w1 ═ cos (L1, L2), w2 ═ cos (L2, L3), w3 ═ cos (L3, L1),
the distances between the lamp and the light spot on the ground are respectively L1, L2 and L3, and the following equation can be obtained according to the cosine law:
s1^2＝L1^2+L2^2-2*L1*L2*w1，
s2^2＝L2^2+L3^2-2*L2*L3*w2，
s3^2＝L3^2+L1^2-2*L3*L1*w3，
wherein L1, L2 and L3 are variables, s1, s2, s3, w1, w2 and w3 are constants.
The equation set has 3 equations, 3 unknowns and a unique solution, and L1, L2 and L3 can be calculated by a Newton interpolation method, namely the lengths of the three beams of light between the lamp and the three light spots are obtained.
With L1, L2, L3, s1, s2, s3, complete ABCD tetrahedrons are obtained, and thus XYZ coordinates of the lamp are calculated.
In this embodiment, the specific manner for adjusting the lamp by the light following unit 126 according to the position space data of the lamp and the second precision position of the moving target body so that the irradiation position of the lamp follows the position of the moving target body is as follows: acquiring a second precision position of the moving target body; adjusting the lamp according to the distance and the direction of the position space data of the lamp relative to the second precision position of the moving target body, so that the irradiation position of the lamp gradually approaches the position of the moving target body; repeating the supplementing until the irradiation position of the lamp follows the position of the moving target body.
Therefore, the automatic light following system 100 of the embodiment can automatically control the lamp to gradually approach to the target irradiation position according to the movement of the position of the moving target body until the target position is finally reached, thereby effectively saving labor and time and improving the control intelligence of the lamp.
Furthermore, in order to highlight the innovative part of the present invention, the technical features that are not so closely related to solve the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that there are no other structural and functional features present in the present embodiment.
It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In summary, the invention firstly performs coarse positioning on the target object through the wireless communication network device, then obtains the stage field image through the camera, and further positions the target object through image recognition. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (6)
1. An automatic light following method based on wireless communication and image recognition is used for carrying out light following control on lamps arranged around a stage, and is characterized in that: the automatic light following method based on wireless communication and image recognition comprises the following steps:
a wireless sensor network is formed by a plurality of first wireless sensor nodes fixed on the periphery of the stage and a second wireless sensor node arranged on a stage moving object;
determining a lamp to be controlled, acquiring a stage image and identifying a moving target body image in the stage image;
determining a first precision position of the moving target body according to the wireless sensor network and determining a second precision position of the moving target body according to the moving target body image in the stage image within the first precision position range;
adjusting the irradiation position of the lamp according to the second precision position, so that the irradiation position of the lamp follows the position of the moving target body;
the automatic light following method based on wireless communication and image recognition further comprises the following steps:
acquiring position space data of the lamp;
adjusting the lamp according to the position space data of the lamp and the second precision position of the moving target body to enable the irradiation position of the lamp to follow the position of the moving target body;
the acquiring of the position space data of the lamp specifically includes:
obtaining coordinates of three light spots formed by irradiating three beams of light emitted by the lamp in different directions on the stage ground;
obtaining the distance between every two of the three light spots and the included angle between every two of the three beams of light;
acquiring the lengths of the three beams of light between the lamp and the three light spots according to the distance between every two of the three light spots and the included angle between every two of the three beams of light;
and acquiring three-dimensional coordinate space data of the lamp according to the coordinates of the three light spots and the lengths of the three beams of light.
2. The automatic light following method based on wireless communication and image recognition according to claim 1, characterized in that: the determining a first precision position of the moving target from the wireless sensor network comprises:
acquiring position information of at least three first wireless sensor nodes;
establishing a reference coordinate system according to the position information of at least three first wireless sensor nodes;
and calculating the position information of the first wireless sensor node, namely the first precision position of the moving target body, through the communication time of the first wireless sensor node and at least three first wireless sensor nodes and the reference coordinate system.
3. The automatic light following method based on wireless communication and image recognition according to claim 1, characterized in that: the adjusting the lamp according to the position space data of the lamp and the second precision position of the moving target body so that the irradiation position of the lamp follows the position of the moving target body comprises:
acquiring a second precision position of the moving target body;
adjusting the lamp according to the distance and the direction of the position space data of the lamp relative to the second precision position of the moving target body, so that the irradiation position of the lamp gradually approaches the position of the moving target body;
and repeating the steps until the irradiation position of the lamp follows the position of the moving target body.
4. The utility model provides an automatic system of following spot based on wireless communication and image recognition for follow spot control is installed in lamps and lanterns around the stage, its characterized in that: the automatic light following system based on wireless communication and image recognition comprises:
the stage positioning system comprises a wireless positioning module and a stage positioning module, wherein the wireless positioning module comprises a plurality of first wireless sensor nodes fixed on the periphery of a stage and a second wireless sensor node which is arranged on a stage moving object and wirelessly communicates with the first wireless sensor nodes to form a wireless sensor network;
the camera device is used for collecting stage images;
luminaire control device comprising:
an image receiving unit for receiving the stage image from the image pickup device;
the lamp selecting unit is used for determining a lamp to be controlled;
an image recognition unit for recognizing a moving target image in the stage image;
a first precision position determination unit for determining a first precision position of the moving target body according to the wireless sensor network;
a second precision position determination unit for determining a second precision position of the moving target from the moving target image in the stage image within the first precision position range;
the light following unit is used for adjusting the irradiation position of the lamp according to the second precision position so that the irradiation position of the lamp follows the position of the moving target body;
the luminaire control device further comprises: the lamp space position acquisition unit is used for acquiring position space data of the lamp; the light following unit adjusts the lamp according to the position space data of the lamp and the second precision position of the moving target body so that the irradiation position of the lamp follows the position of the moving target body;
the lamp space position acquisition unit acquires the position space data of the lamp in the following way:
the method comprises the steps of obtaining coordinates of three light spots formed by three beams of light emitted by the lamp in different directions irradiating the stage ground, obtaining distances between every two three light spots and included angles between every two three beams of light, obtaining lengths of the three beams of light between the lamp and the three light spots according to the distances between every two three light spots and the included angles between every two three beams of light, and obtaining three-dimensional coordinate space data of the lamp according to the coordinates of the three light spots and the lengths of the three beams of light.
5. The automatic light following system based on wireless communication and image recognition according to claim 4, wherein: the first-precision position determination unit determines the first-precision position of the moving target body by:
the method comprises the steps of obtaining position information of at least three first wireless sensor nodes, establishing a reference coordinate system according to the position information of the at least three first wireless sensor nodes, and measuring and calculating the position information of the first wireless sensor nodes through the communication time of the first wireless sensor nodes and the at least three first wireless sensor nodes and the reference coordinate system, wherein the position information is the first precision position of the mobile target body.
6. The automatic light following system based on wireless communication and image recognition according to claim 4, wherein: the specific way that the light following unit adjusts the lamp according to the position space data of the lamp and the second precision position of the moving target body so that the irradiation position of the lamp follows the position of the moving target body is as follows:
acquiring a second precision position of the moving target body;
adjusting the lamp according to the distance and the direction of the position space data of the lamp relative to the second precision position of the moving target body, so that the irradiation position of the lamp gradually approaches the position of the moving target body;
and repeating the steps until the irradiation position of the lamp follows the position of the moving target body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810652873.9A CN110636677B (en) | 2018-06-22 | 2018-06-22 | Automatic light following method and system based on wireless communication and image recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810652873.9A CN110636677B (en) | 2018-06-22 | 2018-06-22 | Automatic light following method and system based on wireless communication and image recognition |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110636677A CN110636677A (en) | 2019-12-31 |
| CN110636677B true CN110636677B (en) | 2021-08-17 |
Family
ID=68966601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810652873.9A Active CN110636677B (en) | 2018-06-22 | 2018-06-22 | Automatic light following method and system based on wireless communication and image recognition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110636677B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111649279A (en) * | 2020-06-16 | 2020-09-11 | 淄博职业学院 | Intelligent light following method and system for dance performance |
| CN112764435B (en) * | 2021-01-20 | 2024-04-05 | 广州市明道文化科技集团股份有限公司 | Intelligent tracking method, system and storage medium for light tracking lamp |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102525524A (en) * | 2010-12-20 | 2012-07-04 | 上海西门子医疗器械有限公司 | Positioning device for scanning positioning images and device |
| CN204026527U (en) * | 2014-08-27 | 2014-12-17 | 湖南马尔斯电子科技有限公司 | A kind of light of stage following device |
| CN105700565A (en) * | 2016-03-18 | 2016-06-22 | 山东科技大学 | Real-time automatic tracking system and method for light on actor |
| CN106954325A (en) * | 2017-04-27 | 2017-07-14 | 武汉理工大学 | A kind of stage follow spotlight control method based on image recognition |
| WO2017162550A1 (en) * | 2016-03-24 | 2017-09-28 | Philips Lighting Holding B.V. | Controlling lighting using spatial distribution of users |
| CN107708273A (en) * | 2017-10-19 | 2018-02-16 | 北京工业大学 | A kind of stage light control system, polishing lamp lamp holder driving method, tag location method |
-
2018
- 2018-06-22 CN CN201810652873.9A patent/CN110636677B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102525524A (en) * | 2010-12-20 | 2012-07-04 | 上海西门子医疗器械有限公司 | Positioning device for scanning positioning images and device |
| CN204026527U (en) * | 2014-08-27 | 2014-12-17 | 湖南马尔斯电子科技有限公司 | A kind of light of stage following device |
| CN105700565A (en) * | 2016-03-18 | 2016-06-22 | 山东科技大学 | Real-time automatic tracking system and method for light on actor |
| WO2017162550A1 (en) * | 2016-03-24 | 2017-09-28 | Philips Lighting Holding B.V. | Controlling lighting using spatial distribution of users |
| CN106954325A (en) * | 2017-04-27 | 2017-07-14 | 武汉理工大学 | A kind of stage follow spotlight control method based on image recognition |
| CN107708273A (en) * | 2017-10-19 | 2018-02-16 | 北京工业大学 | A kind of stage light control system, polishing lamp lamp holder driving method, tag location method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110636677A (en) | 2019-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10499040B2 (en) | Device and method for optically scanning and measuring an environment and a method of control | |
| US10371504B2 (en) | Light fixture commissioning using depth sensing device | |
| JP6674192B2 (en) | Image processing apparatus and image processing method | |
| JP2002259976A (en) | Method and device for detecting specific point | |
| KR100698534B1 (en) | Landmark for location recognition of mobile robot and location recognition device and method using same | |
| CN1426527A (en) | Combined stereovision, color 3D digitizing and motion capture system | |
| KR101553273B1 (en) | Method and Apparatus for Providing Augmented Reality Service | |
| CN110636677B (en) | Automatic light following method and system based on wireless communication and image recognition | |
| CN110471403B (en) | Method for guiding an autonomously movable machine by means of an optical communication device | |
| WO2013167472A1 (en) | Surveying apparatus having a range camera | |
| CN103759724B (en) | A kind of indoor navigation method based on lamp decoration feature and system | |
| JP2023546739A (en) | Methods, apparatus, and systems for generating three-dimensional models of scenes | |
| US20200184222A1 (en) | Augmented reality tools for lighting design | |
| CN113450414A (en) | Camera calibration method, device, system and storage medium | |
| CN109712246B (en) | Augmented reality image coloring method based on generation countermeasure network technology | |
| KR100698535B1 (en) | Position recognition device and method of mobile robot with tilt correction function | |
| Gutiérrez et al. | A blender-based simulation tool for visible light positioning with portable devices | |
| CN112257535B (en) | Three-dimensional matching equipment and method for avoiding object | |
| CN112462948B (en) | Calibration method and device based on deviation of user gesture control by depth camera | |
| CN108592789A (en) | A kind of steel construction factory pre-assembly method based on BIM and machine vision technique | |
| CN114245543A (en) | Stage lighting method, system, equipment and storage medium based on space positioning | |
| CN109323691A (en) | A kind of positioning system and localization method | |
| GB2581247A (en) | Systems and methods of directing a lighting fixture in a venue | |
| KR20200089072A (en) | Apparatus and Method for Acquiring Illumination Spatial Information and Method for Evaluating Illumination Environment of Target Space | |
| US20240035648A1 (en) | Method for creating xyz focus paths with a user device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 510540 No. 8, No. 8, Kexing Road, Guangzhou private science and Technology Park, 1633 North Baiyun Road, Baiyun District, Guangdong. Applicant after: Guangzhou Colourful Lighting Co.,Ltd. Address before: Baiyun District of Guangzhou City, Guangdong province 510540 North Tai Road No. 1633 Guangzhou private science and Technology Park Branch Road No. 8 Applicant before: GUANGZHOU FINEART LIGHTING Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |