CN111880577A - Lamp steering control method, device and system and computer readable storage medium - Google Patents
Lamp steering control method, device and system and computer readable storage medium Download PDFInfo
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- CN111880577A CN111880577A CN202010706022.5A CN202010706022A CN111880577A CN 111880577 A CN111880577 A CN 111880577A CN 202010706022 A CN202010706022 A CN 202010706022A CN 111880577 A CN111880577 A CN 111880577A
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- 241001465382 Physalis alkekengi Species 0.000 description 8
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
Abstract
The invention provides a lamp steering control method, a system and a computer readable storage medium, wherein the method comprises the following steps: if a first reset instruction triggered by a reset key based on the head gyroscope sensor is detected, controlling the lamp to turn to a reset position corresponding to the first reset instruction; if an automatic instruction triggered by an automatic switch based on a head gyroscope sensor is detected, acquiring a first rotation angle of a target head based on the head gyroscope sensor, and acquiring a second rotation angle of a lamp platform based on a sensor of the lamp platform; and calculating a target rotation angle of the lamp based on the first rotation angle and the second rotation angle, and controlling the lamp to rotate to a target position corresponding to the target rotation angle. The lamp and the information acquisition module are separated, the target rotation angle is calculated by acquiring the rotation angle of the target head, and the direction of the lamp turning to the target head is automatically controlled according to the target rotation angle, so that the lamp can turn timely and accurately.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a lamp steering control method, a device and a system and a computer readable storage medium.
Background
The lamp is a tool for people to overcome dark environment, and due to the existence of the lamp, people can carry out various operations in the dark environment, such as night patrol, night field search and rescue, night maritime people search, night engineering operation and the like.
In the operation process in a dark environment, in order to meet the requirement that people look at where the light of the lamp shines, and avoid missing a search and rescue target due to untimely light turning or operation risks caused by a vision blind area and the like, the prior art generally fixes the lamp on the head of a person, so that the lamp rotates along with the rotation of the head of the person; or a remote control handle is adopted to control the lamp to turn to the visual direction of a person.
However, the former is only suitable for a lamp with a small volume, and if the lamp is a lamp with a large volume, the lamp cannot be fixed on the head of a person; the latter cannot make accurate and timely steering in the operation process. It can be seen that the existing lamp control method is not intelligent and cannot be applied to more application scenes.
Disclosure of Invention
The invention mainly aims to provide a lamp steering control method, a device and a system and a computer readable storage medium, aiming at realizing timely and accurate steering of a lamp.
A lamp steering control method is applied to a lamp steering control system, the lamp steering control system comprises an information acquisition module, a lamp platform and a lamp, the information acquisition module comprises a head gyroscope sensor, the head gyroscope sensor is worn on the head of a target, and the lamp steering control method comprises the following steps:
if a first reset instruction triggered by a reset key based on the head gyroscope sensor is detected, controlling the lamp to turn to a reset position corresponding to the first reset instruction;
if an automatic instruction triggered by an automatic switch based on the head gyroscope sensor is detected, acquiring a first rotation angle of the target head based on the head gyroscope sensor, and acquiring a second rotation angle of the lamp platform based on the sensor of the lamp platform;
and calculating a target rotation angle of the lamp based on the first rotation angle and the second rotation angle, and controlling the lamp to rotate to a target position corresponding to the target rotation angle.
In one embodiment, before the step of acquiring a first rotation angle of a target head based on the head gyroscope sensor and acquiring a second rotation angle of the lamp platform based on the sensor of the lamp platform if the automatic command triggered by the automatic switch of the head gyroscope sensor is detected, the lamp steering control method further includes:
determining whether a line of sight of the target head matches an illumination direction of the light fixture after the light fixture is turned to the reset position;
and if so, monitoring whether an automatic instruction triggered by an automatic switch based on the head gyroscope sensor exists.
In one embodiment, the step of calculating the target rotation angle of the luminaire based on the first rotation angle and the second rotation angle comprises:
determining a first initial rotation angle of the target head and a second initial rotation angle of the lamp;
calculating a first rotation angle difference based on the first initial rotation angle and the second initial rotation angle;
calculating a second rotation angle difference based on the first rotation angle and the second rotation angle;
and calculating a target rotation angle of the lamp based on the first rotation angle difference and the second rotation angle difference.
In one embodiment, the first initial rotation angle comprises a first initial level angle and a first initial pitch angle, the second initial rotation angle comprises a second initial level angle and a second initial pitch angle, the first rotation angle comprises a first level angle and a first pitch angle, and the second rotation angle comprises a second level angle and a second pitch angle.
In one embodiment, the information acquisition module includes a human face forward vision recognition module, the human face forward vision recognition module is installed on the lamp platform, and the lamp steering control method further includes:
if a second reset instruction triggered by a reset key based on the human face front vision recognition module is detected, controlling the lamp to turn to a reset position corresponding to the second reset instruction;
if an automatic instruction triggered by an automatic switch based on the face forward vision recognition module is detected, recognizing the face steering of the target head based on the face forward vision recognition module, and acquiring the rotation angle of the target head based on the face steering;
and controlling the lamp to turn to the target position corresponding to the rotation angle based on the rotation angle.
In addition, in order to achieve the above object, the present invention further provides a lamp steering control system, which includes a processor, a memory, and a lamp steering control program stored on the memory and executable by the processor, wherein when the lamp steering control program is executed by the processor, the steps of the lamp steering control method are implemented.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, having a lamp steering control program stored thereon, wherein when the lamp steering control program is executed by a processor, the steps of the lamp steering control method are implemented.
The invention provides a lamp steering control method, wherein if a first reset instruction triggered by a reset key based on a head gyroscope sensor is detected, the lamp is controlled to steer to a reset position corresponding to the first reset instruction; if an automatic instruction triggered by an automatic switch based on the head gyroscope sensor is detected, acquiring a first rotation angle of the target head based on the head gyroscope sensor, and acquiring a second rotation angle of the lamp platform based on the sensor of the lamp platform; and calculating a target rotation angle of the lamp based on the first rotation angle and the second rotation angle, and controlling the lamp to rotate to a target position corresponding to the target rotation angle. The lamp and the information acquisition module are separated, the target rotation angle is calculated by acquiring the rotation angle of the target head, and the direction of the lamp turning to the target head is automatically controlled according to the target rotation angle, so that the lamp can turn timely and accurately.
Drawings
Fig. 1 is a schematic hardware structure diagram of a lamp steering control system according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a lamp steering control method according to the present invention;
FIG. 3 is a schematic view of a lamp according to a first embodiment of the lamp steering control method of the present invention;
fig. 4 is a schematic design diagram of a face front vision recognition module in the first embodiment of the lamp steering control method according to the present invention.
Detailed Description
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is apparent that the specific details set forth in the following description are merely exemplary of the invention, which can be practiced in many other embodiments that depart from the specific details disclosed herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The lamp steering control method related by the embodiment of the invention is mainly applied to a lamp steering control system, and the lamp steering control system can comprise equipment with display and processing functions, such as a PC (personal computer), a portable computer, a mobile terminal and the like.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of a lamp steering control system according to an embodiment of the present invention. In this embodiment of the present invention, the luminaire steering control system may include a processor 1001 (e.g., a CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used for realizing connection communication among the components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface); the memory 1005 may be a high-speed RAM memory, or may be a non-volatile memory (e.g., a magnetic disk memory), and optionally, the memory 1005 may be a storage device independent of the processor 1001.
Those skilled in the art will appreciate that the hardware configuration shown in FIG. 1 does not constitute a limitation of the light fixture steering control system, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
With continued reference to fig. 1, memory 1005 of fig. 1, which is one type of computer-readable storage medium, may include an operating system, a network communication module, and a luminaire steering control program.
In fig. 1, the network communication module is mainly used for connecting to a server and performing data communication with the server; the processor 1001 may call the lamp steering control program stored in the memory 1005, and execute the lamp steering control method provided by the embodiment of the present invention.
The embodiment of the invention provides a lamp steering control method.
Referring to fig. 2, fig. 2 is a flowchart illustrating a lamp steering control method according to a first embodiment of the present invention.
In this embodiment, the lamp steering control method includes the following steps:
step S10, if a first reset instruction triggered by a reset key of the head gyroscope sensor is detected, controlling the lamp to turn to a reset position corresponding to the first reset instruction;
step S20, if an automatic instruction triggered by an automatic switch based on the head gyroscope sensor is detected, acquiring a first rotation angle of the target head based on the head gyroscope sensor, and acquiring a second rotation angle of the lamp platform based on the sensor of the lamp platform;
step S30, calculating a target rotation angle of the lamp based on the first rotation angle and the second rotation angle, and controlling the lamp to turn to a target position corresponding to the target rotation angle.
The lamp steering control method of the embodiment is applied to a lamp steering control system, and for convenience in description, the lamp steering control system is referred to as a control system for short, and the control system comprises an information acquisition module, a lamp platform and a lamp.
The information acquisition module is used for acquiring the rotation angle of the target head, in one embodiment, the information acquisition module can be a head gyroscope sensor, is worn on the target head, and acquires the rotation angle of the target head according to the rotation of the target head when in work; in another embodiment, the information acquisition module can also be a human face front vision recognition module, and is installed on the lamp platform, and is specifically installed at the front part of the human face of the lamp platform.
In an embodiment, the lamp platform may be a vehicle or an engineering machine, such as a patrol car, an excavator, or the like, wherein the lamp platform includes a sensor, specifically a gyroscope sensor, and when the vehicle is in operation, the rotation angle of the lamp platform is acquired according to the rotation of the lamp platform.
The lamp, as shown in fig. 3, is configured to emit light, where the lamp may include a master control template, and is configured to calculate a target rotation angle of the lamp according to the rotation angle acquired by the information acquisition module and the rotation angle acquired by the sensor of the lamp platform, so as to control the lamp to turn.
It should be noted that the gyroscope sensor is not designed together with the lamp, because the gyroscope sensor needs to be subjected to parameter correction during specific implementation, and the gyroscope sensor is not easily taken out for correction together with the lamp design, so that the gyroscope sensor is designed separately from the lamp.
This embodiment is earlier through the reset instruction that the reset key triggered, turn to the reset position with lamps and lanterns, when detecting automatic switch and opening, get into automatic mode, this moment, through information acquisition module, also be the first turned angle that target head was gathered to head gyroscope sensor, and the second turned angle that lamp platform was gathered to the sensor through lamp platform, thereby calculate lamps and lanterns according to first turned angle and second turned angle and be about to pivoted target turned angle, and control lamps and lanterns rotate, make lamps and lanterns according to turning to of people's head, shine corresponding place automatically, realize the intelligent control of lamps and lanterns.
The respective steps will be described in detail below:
and step S10, if a first reset instruction triggered by a reset key of the head gyroscope sensor is detected, controlling the lamp to turn to a reset position corresponding to the first reset instruction.
In this embodiment, if the user wants to use the lamp, the reset key of the head gyroscope sensor is pressed first, so that the control system detects the first reset instruction triggered based on the reset key, thereby controlling the lamp to turn to the reset position corresponding to the first reset instruction, specifically, by the main control module, the motor corresponding to the driving lamp turns to the central angle of the rotating position of the lamp, which can be understood, in order to avoid winding of various circuits in the lamp, the rotating range of the lamp is limited, and the rotating is not performed more than 360 degrees, and therefore, the central angle of the rotating position of the lamp can be used as the reset position.
Step S20, if an automatic command triggered by an automatic switch based on the head gyroscope sensor is detected, acquiring a first rotation angle of the target head based on the head gyroscope sensor, and acquiring a second rotation angle of the lamp platform based on the sensor of the lamp platform.
In this embodiment, the control system includes an automatic control mode and a manual control mode, and a user can switch the modes through a mode switching button, i.e., an automatic switch, on the information acquisition module, and when the control system is in the manual control mode, the user can manually control the lamp through the control button on the information acquisition module.
When a user presses a mode switching button, namely an automatic switch, to enter an automatic control mode, an information acquisition module, namely a head gyroscope sensor, automatically works to acquire a first rotation angle of a target head, wherein the first rotation angle comprises a first horizontal angle (a1) and a first pitch angle (b 1); likewise, the sensor of the light platform also automatically operates to capture a second angle of rotation of the light platform, wherein the second angle of rotation includes a second horizontal angle (x1) and a second pitch angle (y 1).
Step S30, calculating a target rotation angle of the lamp based on the first rotation angle and the second rotation angle, and controlling the lamp to turn to a target position corresponding to the target rotation angle.
In this embodiment, according to the first rotation angle and the second rotation angle, a target rotation angle of the lamp is calculated, specifically:
determining a first initial rotation angle of the target head and a second initial rotation angle of the lamp;
calculating a first rotation angle difference based on the first initial rotation angle and the second initial rotation angle;
calculating a second rotation angle difference based on the first rotation angle and the second rotation angle;
and calculating a target rotation angle of the lamp based on the first rotation angle difference and the second rotation angle difference.
That is, a first initial rotation angle of the target head, which includes a first initial pan angle (a) and a first initial tilt angle (b), and a second initial rotation angle of the luminaire, which includes a second initial pan angle (x) and a second initial tilt angle (y), are determined.
In one embodiment, when the control system enters the automatic control mode, a first initial rotation angle of the target head and a second initial rotation angle of the lamp platform are recorded.
Then, a first initial rotation angle and a second initial rotation angle are calculated, and a first rotation angle difference is calculated, specifically, a horizontal angle difference between the first initial horizontal angle (a) and the second initial horizontal angle (x) and a pitch angle difference between the first initial pitch angle (b) and the second initial pitch angle (y) are calculated, that is, the first rotation angle difference includes a horizontal angle difference (a-x) and a pitch angle difference (b-y).
Next, a second rotation angle difference of the first rotation angle and the second rotation angle is calculated, specifically, a horizontal angle difference of the first horizontal angle (a1) and the second horizontal angle (x1) and a pitch angle difference of the first initial pitch angle (b1) and the second initial pitch angle (y1) are calculated, that is, the second rotation angle difference includes a horizontal angle difference (a1-x1) and a pitch angle difference (b1-y 1).
And finally, calculating a target rotation angle of the lamp according to the first rotation angle difference and the second rotation angle difference, wherein the target rotation angle comprises a target horizontal angle and a target pitch angle, and specifically, the target horizontal angle is (a1-x1) - (a-x), and the target pitch angle is (b1-y1) - (b-y).
That is, an initial position (a, b) of the target head and an initial position (x, y) of the lamp platform are recorded, and then, a rotation angle (a1, b1) of the target head and a rotation angle (x1, y1) of the lamp platform are acquired at a certain time of the automatic control mode, so that target rotation angles (a1-x1) - (a-x), (b1-y1) - (b-y) for the main control module of the lamp to drive the internal motor to rotate are calculated.
In another embodiment, the first initial rotation angle and the second initial rotation angle may also be the rotation angle of the target head and the rotation angle of the light platform acquired at the previous time, and if the current time is t1, the rotation angle of the target head acquired by the information acquisition module and the sensor of the light platform is (a1, b1), and the rotation angle of the light platform is (x1, y1), then when it is determined that t0, the rotation angle of the target head acquired by the information acquisition module and the sensor of the light platform is (a0, b0), and the rotation angle of the light platform is (x0, y0), so as to calculate the target rotation angles (a1-x1) - (a0-x0), (b1-y1) - (b0-y0) at which the main control module of the light drives the internal motor to rotate.
After the target rotation angle is calculated, the lamp can be controlled to turn according to the target rotation angle, and the lamp is specifically controlled to turn to a target position corresponding to the target rotation angle.
It should be noted that, in order to avoid the winding of the internal circuit caused by the turning of the lamp, in the specific implementation, a stop point is arranged in the lamp, and the position of the stop point can be set according to the actual situation, for example, the position of 360 degrees is provided with the stop point, which means that the lamp can only rotate 360 degrees at most.
When the lamp is in specific implementation, a user presses the information acquisition device, namely a reset key of the head gyroscope sensor triggers a first reset instruction, the control system turns the lamp to a reset position according to the first reset instruction, wherein the reset position can be a central angle of a lamp rotating position, namely the maximum angle of the lamp turning left or right at the reset position is consistent, and the maximum angle of the lamp turning up and down is also consistent. Then, the user expects to be in the direction corresponding to the preset position, namely the direction that the sight of the user is consistent with the direction that the lamp shines, records the first initial rotation angle of target head and the second initial rotation angle of lamp platform this moment. And the user presses an automatic switch of the information acquisition device again to trigger an automatic control command, the control system enters an automatic control mode according to the automatic control command, the head gyroscope sensor and the sensor of the lamp platform automatically work in the automatic control mode, and at a certain moment, if the first rotation angle of the target head is detected to be (a1, b1) and the second rotation angle of the lamp platform is detected to be (x1, y1), the target rotation angles ((a1-x1) - (a-x), (b1-y1) - (b-y)) are calculated, so that the lamp is controlled to turn to the visual direction of the user.
Taking night patrol as an example, the lamp platform is a patrol car, the lamp can be installed on the roof of the patrol car, the head gyroscope sensor is worn on the head of the car owner, the user presses the reset key, the lamp turns to the central angle of the rotating position of the lamp, the user looks straight ahead, then presses the automatic switch, the head gyroscope sensor starts to automatically acquire the rotating angle of the car owner, the sensor on the lamp platform also starts to automatically acquire the rotating angle of the lamp platform, the initial rotating angle of the head of the car owner and the initial rotating angle of the patrol car are both (0, 0), at a certain moment, the car owner rotates 45 degrees to the left level, the angle of the lamp which needs to rotate is ((-45-0) - (0-0), (0-0) - (0-0)) (-45, 0), wherein, -45 represents that the lamp rotates 45 degrees to the left level, if it is + then it turns to the right and 0 means that the pitch angle is unchanged.
In this embodiment, a lamp steering control method is provided, where if a first reset instruction triggered by a reset key of a head gyroscope sensor is detected, the lamp is controlled to steer to a reset position corresponding to the first reset instruction; if an automatic instruction triggered by an automatic switch based on the head gyroscope sensor is detected, acquiring a first rotation angle of the target head based on the head gyroscope sensor, and acquiring a second rotation angle of the lamp platform based on the sensor of the lamp platform; and calculating a target rotation angle of the lamp based on the first rotation angle and the second rotation angle, and controlling the lamp to rotate to a target position corresponding to the target rotation angle. The lamp and the information acquisition module are separated, the target rotation angle is calculated by acquiring the rotation angle of the target head, and the direction of the lamp turning to the target head is automatically controlled according to the target rotation angle, so that the lamp can turn timely and accurately.
Further, a second embodiment of the lamp steering control method of the present invention is proposed based on the first embodiment.
The second embodiment of the lamp turning control method differs from the first embodiment of the lamp turning control method in that, before step S20, the lamp turning control method further includes:
step a, after the lamp is turned to the reset position, determining whether the sight line of the target head is matched with the irradiation direction of the lamp;
and b, if the head gyroscope sensor is matched with the head gyroscope sensor, monitoring whether an automatic instruction triggered by an automatic switch based on the head gyroscope sensor exists.
In this embodiment, in order to ensure that the position where the lamp turns is the visual direction of the user, before entering the automatic control mode, it is further necessary to determine whether the line of sight of the target head of the user is matched with the irradiation direction of the lamp, that is, after the user desires to irradiate the irradiation direction of the lamp, the automatic control mode is restarted, so that where the subsequent target head rotates, the lamp irradiates, and the accurate turning of the lamp is realized.
The respective steps will be described in detail below:
step a, after the lamp is turned to the reset position, determining whether the sight line of the target head is matched with the irradiation direction of the lamp.
In this embodiment, if an automatic control instruction triggered by the information acquisition module is detected, that is, the automatic switch is disposed on the information acquisition module, meaning that the user presses the automatic switch, the control system is about to enter an automatic control mode, and the control system determines whether the sight line of the target head is matched with the irradiation direction of the lamp.
In an embodiment, the automatic control mode can be entered only by matching the sight line of the current target head with the irradiation direction of the lamp, and specifically, whether the rotation angle of the current target head is consistent with the rotation angle of the lamp is determined.
In one embodiment, step a comprises:
after the lamp is turned to the reset position, detecting whether the lamp is in the central angle of the lamp rotating position;
if the target head is located at the central angle of the lamp rotating position, detecting whether a first initial rotating angle of the target head is a preset value;
and if the first initial rotation angle is a preset value, determining that the sight line of the target head is matched with the irradiation direction of the lamp.
That is, it is determined whether the lamp is at the central angle of the lamp rotation position, and when the lamp is at the central angle of the lamp rotation position and the first initial rotation angle of the target head is a preset value, the control system is allowed to enter the automatic control mode, where the preset value corresponds to the central angle of the lamp rotation position, that is, when the rotation angle of the user's head is the preset value, the line of sight of the control system is consistent with the irradiation direction of the central angle of the lamp at the lamp rotation position.
And b, if the head gyroscope sensor is matched with the head gyroscope sensor, monitoring whether an automatic instruction triggered by an automatic switch based on the head gyroscope sensor exists.
When the matching is determined, whether the user presses the automatic switch or not is monitored, so that an automatic instruction is triggered, for example, in the case of a patrol car, the front of the user is viewed in the patrol car by the user as an original point, namely the rotation angle of the head of the user at the moment is (0, 0), namely a preset value, the central angle of the lamp at the rotation position, namely the front of the patrol car directly irradiated by the lamp, is a preset position, and when the two conditions are met, the user presses the automatic switch, so that the control system enters an automatic control mode.
In the embodiment, for ensuring that the turning position of the lamp is the visual direction of the user, before entering the automatic control mode, whether the sight line of the target head of the user is matched with the irradiation direction of the lamp is required to be determined, that is, after the user wants to irradiate the irradiation direction of the lamp, the automatic control mode is started again, so that the subsequent target head is rotated to where the lamp is irradiated, and the accurate turning of the lamp is realized.
Further, a third embodiment of the lamp steering control method of the present invention is proposed based on the first and second embodiments.
The third embodiment of the lamp steering control method is different from the first and second embodiments of the lamp steering control method in that the information acquisition module includes a face forward vision recognition module, the face forward vision recognition module is installed on the lamp platform, and the lamp steering control method further includes:
c, if a second reset instruction triggered by a reset key of the face front vision recognition module is detected, controlling the lamp to turn to a reset position corresponding to the second reset instruction;
d, if an automatic instruction triggered by an automatic switch based on the face front vision recognition module is detected, recognizing the face turning direction of the target head based on the face front vision recognition module, and acquiring the rotation angle of the target head based on the face turning direction;
and e, controlling the lamp to turn to the target position corresponding to the rotation angle based on the rotation angle.
In this embodiment, the information acquisition module includes people's face the place ahead vision recognition module, installs in the lamps and lanterns platform, specifically installs in the anterior position of lamps and lanterns platform people face, when the lamps and lanterns platform is the vehicle, can install people's face the place ahead vision recognition module on the A post of vehicle, at the during operation, the steering to of the preceding people face of discernment to gather the turned angle of target head.
Similarly, in the use process, a user firstly presses the reset key to enable the lamp to turn to the reset position, then presses the automatic switch to enable the human face front vision recognition module to automatically collect the human face turning of the target head, so that the rotation angle of the target head is recognized, and then controls the lamp to rotate according to the rotation angle.
Taking night patrol as an example, the lamp platform is a patrol car, the lamp can be arranged on the roof of the patrol car, the human face front vision identification module is arranged on the A column of the patrol car, after the user gets on the patrol car, the user presses the reset key to control the lamp to return to the middle, namely the lamp directly irradiates the front of the patrol car, then, the user looks at the front of the patrol car directly, presses the automatic switch, enters an automatic control mode, records the rotation angle of the head of the user and the rotation angle of the patrol car at the moment, and assumes (0, 0), at a certain moment, the user rotates 45 degrees to the left horizontal, and the lamp needs to rotate by (-45, 0) to (-0) (0-0) to (-45, 0), wherein, -45 represents a 45 degree horizontal rotation to the left, and if it is + then a rotation to the right, and 0 represents a constant pitch angle.
It should be noted that the reset key and the automatic switch may be disposed on the lamp platform, or may be disposed on the visual recognition module in front of the human face. In order to ensure accurate face recognition and recognize the turning direction of the face, the face front vision recognition module of the embodiment includes two cameras, a reset key and an automatic switch (wherein, the dots in the diagram, the left dot can be the reset key, and the right dot can be the automatic switch, or vice versa), the two cameras collect the face images of the user in real time, analyze the face images, recognize the turning direction of the face, and determine the rotation angle of the head of the face.
The embodiment provides a lamp steering control method, wherein if a second reset instruction triggered by a reset key based on a human face front vision recognition module is detected, the lamp is controlled to steer to a reset position corresponding to the second reset instruction; if an automatic instruction triggered by an automatic switch based on the face forward vision recognition module is detected, recognizing the face steering of the target head based on the face forward vision recognition module, and acquiring the rotation angle of the target head based on the face steering; and controlling the lamp to turn to the target position corresponding to the rotation angle based on the rotation angle. The lamp and the information acquisition module are separated, the target rotation angle is calculated by acquiring the rotation angle of the target head, and the direction of the lamp turning to the target head is automatically controlled according to the target rotation angle, so that the lamp can turn timely and accurately.
In addition, the embodiment of the invention also provides a computer readable storage medium.
The computer readable storage medium of the present invention stores a lamp steering control program, wherein when the lamp steering control program is executed by a processor, the following steps are implemented:
if a first reset instruction triggered by a reset key based on the head gyroscope sensor is detected, controlling the lamp to turn to a reset position corresponding to the first reset instruction;
if an automatic instruction triggered by an automatic switch based on the head gyroscope sensor is detected, acquiring a first rotation angle of the target head based on the head gyroscope sensor, and acquiring a second rotation angle of the lamp platform based on the sensor of the lamp platform;
and calculating a target rotation angle of the lamp based on the first rotation angle and the second rotation angle, and controlling the lamp to rotate to a target position corresponding to the target rotation angle.
Optionally, before the step of acquiring a first rotation angle of a target head based on the head gyroscope sensor and acquiring a second rotation angle of the lamp platform based on the sensor of the lamp platform if an automatic instruction triggered by an automatic switch of the head gyroscope sensor is detected, the lamp steering control method further includes:
determining whether a line of sight of the target head matches an illumination direction of the light fixture after the light fixture is turned to the reset position;
and if so, monitoring whether an automatic instruction triggered by an automatic switch based on the head gyroscope sensor exists.
Optionally, the step of calculating a target rotation angle of the luminaire based on the first rotation angle and the second rotation angle includes:
determining a first initial rotation angle of the target head and a second initial rotation angle of the lamp;
calculating a first rotation angle difference based on the first initial rotation angle and the second initial rotation angle;
calculating a second rotation angle difference based on the first rotation angle and the second rotation angle;
and calculating a target rotation angle of the lamp based on the first rotation angle difference and the second rotation angle difference.
Optionally, the first initial rotation angle comprises a first initial level angle and a first initial pitch angle, the second initial rotation angle comprises a second initial level angle and a second initial pitch angle, the first rotation angle comprises a first level angle and a first pitch angle, and the second rotation angle comprises a second level angle and a second pitch angle.
Optionally, the information acquisition module includes a face front vision recognition module, the face front vision recognition module is installed on the lamp platform, and the lamp steering control method further includes:
if a second reset instruction triggered by a reset key based on the human face front vision recognition module is detected, controlling the lamp to turn to a reset position corresponding to the second reset instruction;
if an automatic instruction triggered by an automatic switch based on the face forward vision recognition module is detected, recognizing the face steering of the target head based on the face forward vision recognition module, and acquiring the rotation angle of the target head based on the face steering;
and controlling the lamp to turn to the target position corresponding to the rotation angle based on the rotation angle.
The method for implementing the lamp steering control program when executed may refer to each embodiment of the lamp steering control method of the present invention, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A lamp steering control method is applied to a lamp steering control system, the lamp steering control system comprises an information acquisition module, a lamp platform and a lamp, the information acquisition module comprises a head gyroscope sensor, the head gyroscope sensor is worn on the head of a target, and the lamp steering control method comprises the following steps:
if a first reset instruction triggered by a reset key based on the head gyroscope sensor is detected, controlling the lamp to turn to a reset position corresponding to the first reset instruction;
if an automatic instruction triggered by an automatic switch based on the head gyroscope sensor is detected, acquiring a first rotation angle of the target head based on the head gyroscope sensor, and acquiring a second rotation angle of the lamp platform based on the sensor of the lamp platform;
and calculating a target rotation angle of the lamp based on the first rotation angle and the second rotation angle, and controlling the lamp to rotate to a target position corresponding to the target rotation angle.
2. The luminaire steering control method according to claim 1, wherein before the step of acquiring a first rotation angle of a target head based on the head gyro sensor and acquiring a second rotation angle of the luminaire platform based on the sensor of the luminaire platform if the automatic command triggered by the automatic switch of the head gyro sensor is detected, the luminaire steering control method further comprises:
determining whether a line of sight of the target head matches an illumination direction of the light fixture after the light fixture is turned to the reset position;
and if so, monitoring whether an automatic instruction triggered by an automatic switch based on the head gyroscope sensor exists.
3. The lamp steering control method of claim 1, wherein the step of calculating the target turning angle of the lamp based on the first turning angle and the second turning angle comprises:
determining a first initial rotation angle of the target head and a second initial rotation angle of the lamp;
calculating a first rotation angle difference based on the first initial rotation angle and the second initial rotation angle;
calculating a second rotation angle difference based on the first rotation angle and the second rotation angle;
and calculating a target rotation angle of the lamp based on the first rotation angle difference and the second rotation angle difference.
4. The luminaire steering control method of claim 3, wherein the first initial turning angle comprises a first initial level angle and a first initial pitch angle, wherein the second initial turning angle comprises a second initial level angle and a second initial pitch angle, wherein the first turning angle comprises a first level angle and a first pitch angle, and wherein the second turning angle comprises a second level angle and a second pitch angle.
5. The lamp steering control method of claim 1, wherein the information acquisition module comprises a face forward vision recognition module, the face forward vision recognition module is mounted on the lamp platform, and the lamp steering control method further comprises:
if a second reset instruction triggered by a reset key based on the human face front vision recognition module is detected, controlling the lamp to turn to a reset position corresponding to the second reset instruction;
if an automatic instruction triggered by an automatic switch based on the face forward vision recognition module is detected, recognizing the face steering of the target head based on the face forward vision recognition module, and acquiring the rotation angle of the target head based on the face steering;
and controlling the lamp to turn to the target position corresponding to the rotation angle based on the rotation angle.
6. A luminaire steering control system comprising a processor, a memory, and a luminaire steering control program stored on the memory and executable by the processor, wherein the steps of the luminaire steering control method according to any one of claims 1 to 5 are implemented when the luminaire steering control program is executed by the processor.
7. A computer-readable storage medium, having a luminaire steering control program stored thereon, wherein the luminaire steering control program, when executed by a processor, implements the steps of the luminaire steering control method according to any one of claims 1 to 5.
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| CN202010706022.5A CN111880577A (en) | 2020-07-21 | 2020-07-21 | Lamp steering control method, device and system and computer readable storage medium |
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