DE102022101583B3 - Object control and/or regulation system - Google Patents

Abstract

Object control and/or regulation system (40), comprising an object (44), a target direction detection device (32) for detecting at least one target movement variable, an evaluation unit (41), an alignment unit (42) for the object (44), a reference detection device (34 ) for detecting at least one reference movement variable, the evaluation unit (41) being configured in such a way that, based on the at least one detected target movement variable and the at least one detected reference movement variable, it generates at least one signal for controlling and/or regulating the object (44) and to the alignment unit (42) transmitted, wherein the alignment unit (41) is configured to align the object (44) based on this at least one signal.

Description

The invention relates to an object control and/or regulation system, comprising an object, a target direction detection device for detecting at least one target movement variable, an evaluation unit and an alignment unit for the object. It also relates to a device for illuminating the roadway, as well as a two-wheeler or three-wheeler and a method for object control and/or object regulation.

Cornering lights that depend on the driving situation have become standard in motor vehicles and ensure increased safety. The cornering light can be controlled as a function of a curve radius being driven, a yaw rate or a lateral acceleration of the vehicle, or it can be coupled to a navigation system which allows predictions to be made about the type of road being traveled on.

Fixed headlights are predominantly installed on bicycles. The disadvantages of front headlights that are fixed to the frame are, in particular, that the light from the headlight that is turned on is emitted even further straight ahead when cornering is initiated, so that the target direction is not illuminated.

The disadvantage of fork-fixed or handlebar-fixed headlights on vehicles such as bicycles or e-bikes is that the headlight shines tangentially to the curve. The target direction is not illuminated. With small steering movements, the movement of the headlights is very restless and disturbing and leads to severe dazzling of other road users.

A headlight mounted on the driver's helmet can illuminate the target direction well, but small head movements disturb the constantly rapidly changing headlight direction and other road users are strongly dazzled. In addition, it is disadvantageous that the weight of the headlight and the rechargeable battery supplying the headlight with electrical energy must be carried on the driver's head.

From the DE 10 2005 036 002 A1 discloses a headlight system for a vehicle driven by an operator, with at least one controllable and adjustable headlight for emitting a light beam dependent on the viewing direction, with at least one adjustment device connected to the adjustable headlight, by means of which the adjustable headlight can be adjusted, and with a detection device that detects the direction in which the operator is viewing.

From the DE 10 2011 121 440 A1 a method for operating a driver assistance system of a motor vehicle is known, wherein the driver assistance system includes a lane keeping system and is designed to automatically actuate at least one element of the motor vehicle, selected from the group consisting of a braking device, a drive device, a steering device and a warning device.

The WO 2005/075 246 A1 relates to a device for automatic headlight range adjustment of a motor vehicle with headlights that can be adjusted at least vertically, comprising a control unit with a sensor device for detecting vehicle and/or surroundings data and with an evaluation and control device for determining control data for controlling the headlights that can be adjusted at least vertically, the sensor device being designed as a non-predictive sensor system for detecting the vertical curvature of the roadway.

The DE 10 2013 222 001 A1 relates to a vehicle with traffic lighting and at least one separate, movable headlight with a generated search cone for locating and tracking objects. In addition to the headlight, there is at least one movable object detection device that is aimed at a marked object, with control signals being generated as a result of a movement of the object, which result in a new alignment of the object detection device and a new alignment of the headlight on the marked object.

From the DE 10 2020 000 295 A1 a viewing direction control for adaptive light distribution of the light cone emitted by one and/or more headlights of a vehicle is known, in which the viewing direction of persons in a vehicle is monitored with the aid of a sensor system and viewing direction information is obtained from this.

The DE 199 21 824 B4 relates to evaluation electronics, which carry out measurements while a motorcycle is in motion and evaluate them electronically.

In addition to controlling a headlight, there are also applications in other areas in which a robust, reliable and precise control of an object is required.

The invention is based on the object of specifying a robust, reliable and precise system for controlling and/or regulating, in particular alignment, of an object. Furthermore, a device for illuminating the driving way, a two-wheeler or three-wheeler and a corresponding method are provided.

With regard to the object control and/or regulation system, this object is achieved according to the invention by the features of claim 1. Accordingly, it is provided that a reference detection device is provided for detecting at least one reference movement variable, the evaluation unit being configured in such a way that, based on the at least one detected target movement variable and the at least one detected reference movement variable, it generates at least one signal for controlling and/or regulating the object and transmits it to the alignment unit, the alignment unit being configured to align the object on the basis of this at least one signal.

Advantageous embodiments of the invention are the subject matter of the dependent claims.

The invention is based on the consideration that the illumination of the roadway, especially when turning, is also very important for cyclists and e-bike riders. Cycle lanes are often in poor condition, curve radii are much tighter than can be anticipated, and paths are poorly lit. Compared to country roads, there is usually no white guide line at the edge of the road. Signposts on cycle paths (white signs with green writing) are placed at a height that makes it impossible for the driver to read them with a conventional bicycle headlight. There is also a need in other areas of application to align an object in a targeted manner.

As has now been recognized, improved control or regulation of an object can be implemented in that motion variables are determined both from an object and from a reference and the difference between these variables is used to control and/or regulate the object.

Advantageously, the target direction detection device and the reference detection device each have a transmitting and/or receiving unit for wireless communication, in particular by means of BLE (Bluetooth Low Energy). In further advantageous developments, ANT(+), ZigBee/RF4CE, RFM, WiFi or a comparable wireless transmission standard can also be used instead of BLE. These forms of communication have the necessary range and at the same time consume little energy, so that the battery or rechargeable battery rarely has to be changed. A transmission standard for longer ranges at the expense of the energy requirement is also conceivable.

An object direction and/or object acceleration and/or object speed is preferably recorded as a target movement variable, with a reference direction and/or a reference acceleration and/or a reference speed advantageously being recorded as the reference movement variable. If, in addition to the directions, the accelerations, in particular also the acceleration due to gravity, are also recorded, the inclination of the object and/or the reference frame can also be taken into account, for example when using the system for aligning a headlight.

In a preferred embodiment of the invention, an object direction and a reference direction are detected, with the evaluation unit generating a signal for controlling and/or regulating the object from the difference between the two detected directions. In this way, errors caused by the movement acceleration of the target direction detection device can be compensated for.

To detect the object direction, the target direction detection device advantageously has a sensor for the earth's magnetic field, with the reference detection device advantageously having a sensor for the earth's magnetic field to detect the reference direction. In principle, any sensor that can detect and process translational and rotational movement signals is suitable. The consideration of the earth's magnetic field serves in particular to correct the possible deviations in the movement acceleration.

In a preferred embodiment, the system is configured as a headlight system for a vehicle driven by an operator, with an object configured as a controllable and adjustable headlight for emitting a light beam dependent on the viewing direction, with an alignment unit configured as an adjustment device connected to the adjustable headlight, by means of which the adjustable headlight can be adjusted, with a target direction detection device configured as a gaze detection device, which detects the operator's line of sight, and with a reference detection device configured as a position detection device, which the position of the vehicle and/or the target direction detection device and/or the headlight is detected. This makes turning and driving through tight curve radii on cycle paths much safer. Signposts on cycle paths are often placed at a height of 2 m or more. In order to be able to read them, the headlight should also be able to shine upwards within the scope of what is permitted.

In this case, the gaze detection device preferably detects a direction, for example a direction in which a person's head is turned. Gaze detection is the detection of the head direction, with additional movements of the eyes to the left or right not being detected.

The adjustment device is advantageously configured to adjust the headlight and/or at least one light source of the headlight and/or at least one reflector of the headlight. In this way, the route can be illuminated as required.

The gaze detection device advantageously has a mount for a helmet, in particular a bicycle helmet, and/or the position detection device preferably has a mount for a bicycle frame. In further preferred embodiments, the gaze detection device has a holder for a hat or cap, glasses or headphones. In a further preferred embodiment, the gaze detection device has a holder which is designed as an ear clip.

In a preferred embodiment, a preferably lightweight sensor and transmission module is attached to the helmet, which determines and transmits the absolute position and direction of the head. Another module is attached to a bicycle, possibly as part of the lamp. It contains a receiver that receives the helmet direction and position and another sensor that determines the direction and position of the headlight. The direction in which the headlight has to be readjusted is calculated from this position and direction data. The readjustment takes place, for example, by means of a positioning actuator in or on the headlight.

In order to move the headlight in one plane, a pivoting actuator system of the light source and reflector is preferably implemented. As an alternative to moving the entire headlight, it is also possible or implemented to move only the reflector or to control various light sources, such as LEDs. Optionally, a vertical movement in a further movement axis can be carried out as required in order to better illuminate distant targets or traffic signs, comparable to the high beam in motor vehicles.

The driver's head direction (viewing direction) is preferably detected or recognized by a sensor. An electronic system evaluates this direction and changes the lighting direction of the headlight accordingly.

The invention also includes a device for illuminating the roadway according to claim 7, comprising a helmet and comprising a headlight system as described above, wherein the gaze detection device is attached to the helmet.

The invention further comprises a two-wheeler or tricycle according to claim 8, comprising a device as described above, wherein the position detection device is mounted on the vehicle frame for detecting the position of the vehicle and/or the position of the headlight system.

In an advantageous embodiment of the system, the object is a drone, in particular a flying drone. In further preferred developments of the invention, the object is designed as a searchlight or as a fire hose or water cannon.

With regard to the method, the above-mentioned object is achieved by claim 12, wherein at least one target movement variable and at least one reference movement variable are detected, and the object is aligned on the basis of the detected movement variables.

In a preferred variant, the object is a lighting device of a vehicle driven by an operator, the direction of view of the operator being recorded as the target movement variable, and the position of the vehicle being recorded as the reference movement variable, and based on the difference between the direction of view and the position of the vehicle, at least one parameter of at least one adjustable and adjustable headlight of the lighting device is set.

At least one acceleration is advantageously detected, this acceleration being used to set at least one parameter of an adjustable and adjustable headlight of the lighting device.

The advantages of the invention are, in particular, that precise and robust control or regulation of an object is achieved by the system described above. The headlight system described above implements a cornering light that is dependent on the viewing direction. It is independent of driving situation parameters such as steering angle or vehicle inclination. The light is always where the driver is looking, even when the vehicle is stationary.

The bicycle lamp illuminates the area in which the driver is looking. The cone of light is not controlled depending on the position of the handlebars, but depending on the viewing direction, which increases safety. A headlamp for Turning or reading the signposts / signage becomes superfluous. Transmitters from multiple helmets can be "paired" to the same receiver and vice versa. Small movements can be specifically filtered out with a low-pass filter. The headlight direction (e.g. to the left) can be limited in order to avoid dazzling oncoming traffic. The weight of the headlight stays on the bike (unlike the helmet light).

An embodiment of the invention is explained in more detail with reference to drawings. All the features described and/or illustrated form the subject matter of the present invention, either alone or in any meaningful combination, even independently of their summary in the claims or their back-reference.

• 1 eine Ausrichtungseinheit und einen einstellbaren Scheinwerfer eines Systems in einer bevorzugten Ausführungsform in einer perspektivischen Darstellung,
• 2 die Ausrichtungseinheit und den einstellbaren Scheinwerfer gemäß 1 in einer ersten Konfiguration in einer Draufsicht,
• 3 die Ausrichtungseinheit und den einstellbaren Scheinwerfer gemäß 1 in einer zweiten Konfiguration in einer Draufsicht,
• 4 die Ausrichtungseinheit und den einstellbaren Scheinwerfer gemäß 1 in einer explosiven Darstellung,
• 5 einen Lampenträger in einer perspektivischen Darstellung,
• 6 eine Zielrichtungserfassungseinrichtung in einer explosiven Darstellung,
• 7 die an einem Helm montierte Zielrichtungserfassungseinrichtung gemäß 6, und
• 8 ein Objektsteuer- und/oder -regelsystem mit einer Blickerfassungseinrichtung gemäß 1 und einer Lageerfassungseinrichtung gemäß 6.

Some of them show schematically:

• 1 an alignment unit and an adjustable headlight of a system in a preferred embodiment in a perspective view,
• 2 the alignment unit and the adjustable headlight according to 1 in a first configuration in a plan view,
• 3 the alignment unit and the adjustable headlight according to 1 in a second configuration in a plan view,
• 4 the alignment unit and the adjustable headlight according to 1 in an explosive display,
• 5 a lamp holder in a perspective view,
• 6 a target direction detection device in an explosive display,
• 7 the helmet-mounted heading detection device according to FIG 6 , and
• 8th an object control and/or regulation system with a gaze detection device according to FIG 1 and a position detection device according to 6 .

Identical parts are provided with the same reference symbols in all figures.

In the 1-4 a bicycle frame 1 is shown in detail, to which a lamp holder 2 with a housing 3 is fastened. The figures show a reference detection device 34 which is designed as a position detection device 35 in the present case. This comprises a lamp housing 4 which accommodates a ring 5 and a lens 6 . The housing 3 accommodates a glass 31 on a front side, which serves as a transparent protective screen.

The ring 5, the lens 6 and an LED circuit board 14 form a headlight 44 and are arranged in a carrier 20 which is closed with a cover 19. Two screws 9 are used to fasten the cover 19 to the carrier 20. In the carrier 20, an L-shaped circuit board 12 and a further circuit board 10 are arranged on each side. A circuit board 13 is arranged perpendicular thereto. On the other circuit board 11 there is a Bluetooth module and a microcontroller. Circuit board 12 belongs to the lamp and is used to control an optional high beam function. The circuit board 13 contains the components for the power supply and a connector collar 18 for connecting the power supply and as a service interface. Depending on the configuration, it is also conceivable for components and functions to be combined, thereby reducing the number of circuit boards.

By means of a ball bearing 15 and a cylindrical pin 16, the carrier 20 is rotatably mounted on the cover 19.

The position detection device 35 includes a servo drive 17 which rotates a gear 21 which is in engagement with a gear segment 22 . It also includes a sensor 39 for detecting a direction and a receiving unit 38 for communication with one in the 6 and 7 illustrated gaze detection device 32. In the present case, the sensor 39 uses the earth's magnetic field to determine an azimuthal direction.

The servo drive 17 is screwed onto the circuit board 11 with the aid of screws 7 . The carrier 20 is screwed to the housing 3 with the aid of screws 8 .

With the aid of the receiving unit 38, the position detection device 35 receives a signal from the gaze detection device 32, which represents a viewing direction. The receiving unit 38 transmits this signal to an evaluation unit 41 which compares this signal with a signal from the sensor 38 . It forms the difference from the two detected directions and from this generates a signal for an alignment unit 42 or adjustment unit 43 which comprises the servo drive 17 and the gear wheel 21 .

In the 2 1 shows the headlight 44 shining in a straight ahead direction. The 3 shows the headlight 44 in a position rotated relative thereto, starting from the straight-ahead position according to FIG 2 is achieved by activating the servo drive 17.

In 5 the lamp holder 2 is shown. The gear segment 22 is attached to the lamp holder 2, so that when the servoant is actuated riebs 17 and rotation of the gear 21 by the engagement of the gear 21 with the gear segment 22 a rotation of ring 5, lens 6 and LED circuit board 14 takes place. In this way, the direction of illumination in a plane in which these components rotate can be adjusted.

In 6 a target direction detection device 32 is shown, which is designed as a gaze detection device 33 . It comprises a housing 23 with a cover 24. Under the cover 24, an on/off switch 26 is arranged. The cover 24 includes an opening through which a part of the on/off switch 26 is passed, so that it can be actuated from the outside in the assembled state. The cover 24 is attached to the housing with two screws 27. Additional screws 28 are used to attach the gaze detection device 32 to a helmet 29, see FIG 7 .

Under the cover 24 there is a sensor 37 for detecting the position or viewing direction, which senses the earth's magnetic field. The gaze detection device 32 also includes a battery 25, which is preferably designed as a rechargeable battery, and a transmission unit 36 for wireless transmission of a signal representing the position of the gaze detection device 32 or of the helmet 29 to the position detection device. The gaze detection device 32 comprises a first circuit board 10 and a second circuit board 11. The circuit board 10 contains the movement and position sensors for the translational and/or rotational movement detection and the detection of the earth's magnetic field.

In 7 a head 30 of a person is shown schematically, on which a helmet 29 is placed. The aiming direction detection device 32 or gaze detection device 33 is attached to the rear of the helmet 29 . If the person turns the head 30 in one direction, the helmet 29 also turns in this direction, so that this direction is detected by the gaze detection device 33 . Here, the gaze detection is the detection of the head direction, with additional movements of the eyes to the left or right not being detected in the present case.

The 8th shows an object control and/or regulation system 40 with the gaze detection device 32 according to FIG 1 and the position detection device 35 according to FIG 6 .

Reference List

1

bike frame

2

lamp holder

3

Housing

4

lamp housing

5

ring

6

lens

7

screw

8th

screw

9

screw

10

circuit board

11

circuit board

12

circuit board

13

circuit board

14

LED circuit board

15

ball-bearing

16

cylindrical pin

17

servo drive

18

connector collar

19

Lid

20

carrier

21

gear

22

gear segment

23

Housing

24

Lid

25

battery

26

On/off switch

27

screw

28

screw

29

helmet

30

Head

31

Glass

32

aiming detection device

33

eye tracking device

34

reference detection device

35

position detection device

36

transmitter unit

37

sensor

38

receiving unit

39

sensor

40

Object control and regulation system

41

evaluation unit

42

alignment unit

43

adjustment unit

44

spotlight (object)

Claims (13)

Object control and/or regulation system (40), comprising an object (44), a target direction detection device (32) for detecting at least one target movement variable, an evaluation unit (41), an alignment unit (42) for the object (44), a reference detection device (34) for detecting at least one reference movement variable, wherein the evaluation unit (41) is configured such that it generates at least one signal for controlling and/or regulating the object (44) on the basis of the at least one detected target movement variable and the at least one detected reference movement variable and transmits it to the alignment unit (42), the alignment unit (41) being configured to align the object (44) on the basis of this at least one signal, a target direction being detected as the target movement variable, and a reference direction being detected as the reference movement variable, characterized, that the evaluation unit (41) generates a signal for controlling and/or regulating the object (44) from the difference between the two detected directions. system (40) after claim 1 , wherein the target direction detection device (32) and the reference detection device (34) each have a transmitting and/or receiving unit (36, 38) for wireless communication, in particular by means of BLE, with one another. system (40) after claim 1 or 2 , wherein for detecting the target direction, the target direction detection device (32) comprises a sensor (37) for the earth's magnetic field, and wherein for detecting the reference direction, the reference detection device (34) comprises a sensor (39) for the earth's magnetic field. system (40) after claim 2 or 3 which is embodied as a headlight system for a vehicle driven by an operator, with an object which is embodied as a controllable and adjustable headlight (44) for emitting a light beam dependent on the viewing direction, with an alignment unit (42) which is embodied as an adjustment device (43) which is connected to the adjustable headlight (44) and by means of which the adjustable headlight (44) can be adjusted, with a target direction detection device (32) which is embodied as a gaze detection device (33). detects the viewing direction of the operator, and with a reference detection device (34) which is designed as a position detection device (35) which detects the position of the vehicle and/or the headlight (44). system (40) after claim 4 , wherein the adjustment device (43) is configured to adjust the headlight (44) and/or at least one light source of the headlight (44) and/or at least one reflector of the headlight (44). system (40) after claim 4 or 5 , wherein the gaze detection device (33) has a mount for a helmet (29), and / or wherein the position detection device (35) has a mount for a bicycle frame (1). Device for illuminating the roadway, comprising a helmet (29) and comprising a headlight system according to one of Claims 4 until 6 , wherein the gaze detection device (22) is attached to the helmet (29). Two-wheeler or three-wheeler, comprising a device according to claim 7 , wherein the position detection device (35) is mounted on the vehicle frame (1). System (40) according to one of Claims 1 until 3 , the object being a drone, in particular a flying drone. System (40) according to one of Claims 1 until 3 , wherein the object is designed as a searchlight. System (40) according to one of Claims 1 until 3 , the object being designed as a fire hose or water cannon. Method for controlling and/or regulating an object, with at least one target movement variable and at least one reference movement variable being recorded, and with the object being aligned on the basis of the recorded movement variables, with the object being a lighting device of a vehicle being driven by an operator, and with the direction of view of the operator being recorded as the target movement variable, and with the position of the vehicle being recorded as the reference movement variable, and based on the difference between the viewing direction and the position of the vehicle, at least one parameter of at least one adjustable and adjustable headlight (44) of the lighting device is set. procedure after claim 12 , wherein at least one acceleration is detected, and wherein this acceleration for setting at least one parameter of an adjustable and displaceable Baren headlight (44) of the lighting device is used.

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