JP2000260577A - Lighting control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lighting control device, giving desired lighting to a target of irradiation and capable of automatically performing lighting on the same level as by a specialized operator. SOLUTION: This lighting control device is equipped with a plurality of luminaires 1, capable of varying, at least the quantity of light and the direction of irradiation, and a luminaire control means 2 for variably controlling, at least the quantity of light and the direction of irradiation of the luminaires 1, and the coordinates of a target of irradiation existing in a space lighted by the luminaire 1 are determined by a coordinate specifying means 3. The coordinates of the target of irradiation continuously specified by the coordinate specifying means 3 are stored in a time series by a coordinate storage means 4. A direction determining means 5 determines the direction of present progress of the target of irradiation from the coordinates memorized in a time series, A control means 6 computes control values for controlling the respective luminaires 1, so that the target of irradiation is lighted as desired according to the result of determination made by the direction determining means 5 and to the disposition of the luminaires 1, and outputs them to the luminaire control means 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lighting control device for illuminating an irradiation target of a specific person or the like in a banquet hall such as a wedding hall or a hall.

[0002]

2. Description of the Related Art Conventionally, coordinates of a person (irradiation target) in an illumination space such as a banquet hall or a hall have been specified.
There have been provided various illumination control devices for controlling the illumination direction of a lighting fixture disposed in an illumination space so as to illuminate an illumination target based on the coordinates (Japanese Patent Laid-Open No. 1-29-1990).
5602, JP-A-4-18613, JP-A-4-25
9701, JP-A-6-260002 and JP-A-1
0-12005).

[0003]

However, in the above-mentioned conventional example, since the light quantity is only radiated to the irradiation target at a predetermined level, the light is illuminated at substantially the same level from the front and rear with respect to the irradiation target. Will do. That is,
When an intense light is emitted from behind to an irradiation target such as a person, the front of the irradiation target is shaded, and for example, the person's face becomes dark and the appearance is not good.

[0004] The present invention has been made in view of the above-described problems, and has as its object to automatically illuminate a target to be illuminated with illumination that is equivalent to illumination performed by a specialized operator. It is an object of the present invention to provide a lighting control device which can be performed in an efficient manner.

[0005]

According to a first aspect of the present invention, there is provided a lighting apparatus comprising: a plurality of lighting devices capable of changing at least a light amount and an irradiation direction; Lighting fixture control means for controlling, coordinate specifying means for specifying the coordinates of the irradiation target existing in the illumination space of the lighting equipment, and coordinate storage for storing the coordinates of the irradiation target continuously specified by the coordinate specifying means in time series Means, direction specifying means for specifying the current traveling direction of the irradiation target from the coordinates stored in time series in the coordinate storage means, and a desired target for the irradiation target according to the specification result of the direction specifying means and the arrangement of the lighting equipment. Control means for calculating a control value for controlling each lighting fixture so that lighting is performed and outputting the calculated control value to the lighting fixture control means. of Author lighting equivalent to perform the lighting is automatically performed.

According to a second aspect of the present invention, in the first aspect of the present invention, the direction specifying means specifies the traveling direction of the irradiation target by fuzzy inference, and has the same operation as the first aspect of the present invention. Play.

According to a third aspect of the present invention, in order to achieve the above object, at least a plurality of luminaires capable of changing a light amount and an irradiation direction, and a luminaire control means for variably controlling at least the light amount and the irradiation direction of the luminaire. Transmitting means for emitting a predetermined signal medium attached to the irradiation target; coordinate specifying means for receiving the signal medium from the transmitting means and specifying the coordinates of the irradiation target based on the received signal medium; and receiving the signal medium. Each of the lighting devices is controlled such that desired illumination is performed on the irradiation target according to the direction specifying means for specifying the traveling direction of the irradiation target based on the situation, and the specification result of the direction specifying device and the arrangement of the lighting devices. Control means for calculating a control value for and outputting to the lighting equipment control means, the desired illumination is performed on the irradiation target, the same as when a specialized operator performs illumination Akira is automatically performed.

According to a fourth aspect of the present invention, in order to attain the above object, at least a plurality of luminaires capable of changing a light amount and an irradiation direction, and a luminaire control means for variably controlling at least a light amount and an irradiation direction of the luminaire. And an image acquisition unit disposed at a position in the illumination space where the irradiation target can be imaged, and identifying a direction of the irradiation target by extracting a specific color component from the image of the irradiation target acquired by the image acquisition unit Image processing means;
Control means for calculating a control value for controlling each lighting fixture so that desired illumination is performed on an irradiation target in accordance with the identification result of the image processing means and the arrangement of the lighting fixture, and outputting the control value to the lighting fixture control means The illumination target is illuminated with desired illumination, and illumination equivalent to that performed by a specialized operator can be automatically performed. In addition, since the specific color component is extracted from the image of the irradiation target by the image processing means and the direction of the irradiation target is identified, for example, the irradiation target such as a person moves backward, so that the traveling direction coincides with the front of the irradiation target. Even when the lighting is not performed, or when the front of the body of the irradiation target does not match the orientation of the face, appropriate lighting can be performed so that the face of the person is clearly displayed.

[0009]

(Embodiment 1) FIG. 1 shows a block diagram of Embodiment 1 of the present invention. The lighting control device according to the present embodiment includes a plurality of lighting fixtures 1 in which at least the light quantity and the irradiation direction can be changed, a lighting fixture control unit 2 that variably controls at least the light quantity and the irradiation direction of the lighting fixture 1, and a lighting fixture 1. Coordinate specifying means 3 for specifying the coordinates of the irradiation target existing in the illumination space, and coordinate storage means 4 for storing the coordinates of the irradiation target continuously specified by the coordinate specifying means 3 in time series.
A direction specifying unit 5 for specifying the current traveling direction of the irradiation target from the coordinates stored in the coordinate storage unit 4 in time series, and an irradiation target according to the specification result of the direction specifying unit 5 and the arrangement of the lighting apparatus 1. And control means 6 for calculating a control value for controlling each lighting fixture 1 so that desired lighting is performed and outputting the calculated control value to the lighting fixture control means 2. However, the coordinate specifying means 3, the coordinate storage means 4, the direction specifying means 5, and the control means 6 can be constituted by a computer device having a CPU as a main component, for example. The functions (or software) of the computer device will be referred to as coordinate specifying means 3, coordinate storage means 4, direction specifying means 5, and control means 6, respectively. Needless to say, these means may be individually constituted by hardware.

FIG. 2 shows a plan view of the illumination space W,
The illuminating means 1 is supported by a bracket attached to a ceiling surface or the like of the illuminating space W so as to be rotatable in the horizontal and vertical directions. A driving mechanism (not shown) rotates horizontally (pan) and rotates vertically (pan). The light source includes spotlights SP1 to SP4 capable of tilting and having a variable light intensity level by a dimming circuit (not shown). Is variable. The lighting fixture control means 2 includes a drive circuit for controlling the driving mechanism according to a control value given from the control means 6 as described later, a dimming control circuit for controlling a dimming circuit, and the like. is there.

The coordinate specifying means 3 uses a conventionally well-known technique.
A person who can be realized, for example, a radiation target Q
Carry a transmitter that emits signal media such as ultrasonic waves and radio waves.
And a predetermined coordinate position on the ceiling surface of the illumination space W
Approximately 20 receiving sensors are arranged in
Transmitter from the coordinate position of the receiving sensor based on the received signal,
That is, the position of the irradiation target Q carrying the transmitter (illumination sky)
(Coordinates in the interval W).
See, for example, JP-A-64-33803. And these coordinates
Time t specified by specifying means 3_nkIrradiation target Q in
Coordinates Pn-k (x _nk, Y_nk, Z_nk) But semiconductor memory
Are stored in chronological order in the coordinate storage means 4 comprising

[0012] In the direction specifying means 5, each time the irradiation target Q for moving the illumination space W, for example, as shown in FIG. 3 t _n ...
Are stored in the coordinate storage means 4 and the direction (progressing direction) of the irradiation target Q at the latest coordinates Pn is specified as follows. That is, the position vector of the irradiation target Q at the latest time t _n is {Pn}.
= (X _n , y _n , z _n ), and the position vector of the irradiation target Q at the immediately preceding time t _n-1 is { _Pn-1 } = (x _n-1 , y
_n−1 , z _n−1 ), the irradiation target Q at time t _n
Defining the direction vector << D _n »the following equation.

[0013] _{«d n »= «Pn»-«Pn-} 1» = (x n -x
_{n-1, y n -y n} -1, z n -z n-1) where the symbols of «» denote the vector. Also,
Let the position vector of each mounting position of the four spotlights SP1 to SP4 be {SPm} (m = 1, 2, 3, 4),
The direction vector «dSPm _n »to irradiation target Q of each spotlight SP1~SP4 at time t _n is defined as the following equation.

{DSPm _n } = {Pn} − {SPm} In the direction specifying means 5, the direction vector {d _n
≫ and the direction vector of each spotlight SP1 to SP4≪
dSPm _n } is converted to a unit vector {d ′ _n } (= {d
_n ≫ / | ≪d _n ≫ |), ≪dSPm ′ _n ≫ (= ≪dSPm _n
≫ / | ≪dSPm _n ≫ |) and then the irradiation target Q
Vector {d ' _n } and each spotlight SP1
The inner product of the direction vector {dSPm ′ _n } of SP4 is calculated in order. That is, two direction vectors {d ' _n },
Since the inner product takes a value of 1 to −1 when the angle formed by {dSPm ′ _n } is 0 to 180 degrees, for example, the inner product of the irradiation target Q and the direction vector {d ′ _n } is close to −1. .. Having the directional vector {dSPm ′ _n } are considered to be approximately directed, and the direction (the traveling direction) of the irradiation target Q can be specified in this manner. For example, it is assumed that the following calculation result is obtained in the direction specifying unit 5 in the situation shown in FIG.

{D ′ _n } · {dSP1 ′ _n }> 0 (≒ 1) {d ′ _n } · {dSP2 ′ _n } <0 (≒ 0) {d ′ _n } · {dSP3 ′ _n } <0 (≒ −1) {d ′ _n } · {dSP4 ′ _n }> 0 (≒ 0) That is, in this case, the direction vector {dSP3 ′ _n }
Is closest to the state where the spotlight SP3 having the target vector Q is directly opposed to the irradiation target Q. In addition, the spotlight SP2 having the direction vector {dSP2 ′ _n } can be irradiated from the front of the irradiation target Q. I understand.

The control means 6 controls the four spotlights S based on the result of the specification by the direction specifying means 5.
A control value for turning the irradiation direction of P1 to SP4 toward the irradiation target Q and changing the light amount level of each spotlight SP1 to SP4 is calculated. In general, light is emitted from the front of the irradiation target Q. In particular, when the irradiation target Q is a person, the light from behind is converted into light from the front so that the face becomes bright and a dark shadow is not formed on the front (front). If you make it weaker, you can see the person more clearly. Therefore, in the control means 6 of the present embodiment, the light quantity of the spotlight (SP1 and SP4 in the above example) whose inner product is positive is determined by the light quantity at the rated lighting time by 10 based on the specification result of the direction specifying means 5.
Controlling the lighting equipment by calculating a dimming control value that sets the light amount of the spotlight (SP2, SP3 in the above example) having a negative inner product to be 100% of the rated lighting as 50% when 0% is assumed. Output to means 2. At the same time, the control means 6 calculates a control value to be output to the lighting fixture control means 2 in order to direct the irradiation direction of each of the spotlights SP1 to SP4 toward the irradiation target Q.

Next, a control value given by the control means 6 to the lighting fixture control means 2 from the coordinates Pn (x _n , y _n , z _n ) of the irradiation target Q, that is, a horizontal rotation (pan) by the driving mechanism. The procedure for determining the angle of rotation (tilt) in the vertical direction will be described. Here, the rotation axis of the pan of each spotlight SP1 is parallel to the z-axis, and the rotation axis of the tilt is x.
Let it be parallel to the y-plane. Also, as shown in FIGS. 4 and 5, the mounting coordinates of each spotlight SP1.
(X _sj , y _sj , z _sj ) (where j = 1, 2, 3, 4), the reference direction in the illumination space W, in this case (0, 1,
Assuming that the angle between the direction of 0) and the reference direction of the spotlight body is Psj0, the direction cosine ≪Α≫ = (lsq, msq, nsq) from any spotlight SPj to the irradiation target Q is expressed by the following equation. Is done.

[0018] _{lsq = (x n -x sj)} / | B | msq = (y n -y sj) / | B | nsq = (z n -z sj) / | B | , where, | B | vector _{B = (x n -x sj,} y n -
y _sj, z _n -z _sj) magnitude and (absolute value).

Next, consider a matrix related to rotation. The rotation angle of the pan (Psj), the rotation angle of the tilt (Tsj), and the deviation of the mounting (Psj0) from the reference direction of the arbitrary spotlights SP1... Are represented by the following equations (see FIGS. 4 and 5). ). Note that the pan rotation angle (Psj) is 0 with respect to the reference direction c when the spotlights SP1 are attached as shown in FIG.
And

[0020]

(Equation 1)

These are summarized as follows.

[0022]

(Equation 2)

When the above equations are put together, the following equation is obtained.

[0024]

(Equation 3)

Here, ([PsjO] ^-1 ) represents the inverse matrix of [PsjO].

The above equation (3) can be easily solved by separating the right side to a constant and the left side to an unknown number, and can easily be solved. The pan rotation angle (Psj) of the spotlights SP1... Tsj) can be obtained. When values obtained by converting the pan rotation angle (Psj) and the tilt rotation angle (Tsj) into actual control values are input from the control unit 6 to the lighting fixture control unit 2, the lighting fixture control unit 2 Drives and controls the driving mechanism to make the irradiation direction of the spotlights SP1... Coincide with the coordinates of the irradiation target Q. At this time, it is also possible to adopt a configuration in which a motor provided in each of the pan and tilt drive mechanisms is servo-driven by feeding back a detection value from a sensor such as a potentiometer to the lighting fixture control means 2. Then, by continuously repeating the above-described series of processes, the light of the spotlights SP1... Is emitted while automatically tracking the irradiation target Q, and desired illumination, that is, if the irradiation target Q is a person, is always performed. Illumination can be performed so that a person's face is brightened without being shadowed. As a result, illumination equivalent to that performed by a specialized operator can be performed automatically, and the burden on the operator can be reduced.

It should be noted that the coordinate specifying means 3 is not intended to limit the present invention to the above configuration, but may specify the coordinates of the irradiation target Q based on the distance from the receiving sensor to the irradiation target Q. The distance between the irradiation target Q and the irradiation target Q in a predefined coordinate system such as one that specifies the coordinates of the irradiation target Q by measuring the distance from the disposed receiver to the irradiation target Q using ultrasonic waves or radio waves. Various types of coordinates can be specified.

Further, it not intended to be limited to the above configuration also direction specifying means 5, for example, the latest time t _n
And the position vector {Pn} of the irradiation target Q at the time t _{n-2 two} times before it.
Which calculates a traveling direction of the illumination target Q direction vector of the irradiation target Q at time t _n determined from -2» «d _n »= from «Pn»-«Pn-2» at time t _n and the time t _n
Of the direction vector {Pn} − {Pn−1} at time t _{n−1 and} the direction vector { _Pn−1 } − {Pn−2} at the previous time t _n−1 {d _n } = {Pn} −2} Calculating the traveling direction of the irradiation target Q from Pn-1}-{Pn-2}, and further specifying the traveling direction of the irradiation target Q from the coordinates Pn at a number of times t _n using conventionally known fuzzy inference. A variety of configurations can be applied, such as a configuration that estimates the traveling direction by processing the coordinates Pn of the irradiation target Q in time series.

Further, the method of controlling the dimming of the luminaire 1 by the control means 6 is not limited to the one described above. The light amount level of each spotlight SP1... Is adjusted in proportion to the inner product. Light SP1 ...
And the coordinates of the irradiation target Q are known, so that the light level of the spotlights SP1 far from the irradiation target Q is increased, and the light level of the spotlights SP1 near the irradiation target Q is reduced according to the distance. Even so, illumination can be performed so that the irradiation target Q is clearly displayed.

(Embodiment 2) FIG. 6 shows Embodiment 2 of the present invention.
FIG. The lighting control device of the present embodiment includes a plurality of lighting fixtures 1 in which at least the light quantity and the irradiation direction can be changed, a lighting fixture control unit 2 that variably controls at least the light quantity and the irradiation direction of the lighting fixture 1, and an irradiation target Q. A transmitter 7 attached to emit a predetermined signal medium, coordinate specifying means 8 for receiving the signal medium from the transmitter 7 and specifying the coordinates of the irradiation target Q based on the received signal medium; The direction specifying means 9 for specifying the traveling direction of the irradiation target Q based on the illumination, and the respective illuminations so that the desired illumination is performed on the irradiation target Q according to the specification result of the direction specifying means 9 and the arrangement of the lighting equipment 1. Control means 6 for calculating a control value for controlling the luminaire 1 and outputting it to the luminaire control means 2. However, since the configurations and operations of the lighting fixture 1, the lighting fixture control means 2 and the control means 6 are basically the same as those of the first embodiment, detailed description will be omitted.

As shown in FIG. 7, the transmitter 7 is configured by housing a light emitting device 7a such as a light emitting diode that emits light of a frequency in or near the infrared region in a housing 7b. Here, the light emitting device 7a is a dome-shaped lens 7c.
And has a wide-angle directivity of approximately 180 degrees forward as shown in FIG. Note that a plurality of transmitters 7 may be used to increase the amount of light.

The coordinate specifying means 8 includes CCD cameras (hereinafter referred to as “IR cameras”) 10 ₁ to 10 ₄ as receiving means for receiving infrared rays from the transmitter 7. These four
IR camera 10 ₁ to 10 ₄ of the table is placed at the four corners of the lighting space W so as not to same mounting with one another as shown in FIG. It is also possible to attach the IR transmission filter to the IR camera 10 ₁ to 10 ₄ to efficiently receive infrared (imaging). These four IR camera 10 ₁ to 10 ₄ is a the same, the size of the CCD imaging device 2SW
(Horizontal) × 2SH (vertical) [mm], the focal length of the lens is f
[Mm], the number of effective pixels in image recognition is 2DW (horizontal)
× 2DH (vertical).

Here, as shown in FIG. 9 and FIG.
Assume a three-dimensional rectangular coordinate system. At this time, the IR camera 10
The coordinates of the mounting position of ₁ ... Are respectively CPi (xci, yci, zc
i) (where i = 1, 2, 3, 4) and the mounting direction (I
Each of the R cameras 10 ₁ ...
Tci) (where i = 1, 2, 3, 4). Note that P
ci ... The angle between IR camera 10 ₁ ... optical axis b and Y axis, respectively, Tci ... is defined as the angle between the IR camera 10 ₁ ... of the optical axis B and the horizontal plane (xy plane), respectively. These C
The values of Pi and CDi are specified by separately measuring or the like, and are stored in advance in the memory of the coordinate specifying means 8 as parameter information relating to the IR cameras 10 ₁ .

By the way, on the CCD imaging device comprising the IR camera 10 ₁ ..., 2-dimensional orthogonal coordinate system with the center of the CCD image sensor as shown in FIG. 11 as the origin (0,0) (X
d, Yd), the image of the IR cameras 10 ₁ ... is image-processed by the coordinate specifying means 8 using a conventionally known image processing technique, and the two-dimensional image of the transmitter 7 attached to the irradiation target Q is obtained. The coordinates in the orthogonal coordinate system (hereinafter, these coordinates are referred to as “pixel coordinates”) are obtained. As a method of obtaining the pixel coordinates of the transmitter 7 as described above, for example, four IR cameras 1
Two of the 0 ₁ ... (10 ₂ and 10 ₃ in FIG. 9) capable of capturing infrared light from the transmitter 7 are selected, and two IRs are selected.
Conventionally known techniques such as that obtaining the most high luminance pixel coordinates of the pixels of the camera 10 _2, 10 in an image captured by ₃ is applicable.

As described above, the two IR cameras 10
The pixel coordinates of the irradiation target Q obtained from the images ₂ and 10 ₃ are (Xd2, Yd2) and (Xd3, Yd3), respectively. The reference vectors in the IR camera 10 _2, 10 ₃ of the coordinate system (direction cosine) (X, Y, Z) = (0,1,0)
Then, as shown in FIG. 11, the directional vector (Xe2, Ye2, Ze2) from the center (origin) of the CCD image sensor to the irradiation target Q with respect to the reference vector is obtained by the following equation (where IR It referred to only for the camera 10 _second video).

The Xe2 = Xd2 × SW / addition (f × DW) Ye2 = 1 Ze2 = Yd2 × SH / (f × DH), the IR camera 10 ₂ is the reference vectors actual coordinate system in the illumination space W here Minutes of installation (pan,
(Tilt). Therefore, the direction vector from the IR camera 10 ₂ and the irradiation target Q in the actual lighting space W (l2, m2, n2) can be obtained as follows (however, the rotational direction of the pan and tilt in FIG. 12 The direction shown is positive).

[0037]

(Equation 4)

Meanwhile, since the direction and the IR camera 10 ₂ of the mounting coordinates from the IR camera 10 ₂ and the irradiation target Q is specified in advance, the straight line L ₂ connecting the irradiation target Q and IR camera 10 ₂ from these values (Where the parameter of the straight line is t2).

[0039] x = l2 × t2 + Xc2 y = m2 × t2 + Yc2 ...... (1) z = n2 × t2 + Zc2 Further, since the same relationship also between the IR camera 10 ₃ and the irradiation target Q holds, IR camera replacing the 10 ₂ parameters to the parameters of the IR camera 10 _3, the straight line L ₃ connecting the irradiation target Q and IR camera 10 _3, the direction vector (l3, m3, n3) and lower using parametric t3 linear It can be expressed as an equation.

X = l3 × t3 + Xc3 y = m3 × t3 + Yc3 (2) z = n3 × t3 + Zc3 Here, the irradiation target Q should exist on the _two straight lines L ₂ and L ₃ . Since the intersection of these straight lines L ₂ and L ₃ should match the coordinates of the irradiation target Q, this intersection is determined. In the above equations (1) and (2), the coordinates (x,
Since y, z) are the same, the following equation holds.

L2 × t2 + Xc2 = l3 × t3 + Xc3 (3) m2 × t2 + Yc2 = m3 × t3 + Yc3 (4) n2 × t2 + Zc2 = n3 × t3 + Zc3 (5) Equations (3) and (3) Using equation (5), the parameter t
2, t3 can be obtained.

T2 = {n3 × (Xc2-Xc3) -l3 × (Zc2-Zc3)}
/ (N2 × l3-l2 × n3) t3 = {l2 × (Zc2-Zc3) -n2 × (Xc2-Xc3)} / (l2 × n3-n
2 × l3) Also, the parameters t2 and t3 can be obtained as follows by using the equations (3) and (4).

T2 = {l3 × (Yc2-Yc3) -m3 × (Xc2-Xc3)}
/ (L2 × m3-m2 × l3) t3 = {m2 × (Xc2-Xc3) -l2 × (Yc2-Yc3)} / (m2 × l3-l
2 × m3) Furthermore, the parameters t2 and t3 can be obtained as follows by using the equations (4) and (5).

T2 = {m3 × (Zc2-Zc3) -n3 × (Yc2-Yc3)}
/ (M2 × n3-n2 × m3) t3 = {n2 × (Yc2-Yc3) -m2 × (Zc2-Zc3)} / (n2 × m3-m
2 × n3) If the straight lines L ₂ and L ₃ have intersections, the above three types of t2
, T3 have the same value. Therefore, the straight line L _2, L ₃ and substituting respectively t2, t3 in equation (1) and (2)
Intersection, i.e. the coordinate Pn (x _n of irradiation target Q, y _n, z
_n ) can be determined.

Next, a method of specifying the traveling direction of the irradiation target Q by the direction specifying means 9 will be described.

When the transmitter 7 having directivity as shown in FIG. 8 is used, four I
Since it is impossible to capture R camera 10 infrared emitted by the transmitter 7 simultaneously _{1-10 4,} the traveling direction of the irradiation target Q in accordance with the same time the combination of the IR camera 10 ₁ being imaged infrared at any time (orientation ) Can be specified. Therefore, the direction specifying means 9 obtains information of the IR cameras 10 ₁ ... Capturing infrared rays at an arbitrary time from the coordinate specifying means 8 and refers to a table registered in a memory as shown in FIG. _{One of} the directions A to H defined in the illumination space W in advance is specified as the traveling direction (direction) of the irradiation target Q based on the combination of the IR cameras 101 imaging infrared rays. For example, in the situation shown in FIG. 9, since only _two IR cameras 10 ₂ and 10 ₃ can capture an infrared ray, the irradiation target Q travels or faces roughly in the direction G with reference to the table. Can be identified.

Then, as described in the first embodiment, the control means 6
Calculates a control value for changing the irradiation direction and the light amount level of the four spotlights SP1 to SP4 and outputs the control value to the lighting fixture control means 2. Accordingly, by continuously repeating the above-described series of processes, the spotlight SP1 is automatically tracked while the irradiation target Q is automatically tracked in the same manner as in the first embodiment.
.. Can be illuminated so that the desired illumination, that is, when the irradiation target Q is a person, the face of the person is always bright and not shadowed. As a result, illumination equivalent to that performed by a specialized operator can be automatically performed.

By the way, as shown in FIG.
Is divided vertically and horizontally into four areas W1 to W4.
In the irradiation target Q specified by the coordinate specifying means 8
.. In which the irradiation target Q is located are specified from the coordinates Pn, and are previously registered in the memory in accordance with the combination of the traveling direction or direction of the irradiation target Q specified by the direction specifying means 9 and the area W1. The light amounts of the spotlights SP1 to SP4 may be adjusted with reference to the table. The above table is as shown in FIG. 15. In the case of “ON”, 100% rated lighting is performed, and in the case of “OFF”, dimming lighting of 50% or the like is performed. It is possible to perform lighting that is reflected more clearly. However, the dimming level in the case of “OFF” may be set to an appropriate value within a range of more than 0% and less than 100%. The number of divisions of the illumination space W and the directions defined in advance are not intended to be limited to the above four and eight directions, but may be finer. For example, the illumination space W may be divided into eight, and the defined direction may be sixteen directions. Good. In this case as well, a table as shown in FIG. 15 is created and the light amount level of each spotlight SP1.
It is possible to produce more detailed lighting.

(Embodiment 3) FIG. 16 is a block diagram showing Embodiment 3 of the present invention. The lighting control device of the present embodiment includes:
A plurality of luminaires 1 capable of changing at least the amount of light and the irradiation direction; a luminaire control means 2 for variably controlling the amount of light and the irradiation direction of at least the luminaire 1; and a position where the irradiation target Q can be imaged in the illumination space W Image acquisition means 11 disposed in
An image processing unit 12 that extracts a specific color component from the image of the irradiation target Q acquired by the image acquiring unit 11 to identify the direction of the irradiation target Q; And control means 6 for calculating a control value for controlling each lighting fixture 1 so that desired illumination is performed on the irradiation target Q in accordance with the arrangement and outputting the control value to the lighting fixture control means 2. However, the image processing means 12 can be configured by a computer device having a CPU as a main component, for example.
In the present embodiment, the function (or software) of the computer device is referred to as an image processing unit 12 for the sake of simplicity. It goes without saying that the image processing means 12 may be constituted by hardware.

The image acquisition means 11 comprises a CCD camera 11a, and is arranged at an appropriate position in the illumination space W. Here, as shown in FIG. 17, an arbitrary point (for example,
Assuming a three-dimensional rectangular coordinate system with the origin at the corner of the floor a),
The coordinates of the mounting position of the CCD camera 11a are represented by CP (xc, y
c, zc), and the mounting direction (the direction of the optical axis B of the CCD camera 11a) is CD (Pc, Tc, Rc). Note that Pc
Is the angle between the optical axis B of the CCD camera 11 and the Y axis (FIG. 17).
Tc is the angle between the optical axis b of the CCD camera 11a and the horizontal plane (xy plane) (see FIG. 2B), Rc
Is the horizontal plane of the CCD camera 11a and the horizontal plane (xy
(See FIG. 3 (c)).
The values of CP and CD are specified by separately measuring or the like, and are previously stored in the memory of the image processing means 12 as parameter information relating to the CCD camera 11a.

On the other hand, in the image processing means 12, the irradiation target Q specified by the coordinate specifying means 3 as described in the first embodiment is used.
Coordinates Pq (xq, yq, zq) of the CCD camera 11a
The position in the coordinate system on the imaging surface of which is being imaged is specified as follows.

Here, the dimensions of the CCD image sensor of the CCD camera 11a are 2SW (horizontal) × 2SH (vertical) [mm], the focal length of the lens is f [mm], and the number of effective pixels in image recognition is 2DW (horizontal). × 2DH (vertical), and a two-dimensional orthogonal coordinate system (X) having the origin (0, 0) at the center of the imaging surface as shown in FIG.
d, Yd). As shown in FIGS. 18B and 18C, the following relationship is established.

Kx = tan (θxd) / DW = SW / f · DW ky = tan (θyd) / DH = SH / f · DH Next, the coordinates of the irradiation target Q from the mounting coordinates CP of the CCD camera 11a in the illumination space W. The direction vector expressing the direction to Pq as a unit vector is (l, m, n).
As shown in FIG. 9, assuming a three-dimensional orthogonal coordinate system in which the Y ′ axis is coincident with the optical axis of the CCD camera 11a, the unit direction vector in the local coordinate system of the CCD camera 11a is (Xdn, Ydn, Zdn). Then, the following equation is established.

[0054]

(Equation 5)

From the above equation, the coordinates Pq of the irradiation target Q are expressed by C
Coordinates (Xnq, Ynq) on imaging surface of CD camera 11a
Is found to exist.

Next, in the image processing means 12, as shown in FIG. 20, 2Xtmp.times.x centered on the coordinates (Xnq, Ynq).
Assuming a rectangular area S having a size of 2Ytmp, based on the image data of the irradiation target Q projected on the area S, a pixel data amount PixB of black color considered as hair and a pixel data amount PixS of skin color considered as face are obtained. Is extracted. Since a method of extracting the pixel data amount of the specific color can be realized by a conventionally known image processing technique, a detailed description is omitted. Here, the above extraction is performed within the range represented by the following equation.

Xnq-Xtmp / 2 <Xq≤Xnq + Xtmp / 2 Ynq-Ytmp / 2 <Yq≤Ynq + Ytmp / 2 Further, the above-mentioned area S is divided into two areas S1, S2 is divided into regions S1 and S
For each two, two types of pixel data amounts PixB and PixS are calculated.

[0058] For example, as shown in FIG. 21, if the directions coincident with the optical axis direction of the CCD camera 11a are a and c, respectively, and the directions orthogonal to the optical axis direction are b and d, respectively, two types of pixel data amounts PixB and PixS 22 from the magnitude relationship between the pixel data amounts PixS of the skin colors in the two regions S1 and S2.
, The orientation of the face of the irradiation target Q can be specified. Here, the direction a in the two-dimensional orthogonal coordinate system centered on the irradiation target Q as shown in FIG.
To d are CCD cameras 11a in the coordinate system of the illumination space W
Is expressed as (l, m) using a direction vector from the target to the irradiation target Q, and this is converted into a unit vector (l ′, m ′), and each direction can be expressed as in the following equation. .

Since l ′ = l / (l ² + m ² ) ^1/2 m ′ = m / (m ² + m ² ) ^1/2 , the direction vector {d ′ _n } of the irradiation target Q is {a}.
= (L ', m'), {b} = (m ', -l'), {c}
= (-L ', -m') or {d} = (-m ', l').

On the other hand, the direction cosine {dSPm} = (l _SPm , from any spotlight SPj to the irradiation target Q)
m _SPm , n _SPm ) is represented by the following equation (where m =
1,2,3,4).

[0061] _{l SPm = (x q -x SPm} ) / | L | m SPm = (y q -y SPm) / | L | n SPm = (z q -z SPm) / | L | , where, | L | Is a vector L = (x _q −x _SPm , y _q −y
_SPm, and z _q -z _SPm) size (absolute value).

Therefore, similarly to the first embodiment, the direction vector {d ′ _n } of the irradiation target Q and each of the spotlights SP 1 to SP
The inner product of the direction cosine {dSPm} of P4 is obtained as in the following equation.

≪d ' _n ≪ · dSP1' _n ≫> 0 (≒ 1) ≪d ' _n ≫≫dSP2' _n ≫ <0 (≒ 0) ≪d ' _n ≫ · ≪dSP3' _n ≫ <0 (≒ −1) {d ′ _n } · {dSP4 ′ _n }> 0 ( _{ 0) where the direction cosine {dSP′m} is normalized to a unit vector.

As described in the first embodiment,
In this case, the spotlight SP3 having the direction vector {dSP3 ' _n } is closest to the state directly facing the irradiation target Q, and otherwise the direction vector {dS3}.
The spotlight SP2 having P2 ′ _n } is the irradiation target Q
It can be seen that irradiation is possible from the front of.

Then, based on the result of the calculation in the image processing means 12, the control means 6 directs the irradiation direction of the four spotlights SP1 to SP4 toward the irradiation target Q and adjusts the light amount level of each spotlight SP1 to SP4. Calculate the control value to make it variable. For example, Embodiment 1
Similarly to the above, the light amount level of the spotlight (SP1 and SP4 in the above example) where the inner product is positive is set to 50%, and the spotlight (SP in the above example) where the inner product is negative.
(2, SP3) to calculate a dimming control value for setting the light amount to 100% of the rated lighting, and output it to the lighting fixture control means 2. At the same time, the control means 6 controls each spotlight SP.
Control values for directing the irradiation directions of 1 to SP4 toward the irradiation target Q are calculated and output to the lighting fixture control means 2.
Therefore, by repeating the series of processes described above continuously, the light of the spotlights SP1. In the case of a person, the lighting can always be performed such that the face of the person is brightly reflected without being shadowed. In addition, since a specific color component is extracted from the image of the irradiation target Q by the image processing means 12 and the direction of the irradiation target Q is identified, for example, the irradiation target Q such as a person moves backward and the traveling direction and the irradiation target Q are determined. Even when the front of Q does not match, or when the front of the body of the irradiation target Q does not match the direction of the face, there is an advantage that appropriate illumination can be performed so that the face of the person is clearly displayed. .

In this embodiment, the CCD camera 11a as the image acquisition means 1 is fixed, but the irradiation target Q
Camera 11a so that the image is taken at the center of the pixel coordinates.
Means for variably controlling the pan angle and the tilt angle. Since the current pan angle and tilt angle of the CCD camera 11a can be accurately known, these values are substituted into the above-mentioned Pc and Tc, and the direction vector {d ' _n } of the irradiation target Q and each spotlight SP1 The inner product of the direction cosines {dSP'm} of .about.SP4 is calculated, and the light level of the spotlights SP1 to SP4 is adjusted to an appropriate value. In this case, the coordinates (Xdq, Ydq) obtained by mapping the coordinates Pn of the irradiation target Q on the imaging surface of the CCD camera 11a are (0, 0), or otherwise, each time the fixed CCD described above is used. By performing the same calculation as in the case of the camera 11a, the same control can be performed. However, the arrangement of the spotlights SP1 to SP4 is common to the first embodiment.

[0067]

According to the first aspect of the present invention, there are provided a plurality of luminaires capable of changing at least the amount of light and the irradiation direction, at least a luminaire control means for variably controlling the amount of light and the irradiation direction of the luminaire, and illumination by the luminaire. Coordinate specifying means for specifying the coordinates of the irradiation target existing in the space, coordinate storage means for storing the coordinates of the irradiation target continuously specified by the coordinate specifying means in time series, and time-series stored in the coordinate storage means. The direction specifying means for specifying the current traveling direction of the irradiation target from the coordinates thus obtained, and each lighting device is controlled so that the desired lighting is performed on the irradiation target according to the specification result of the direction specifying means and the arrangement of the lighting device. Control means for calculating a control value for performing the operation and outputting the result to the luminaire control means, so that the desired illumination is performed on the irradiation target, and illumination equivalent to that performed by a specialized operator is automatically performed. Can do There is a cormorant effect.

According to a second aspect of the present invention, the direction specifying means specifies the traveling direction of the irradiation target by fuzzy inference, and has the same effect as the first aspect of the present invention.

According to a third aspect of the present invention, there are provided a plurality of luminaires capable of changing at least the amount of light and the irradiation direction, at least a luminaire control means for variably controlling the amount of light and the irradiation direction of the luminaire, Transmitting means for transmitting the signal medium of the above, coordinate specifying means for receiving the signal medium from the transmitting means and specifying the coordinates of the irradiation target based on the received signal medium, and progress of the irradiation target based on the reception state of the signal medium A direction specifying means for specifying a direction, and calculating a control value for controlling each lighting apparatus so that desired illumination is performed on an irradiation target according to the specification result of the direction specifying means and the arrangement of the lighting apparatus. Since there is provided control means for outputting to the lighting equipment control means, desired illumination is performed on the irradiation target, and there is an effect that illumination equivalent to that performed by a specialized operator can be automatically performed.

According to a fourth aspect of the present invention, there are provided a plurality of luminaires capable of changing at least a light amount and an irradiation direction, a luminaire control means for variably controlling at least a light amount and an irradiation direction of the luminaire, and an irradiation target in the illumination space. Image acquisition means disposed at a position where the image can be captured, image processing means for extracting a specific color component from the image of the irradiation target acquired by the image acquisition means to identify the direction of the irradiation target, and image processing means Control means for calculating a control value for controlling each lighting apparatus so that desired illumination is performed on the irradiation target according to the identification result of the lighting apparatus and the arrangement of the lighting apparatus and outputting the control value to the lighting apparatus control means. So
The desired illumination is applied to the irradiation target, and illumination equivalent to that performed by a specialized operator can be performed automatically. In addition, a specific color component is extracted from the image of the irradiation target by the image processing means, and the irradiation target is extracted. Since the direction of the irradiation target is identified, for example, when the irradiation target such as a person moves backward, the traveling direction does not match the front of the irradiation target, or the front of the body of the irradiation target does not match the direction of the face. In such a case, there is an effect that it is possible to perform appropriate illumination so that the face of a person is clearly displayed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment.

FIG. 2 is an operation explanatory diagram of the above, and is a plan view of an illumination space as viewed from above.

FIG. 3 is an operation explanatory diagram of the above, and is a schematic plan view of the illumination space as viewed from above.

FIG. 4 is an operation explanatory diagram of the above, and is a schematic plan view of the illumination space as viewed from above.

FIG. 5 is an explanatory diagram of the operation of the above, and is a schematic plan view of the illumination space viewed from the side.

FIG. 6 is a block diagram showing a second embodiment.

FIGS. 7A and 7B show the transmitter in the embodiment, FIG. 7A is a side view of the transmission device, FIG. 7B is a front view of the transmission device, and FIG.
Is a side sectional view.

FIG. 8 is an explanatory diagram of the operation of the transmitter in the above.

FIG. 9 is an operation explanatory view of the above, and is a schematic plan view of the illumination space as viewed from above.

FIG. 10 is an explanatory diagram of the operation of the above, and is a schematic plan view of the illumination space as viewed from the side.

FIG. 11 is an operation explanatory diagram of the above.

FIG. 12 is an operation explanatory view of the above.

FIG. 13 is an explanatory diagram of the operation of the above.

FIG. 14 is an operation explanatory view of the above.

FIG. 15 is an explanatory diagram of the operation of the above.

FIG. 16 is a block diagram showing a third embodiment.

FIG. 17 is an operation explanatory view of the above.

FIG. 18 is an operation explanatory view of the above.

FIG. 19 is a diagram illustrating the operation of the above.

FIG. 20 is an explanatory diagram of the operation of the above.

FIG. 21 is an explanatory diagram of the operation of the above.

FIG. 22 is an explanatory diagram of the above operation.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Lighting fixture 2 Lighting fixture control means 3 Coordinate specifying means 4 Coordinate storage means 5 Direction specifying means 6 Control means

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kenichi Hagio 1048 Kadoma Kadoma, Kadoma City, Osaka Pref. (72) Inventor Satsuki 1048 Kadoma Kadoma, Kadoma, Osaka Pref. Matsushita Electric Works F Terms (reference) 3K060 AA06 CA02 CA08 CB08 CC04 CD00 CD11 EA01 3K073 AA12 AA13 AA14 BA24 BA25 BA34 CA05 CB06 CC25 CE17 CG01 CG06 CG42 CG59 CH01 CH07 CH22 CH23 CH31 CH44 CJ14

Claims (4)

[Claims] 1. A plurality of luminaires capable of changing at least a light amount and an irradiation direction, a luminaire control means variably controlling at least a light amount and an irradiation direction of the luminaire, and an irradiation target existing in an illumination space by the luminaire. Coordinate specifying means for specifying the coordinates, coordinate storage means for sequentially storing the coordinates of the irradiation target continuously specified by the coordinate specifying means, and current coordinates of the irradiation target based on the coordinates stored in the coordinate storage means in time series. Calculating a control value for controlling each lighting fixture so that a desired illumination is performed on an irradiation target according to a direction specifying means for specifying a traveling direction of the object, and a specification result of the direction specifying means and an arrangement of the lighting fixture. And a control means for outputting to the lighting equipment control means. 2. The lighting control device according to claim 1, wherein the direction specifying means specifies a traveling direction of the irradiation target by fuzzy inference. 3. A plurality of luminaires capable of changing at least the amount of light and the irradiation direction, at least a luminaire control means for variably controlling the amount of light and the irradiation direction of the luminaire, and emitting a predetermined signal medium attached to the irradiation target. A transmitting unit, a coordinate specifying unit that receives a signal medium from the transmitting unit and specifies coordinates of an irradiation target based on the received signal medium, and a direction that specifies a traveling direction of the irradiation target based on a reception state of the signal medium. Identifying means, calculates a control value for controlling each lighting fixture so that desired illumination is performed on the irradiation target according to the specification result of the direction identifying means and the arrangement of the lighting fixture, and sends the result to the lighting fixture control means. A lighting control device, comprising: a control unit for outputting. 4. A plurality of luminaires capable of changing at least the amount of light and the irradiation direction, at least a luminaire control means for variably controlling the amount of light and the irradiation direction of the luminaire, and a position where an irradiation target can be imaged in the illumination space. , An image processing unit for extracting a specific color component from the image of the irradiation target acquired by the image acquiring unit to identify the direction of the irradiation target, and an identification result of the image processing unit and illumination. Control means for calculating a control value for controlling each lighting apparatus so that desired illumination is performed on the irradiation target according to the arrangement of the lighting apparatus and outputting the control value to the lighting apparatus control means. Lighting control device.