JP2014235907A - Lighting control system and lighting control terminal - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lighting control system and so forth capable of emitting illumination light from a lighting device in a desired direction.SOLUTION: The lighting control system comprises: a lighting device 1 which can adjust the irradiation direction of illumination light; a plurality of marks 2 which are provided integrally with or in the vicinity of the lighting device 1; an imaging part which captures an image of the marks 2 in accordance with the operation by a user; a calculation part which calculates a position of the user with respect to the lighting device 1 on the basis of a positional relationship of the marks 2 included in the image captured by the imaging part; and a control unit which adjusts the lighting direction of the illumination light on the basis of the user position calculated by the calculation part.

Description

  The present invention relates to a lighting control system and a lighting control terminal.

  The following Patent Document 1 is known as a technique for adjusting the light distribution of illumination light. This Patent Document 1 includes an LED light emitting unit attached to an instrument body, a reflecting plate that is formed in a substantially mountain shape and reflects light from the LED light emitting unit, and a panel cover that is disposed in front of the reflecting plate. The lighting fixture which provides an uneven | corrugated | grooved part on the surface of a reflecting plate is disclosed.

JP2013-25993A

  However, although the lighting fixture of patent document 1 can light-emit a panel surface uniformly, it cannot illuminate in the desired direction with respect to a lighting fixture.

  Then, this invention is proposed in view of the situation mentioned above, and it aims at providing the illumination control system and illumination control terminal which can irradiate illumination light to a desired direction from a lighting fixture.

  The lighting control system according to the first aspect of the present invention includes a lighting fixture capable of adjusting an irradiation direction of illumination light, a plurality of mark portions provided integrally with or in the vicinity of the lighting fixture, and a user operation. Calculated by the imaging unit that images the mark unit, a calculation unit that calculates the position of the user with respect to the lighting fixture based on the positional relationship of the mark unit included in the captured image captured by the imaging unit, and the calculation unit And a control unit that adjusts the illumination direction of the illumination light based on the position of the user.

  An illumination control system according to a second aspect of the present invention is the illumination control system according to the first aspect, wherein the mark unit has a specific mark unit other than a range that can be imaged by the imaging unit. It is configured to be distinguishable from the mark portion.

  The illumination control system according to a third aspect of the present invention is the illumination control system according to the second aspect, wherein the calculation unit is in a positional relationship of the mark portion included in the captured image captured by the imaging unit. The direction of the imaging unit is estimated based on the direction of the imaging unit, and the direction of the user is estimated based on the direction of the imaging unit, and the control unit changes the illumination state between the front and the rear in the estimated user direction. And

  An illumination control system according to a fourth aspect of the present invention is the illumination control system according to the second or third aspect, wherein the calculation unit includes the mark unit included in the captured image captured by the imaging unit. A distance between the lighting fixture and the imaging unit is estimated based on a positional relationship, and the control unit adjusts a light distribution angle of the illumination light based on the estimated distance.

  An illumination control system according to a fifth aspect of the present invention is the illumination control system according to any one of the first to fourth aspects, and includes an illuminance measurement unit, and the control unit includes the illuminance measurement unit. The luminance of the illumination light emitted from the lighting fixture is controlled so that the illuminance measured by the above-mentioned illuminance becomes a preset illuminance.

  An illumination control system according to a sixth aspect of the present invention is the illumination control system according to any one of the first to fifth aspects, wherein the control unit is a user position calculated by the calculation unit. The illumination light that irradiates the periphery differs from the illumination light that irradiates other than the periphery of the position of the user.

  A lighting control system according to a seventh aspect of the present invention is the lighting control system according to any one of the first to sixth aspects, comprising a plurality of the lighting fixtures, wherein the control unit is a single unit. When the illuminance in the irradiation direction adjusted by the illumination light emitted from the other illumination fixture is lower than the predetermined illumination intensity, the illumination light is emitted from another illumination fixture.

  An illumination control system according to an eighth aspect of the present invention is the illumination control system according to the seventh aspect, wherein an identifier that identifies each of the plurality of illumination fixtures is provided, and illumination is performed from each illumination fixture toward the user. It is characterized by irradiating light.

  An illumination control terminal according to a ninth aspect of the present invention is an illumination control terminal that controls a luminaire that can adjust the irradiation direction of illumination light from a light source, and includes a plurality of mark portions provided in the vicinity of the light source. An imaging unit that captures an image, a calculation unit that calculates a position of the user with respect to the lighting fixture based on a positional relationship between the mark units included in the captured image captured by the imaging unit, and the user's calculated by the calculation unit And a control unit that adjusts an illumination direction of illumination light emitted from the illumination fixture based on a position.

  An illumination control terminal according to a tenth aspect of the present invention is the illumination control system according to the ninth aspect, includes an illuminance measurement unit that measures ambient illuminance, and is based on the illuminance measured by the illuminance measurement unit. The brightness of the illumination light emitted from the lighting fixture is controlled.

  ADVANTAGE OF THE INVENTION According to this invention, a user's position can be calculated and illumination light can be irradiated to a desired direction from a lighting fixture.

It is the schematic which shows the structure of the illumination control system shown as embodiment of this invention. In the lighting control system shown as embodiment of this invention, it is an external view which shows an example of a lighting control terminal. In the lighting control system shown as embodiment of this invention, it is a block diagram which shows the structure of a lighting fixture and a lighting control terminal. It is a flowchart which shows the operation | movement in the illumination control system shown as embodiment of this invention. It is a figure which shows arrangement | positioning of the mark part in the illumination control system shown as embodiment of this invention. It is a figure which shows the irradiation form of the illumination light in the illumination control system shown as embodiment of this invention. In the lighting control system shown as an embodiment of the present invention, (a) is an irradiation mode when the distance between the lighting fixture and the user is D1, and (b) is an irradiation when the distance between the lighting fixture and the user is D2. The form is shown. In the lighting control system shown as embodiment of this invention, it is a block diagram which shows the other structure of a lighting fixture and a lighting control terminal. In the illumination control system shown as embodiment of this invention, it is a figure which shows the state which is changing illumination light with the area | region where a user is, and the area | region where a user is not. In the illumination control system shown as an embodiment of the present invention, (a) shows a state where illumination light is irradiated from a single lighting fixture, and (b) shows a state where illumination light is irradiated from a plurality of lighting fixtures. It is. It is a block diagram which shows the structure which has a some lighting fixture in the lighting control system shown as embodiment of this invention. In the illumination control system shown as embodiment of this invention, it is a figure which shows the relationship between a some light source and irradiation direction. In the illumination control system shown as the embodiment of the present invention, (a) shows the relationship between the optical center, the image plane, and the mark portion, and (b) shows the relationship between the mark portions. It is a figure which shows the relationship of the vector of a mark part in the illumination control system shown as embodiment of this invention. In the illumination control system shown as embodiment of this invention, it is a figure which shows the relationship of the vector of another mark part.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  The illumination control system shown as an embodiment of the present invention is configured as shown in FIG. 1, for example. The lighting control system includes a lighting fixture 1 including a light source, mark portions 2a, 2b, and 2c (hereinafter simply referred to as “mark portion 2” when collectively referred to), and a lighting control terminal 10.

  The lighting fixture 1 can adjust the irradiation direction of illumination light.

  The mark portions 2a, 2b, and 2c are composed of a plurality of marks that are integrated with or near the lighting fixture 1 including the light source. The mark portions 2a, 2b, and 2c are imaged by the illumination control terminal 10. The mark portions 2a, 2b, and 2c may be in any form that can be recognized in the captured image captured by the illumination control terminal 10. The mark portions 2a, 2b, and 2c only need to be configured with shapes, colors, and materials that can be identified in the captured image. Moreover, you may comprise the mark parts 2a, 2b, and 2c by predetermined three LED. Thus, the mark portions 2a, 2b, and 2c can be configured integrally with the lighting fixture 1.

  The illumination control terminal 10 is configured by an information portable terminal operated by the user P, for example. The lighting control terminal 10 may be a remote control of the lighting fixture 1 operated by the user P. Furthermore, the illumination control terminal 10 should just be an apparatus hold | maintained and operated by the user P as shown in FIG.

  For example, as shown in FIG. 2, the lighting control terminal 10 is operated by the hand H of the user P and can control the lighting fixture 1. The illumination control terminal 10 has a touch panel mechanism built in the display screen 100. The lighting control terminal 10 displays an operation message 100 a for selecting on / off of the lighting fixture 1 on the display screen 100. The illumination control terminal 10 receives the operation of the user P when the on or off display location is pressed. The lighting control terminal 10 outputs a control signal to the lighting fixture 1 when receiving the operation of the user P.

  In such a lighting control system, as shown in FIG. 3, for example, a lighting control terminal 10 and a lighting fixture 1 are configured.

  The illumination control terminal 10 includes a signal output unit 21, a position calculation unit 22, an imaging unit 23, and an operation input unit 24.

  The operation input unit 24 receives an operation of the user P. The operation input unit 24 may be the touch panel mechanism described above, or may be configured to accept other mechanical operations. The operation input unit 24 receives an operation for capturing an image and an operation for controlling the lighting fixture 1. The control contents of the lighting fixture 1 include turning on or off the lighting fixture 1, adjusting brightness, and color temperature.

  The imaging unit 23 can be realized by a small camera built in the illumination control terminal 10. The imaging unit 23 captures an image according to the operation of the user P, and generates a captured image. In the present embodiment, the imaging unit 23 captures at least the mark unit 2 and generates a captured image.

  The position calculation unit 22 calculates the position of the illumination control terminal 10 with respect to the luminaire 1 based on the positional relationship of the mark unit 2 included in the captured image captured by the imaging unit 23. The position calculation unit 22 calculates the position of the user P from the calculated position of the lighting control terminal 10. In addition, the detail of the calculation method of the position of the illumination control terminal 10 by the position calculating part 22 is mentioned later.

  The signal output unit 21 sends out a control signal for controlling the lighting fixture 1. The signal output unit 21 includes the position information of the user P calculated by the position calculation unit 22 in the control signal of the lighting fixture 1. Thereby, the lighting control terminal 10 can cause the lighting fixture 1 to receive the control signal and the position information of the user P.

  The lighting fixture 1 includes a signal input unit 11, a lighting control unit 12, and a lighting unit 13. Moreover, the lighting fixture 1 is provided with the mark part 2 as shown in FIG.

  The signal input unit 11 inputs a control signal for the lighting fixture 1 from the lighting control terminal 10. When the signal input unit 11 receives a radio signal transmitted from the illumination control terminal 10, the signal input unit 11 converts the radio signal into a control signal and outputs the control signal to the illumination control unit 12. Further, the position information of the user P is included in this control signal.

  The illumination part 13 consists of several LED installed according to the predetermined arrangement | sequence, for example. The illumination unit 13 can adjust the irradiation direction of the illumination light by the LED as the light source. For example, the illumination unit 13 can turn on or increase the brightness of only the LED in the irradiation direction to be irradiated. The illumination unit 13 operates according to the dimming signal supplied from the illumination control unit 12.

  The illumination control unit 12 generates a dimming signal according to the control signal supplied from the signal input unit 11. The illumination control unit 12 supplies a dimming signal to the illumination unit 13. Thereby, the illumination control part 12 controls lighting or extinction of the illumination light by the illumination part 13, brightness, and color temperature.

  Moreover, the illumination control part 12 controls the irradiation direction of illumination light toward the position of the user P on the basis of the lighting fixture 1 contained in the control signal. Thereby, the lighting fixture 1 can adjust the irradiation direction of illumination light based on the position of the user P. For example, as illustrated in FIG. 1, the lighting fixture 1 emits illumination light L1 that increases the illuminance of the detection range D where the user P is present. On the other hand, the luminaire 1 irradiates the TV without the user P with the illumination light L2 that reduces the illuminance.

  Thereby, the illumination control system can adjust the illumination direction of illumination light toward the user P based on the position of the user P calculated by the illumination control terminal 10 by the illumination control unit 12 (control unit).

  Specifically, the illumination control system controls the irradiation direction of the illumination light by performing a series of processes as shown in FIG.

  First, in step S <b> 1, the lighting control terminal 10 inputs a control signal for controlling the lighting fixture 1 by the operation input unit 24 according to the operation of the user P.

  In the next step S <b> 2, the illumination control terminal 10 images the mark part 2 by the imaging part 23. At this time, the lighting control terminal 10 may automatically shoot or may shoot by the operation of the user P.

  In the next step S <b> 3, the lighting control terminal 10 calculates the position of the lighting control terminal 10 with the lighting fixture 1 as a reference from the captured image including the marked part 2 by the position calculation unit 22.

  In the next step S4, the lighting control terminal 10 calculates the position of the user P from the position of the lighting control terminal 10 calculated in step S3 by the position calculation unit 22. Furthermore, the lighting control terminal 10 transmits the control signal of the lighting fixture 1 and the position information of the user P to the lighting fixture 1.

  In the next step S <b> 5, the lighting fixture 1 controls the lighting state of the lighting fixture 1 according to the control signal of the lighting fixture 1 transmitted from the lighting control terminal 10. Moreover, the lighting fixture 1 adjusts the irradiation direction of illumination light based on the positional information on the user P. Thereby, the lighting fixture 1 can irradiate illumination light with respect to the position of the user P.

  As described above, the illumination control system includes the illumination unit (1) capable of adjusting the irradiation direction of the illumination light from the light source and the plurality of mark units (2) provided in the vicinity of the light source. Furthermore, the illumination control system illuminates on the basis of the positional relationship between the imaging unit (23) that images the mark unit (2) in accordance with a user operation and the mark unit (2) included in the captured image captured by the imaging unit. It has the calculating part (22) which calculates the position of the user P with respect to (1). The illumination control system further includes a control unit (12) that adjusts the illumination direction of the illumination light based on the position of the user P calculated by the calculation unit (22).

  Thereby, the illumination control system can irradiate illumination light from the lighting fixture 1 in a desired direction. Moreover, according to this illumination control system, when performing illumination control based on the operator, the operator does not need to input his / her position.

  In the illumination control system described above, it is desirable that the mark unit 2 is configured such that a specific mark unit can be distinguished from other mark units with respect to a range in which the imaging unit 23 can capture an image.

  For example, as shown in FIG. 1 and the like, when three LEDs are configured by the mark portions 2a, 2b, and 2c, as shown in FIG. 5, only one mark portion 2a has another mark as shown in an isosceles triangle. It arrange | positions so that it may differ from the two mark parts 2b and 2c. Thereby, in the picked-up image imaged by the imaging part 23, the position calculating part 22 can recognize the mark part 2a away from the mark parts 2b and 2c from the distance between the mark parts 2a, 2b and 2c. And the position calculating part 22 can estimate the position of the illumination control terminal 10 from the positional relationship between the mark part 2a and the other mark parts 2b and 2c.

  In the illumination control system described above, the position calculation unit 22 may estimate the orientation of the user P by estimating the orientation of the imaging unit 23. The position calculation unit 22 estimates the orientation of the imaging unit 23 based on the positional relationship of the mark unit 2 included in the captured image captured by the imaging unit 23. The position calculation unit 22 estimates the front direction of the user P from the direction of the imaging unit 23.

  The lighting control terminal 10 transmits the orientation information of the user P in addition to the control signal of the lighting fixture 1 and the position information of the user P. When the lighting device 1 receives the orientation information of the user P, the lighting control unit 12 controls the lighting state of the lighting unit 13. The illumination control unit 12 changes the illumination state between the front and rear in the estimated user orientation.

  For example, as shown in FIG. 6, in a state where the direction of the user P1 is not calculated, the illumination light L11 that is uniform is emitted in front and rear of the user P1. Here, the display screens 10A and 10B of the lighting control terminal 10 held by the users P1 and P2 are in the upward direction. In this situation, it can be seen that the direction in which the lighting control terminal 10 exists for the users P1 and P2 is ahead of the users P1 and P2. In FIG. 6, the lighting control terminal 10 displays the image 101 around the lighting fixture 1 and shoots it.

  Therefore, it is desirable that the lighting control system transmits not only the position information of the user P but also the position information of the lighting control terminal 10 from the lighting control terminal 10 to the lighting fixture 1. And the illumination control part 12 can judge that the direction where the illumination control terminal 10 exists with respect to the position of the user P is ahead of the user P. Further, the illumination control unit 12 can determine that the direction in which the illumination control terminal 10 does not exist is behind the user P.

  Thereby, the lighting fixture 1 irradiates bright illumination light L12 ahead from the front direction of the user P2. On the other hand, the amount of illumination of the illumination light L12 'can be reduced behind the user P2. Thereby, the illuminance in front of the user P2 can be made higher than the illuminance behind the user P2. Moreover, the lighting fixture 1 may change not only illumination intensity but color temperature.

  In the illumination control system described above, the position calculation unit 22 estimates the distance between the lighting device 1 (illumination unit 13) and the imaging unit 23 based on the positional relationship of the mark unit 2 included in the captured image captured by the imaging unit 23. May be. And the illumination control part 12 may adjust the illumination direction of illumination light based on the estimated distance.

  As shown in FIGS. 7A and 7B, when the distance of the illumination control terminal 10 with respect to the luminaire 1 is different, such as D1 and D2, the light distribution angle necessary for irradiating the same range of 2 meters. Are different as A1 and A2. Therefore, the position calculation unit 22 calculates the distance between the lighting fixture 1 and the lighting control terminal 10 from the positional relationship of the mark unit 2 included in the captured image. Further, the position calculation unit 22 calculates a light distribution angle of illumination light for irradiating a predetermined range from the calculated distance between the lighting fixture 1 and the illumination control terminal 10.

  According to such an illumination control system, the distance from the luminaire 1 to the illumination control terminal 10 can be calculated, and the light distribution direction of the illumination light can be controlled from the distance.

  The illumination control system described above may include an illuminance measurement unit. Thereby, the illumination control part 12 can control the brightness | luminance of the illumination light irradiated from the illumination part 13 so that the illumination intensity measured by the illumination intensity measurement part may become preset illumination intensity.

  As shown in FIG. 8, the illumination control terminal 10 may be provided with an illuminance measurement unit 25, and the illuminator 1 may be provided with an illuminance measurement unit 14.

  The illuminance measurement unit 25 measures the illuminance around the illumination control terminal 10. Thereby, the illuminance measuring unit 25 measures the illuminance around the user P in a situation where the lighting control terminal 10 is held by the user P. The measured illuminance is transmitted from the signal output unit 21 to the luminaire 1 together with the position information of the user P calculated by the position calculation unit 22.

  The illuminance measurement unit 14 measures the illuminance in the illumination light irradiation range by the luminaire 1. The illuminance measurement unit 14 measures the illuminance around the user P from the position information of the user P supplied from the signal input unit 11. The illuminance around the user P measured by the illuminance measurement unit 14 is supplied to the illumination control unit 12.

  The illumination control unit 12 acquires the illuminance around the user P transmitted from the illumination control terminal 10 or measured by the illuminance measurement unit 14. The illumination control unit 12 controls the luminance of the illumination light emitted from the illumination unit 13 so that the measured illuminance around the user P becomes a preset illuminance.

  Such an illumination control system can irradiate illumination light around the user P so as to have a desired illuminance. Therefore, the illumination control system can automatically control to obtain a desired illuminance without adjusting the illuminance by the user P.

  In the illumination control system described above, the illumination control unit 12 irradiates the illumination light Lb that irradiates around the position of the user P calculated by the position calculation unit 22 and other than the periphery of the position of the user P, as shown in FIG. It may be different depending on the illumination light La to be performed.

  For example, the illumination control unit 12 stores a correspondence relationship between the irradiation range of the illumination light L and the LEDs in the illumination unit 13. The illumination control unit 12 distinguishes, from the position information of the user P transmitted from the lighting fixture 1, an LED that irradiates the illumination light La other than the periphery of the user P and an LED that irradiates the illumination light Lb around the user P. The illumination control unit 12 performs control so that illumination light La having a low color temperature is emitted from the LEDs corresponding to other than the periphery of the user P. On the other hand, the illumination control unit 12 controls the illumination light Lb having a high color temperature to be emitted from the LEDs corresponding to the periphery of the user P. Of course, the illumination control part 12 may change the brightness of illumination light with illumination light La and Lb.

  In the lighting control system described above, a plurality of lighting fixtures 1 may be provided. And the illumination control part 12 irradiates illumination light from the other illumination fixture 1, when the illumination intensity in the irradiation direction adjusted with the illumination light irradiated from the single illumination fixture 1 is lower than predetermined | prescribed illumination intensity.

  For example, as shown to Fig.10 (a), the illumination light L21 is irradiated toward the user P with the brightness | luminance of 100% from the lighting fixture 1A. As a result, the actual illuminance is 50 with respect to the desired illuminance 100. On the other hand, the illumination control system irradiates the illumination light L22 toward the user P from another illumination fixture 1B as shown in FIG. Thereby, the illumination intensity of the area | region where the user P exists can be set to 100 of desired illumination intensity.

  In this lighting control system, a plurality of lighting fixtures 1A and 1B are connected by a communication line 200 as shown in FIGS. Each lighting fixture 1A, 1B has the signal input part 11, the illumination control part 12, the illumination part 13, and the mark part 2, as shown in FIG.

  This lighting control system is provided with identifiers A and B for specifying each of the plurality of lighting fixtures 1A and 1B. Each luminaire 1 stores, for example, an identifier of another luminaire 1 and a direction with respect to itself. When the luminaire 1 emits illumination light from another luminaire 1, the luminaire 1 transmits the control signal and the position information of the user P to the other luminaire 1 located in the direction in which the user P exists.

  The luminaire 1 to which the position information of the user P is transmitted irradiates illumination light toward the position information of the user P. Thereby, as shown in FIG.10 (b), the illumination control system can irradiate the illumination light L21 and the illumination light L22 toward the user P from several lighting fixture 1A, 1B.

  Next, a lighting method in a plurality of directions by the lighting fixture 1 in the above-described environment determination system will be described.

  In the first illumination method, a plurality of light sources are provided in the luminaire 1, and the illumination light is irradiated in a plurality of directions by controlling on or off of the light sources. For example, as shown in FIG. 12, in the lighting fixture 1 comprised by four light sources 3a, 3b, 3c, 3d, on / off of each light source 3a, 3b, 3c, 3d is controlled. Thereby, the lighting fixture 1 can illuminate in four directions.

  The second illumination method includes a light source unit that is movable by an actuator in the luminaire 1. When the illumination control unit 12 acquires the position information of the user P and the illumination direction is determined, the illumination control unit 12 directs the light source unit in the illumination direction by the actuator. Thereby, the lighting fixture 1 can illuminate in several directions.

  The third illumination method includes a movable prism in the luminaire 1. When the illumination control unit 12 acquires the position information of the user P and determines the illumination direction, the illumination control unit 12 changes the direction of the prism and refracts the light emitted from the light source unit. Thereby, the lighting fixture 1 can illuminate in several directions.

  Next, a method for estimating the position of the user P in the above-described illumination control system will be described.

  In order to estimate the position of the user P (the direction and distance of the user P viewed from the lighting device 1), it is necessary to estimate the three-dimensional posture of the mark part 2 from the image obtained by photographing the mark part 2. As an example, when the mark part 2 is configured by three marks, estimating the three-dimensional posture of the mark part 2 corresponds to obtaining a normal vector of a triangle formed by the three mark parts 2.

  The following method is a method for obtaining the position of the user P when one mark portion in the mark portion 2 can be distinguished from other mark portions.

  The posture estimation method of the first mark portion 2 can estimate the direction. This posture estimation method uses that the length of one side of the triangle formed by the three mark portions 2 and the angles of the inner angles at both ends thereof are known. The posture of the mark part 2 can be estimated by solving an equation that expresses a vector relationship from the optical center of the image pickup part 23 to each mark part 2. In this method, indefiniteness remains about the distance from the lighting fixture 1 to the mark part 2.

  The posture estimation method of the second mark portion 2 can estimate an approximate direction and distance. This posture estimation method uses a triangle formed by a three-point mark portion 2 whose arrangement is known, and performs an image projected on the image plane by applying various rotations and translations in advance, and a triangle corresponding to the image. Save the normal vector.

  When estimating the normal vector and distance of a triangle from an image actually captured by the illumination control terminal 10, matching between various stored images and the shape of the triangle is performed. As a result, the normal vector and distance of the closest image are used as the estimation results. In this posture estimation method, since the internal parameters of the imaging unit 23 are unknown when various images are created in advance, the accurate direction and distance cannot be estimated because an accurate projection image is not created.

  The posture estimation method of the third mark portion 2 can estimate the direction and distance with high accuracy. In the above two posture estimation methods, camera calibration is performed in advance to obtain internal parameters (lens center / focal length) of the imaging unit 23. Thereby, the 3rd attitude | position estimation method can estimate the direction and distance of the mark part 2 with high precision.

  Next, a method for estimating the posture of the mark unit 2 in the above-described illumination control system will be described.

  Consider the relationship between the image plane when the three mark portions 2 are imaged by the imaging unit 23 and the mark portions 2 in the three-dimensional space.

As shown in FIG. 13A, assuming that the distance f from the optical center O to the image plane is 1, the mark coordinates (u1, v1), (u2, v2), (u3) of the three points in the image from the optical center O , V3) are assumed to be p1, p2, and p3, respectively. Here, as shown in FIG. 5 described above, a mark portion 2 a that is distinguished from other mark portions 2 is used as a reference mark. The reference mark is set to p1, and the other mark portions 2b and 2c are set to p2 and p3 counterclockwise from p1. The mark coordinates in the image are points obtained by projecting the three mark portions 2 existing in the three-dimensional space onto the image plane. Therefore, the vectors P1, P2, and P3 from the optical center O to the three mark portions 2 in the three-dimensional space are constant multiples of p1, p2, and p3. When these constants are α, β, and γ, the relationship between the vectors is expressed by the following Equation 1.

  P1, p2, and p3 in Equation 1 are as shown in Equation 2. P1, P2, and P3 in Equation 1 are as shown in Equation 3. (Uc, vc) in the above formulas 2 and 3 is the lens center of the imaging unit 23, and is the center of the image when the internal parameters of the imaging unit 23 are unknown.

As shown in FIG. 13B, assuming that the three interior angles of the triangle formed by the vectors P1, P2, and P3 are θ1, θ2, and θ3, the relationship between the vector that forms each interior angle and the interior angle is expressed by the inner product of the vectors. It is expressed as 4-1. Further, if the length of the side of P1-P2 is 1, the length of the side of P2-P3 is m, and the length of the side of P3-P1 is n, the relationship between each vertex and each side is as shown in Equation 4-2. It is expressed in

  Since p1, p2, and p3 and θ1, θ2, θ3, and l, m, and n are known, α, β, and γ are obtained from the relational expressions of Equations 4-1 and 4-2, so that The posture (triangular normal vector formed by the mark portion 2) can be estimated.

  Since the parameters to be estimated are the three parameters α, β, and γ, it is necessary to select three equations from the above relational expressions and establish simultaneous equations. However, when, for example, three expressions (a), (b), and (c) of Expression 2-1 are selected from the above relational expression, this relational expression indicates the relationship between the angles of the three corners of the triangle. In simultaneous equations, parameters cannot be estimated because they include degrees of freedom of similar shapes. Therefore, three formulas are selected based on the triangle identification. The following is an example of triangular congruence conditions and formula selection.

Joint condition 1: 3 sides are equal (formula selection example: (a), (b), (c) in formula 4-2)
Joint condition 2: The two sides and the angles between them are equal (formula selection example: formulas 4-2 (a) and (b), formula 4-1 (b))
Joint condition 3: The sides and the corners of both sides are equal (formula selection example: formula 4-2 (a), formula 4-1 (a), (b))
Since the formula selected above is a nonlinear relational expression, the parameter cannot be estimated by the linear least square method. Therefore, the parameters α, β, and γ are obtained by a nonlinear least square method based on the Newton method described below. The Newton method is a method for estimating an optimum parameter by giving an initial value of a parameter, estimating a minute change amount d * of the parameter, and updating the parameter using the minute change amount d *.

  In the following, a parameter estimation method will be described using the triangular congruence condition 3 as an example.

First, an objective function is considered with respect to (a) in Equation 4-1. As shown in FIG. 14, the vector from P1 to P2 is defined as V1 and the vector from P1 to P3 is defined as V2, as shown in Equation 5 below.

The inner product of V1 and V2 can be expressed by the following equation 6 using an angle θ1 formed by two vectors.

The above equation 6 is defined as an objective function (error function) δ1, and the parameter g to be estimated is defined as the following equation 7.

The objective function δ1 in the parameter to be estimated is expressed by the following equation 8 using the minute change amount d * of the parameter. Α, β, and γ in the following formula 8 are initial values or parameters calculated last time.

When the previous calculated value (or initial value) is sufficiently close to the change amount d *, the objective function of Equation 8 can be approximated by a first-order Taylor, and is expressed as Equation 9 below.

  In Expression 9, g1 (α, β, γ) is known because it is an initial value or a value calculated from the previous calculation value, and parameters estimated by Expression 9 are dα, dβ, and dγ.

Next, an objective function is considered for (b) in Equation 4-1. Similarly to the objective function of (a) in Equation 4-1, as shown in FIG. 15, a vector composed of P1 and P2 is represented as V3, and a vector composed of P3 and P2 is represented as V4. The objective function δ2 defined by the angle θ2 formed by the vectors V3 and V4 is expressed by the following expression 10-3.

Finally, an objective function is considered with respect to (a) in Equation 4-2. Equation (a) in Equation 4-2 can be expressed as Equation 11.

Equation 11 is defined as an objective function δ3, and a function g3 of parameters to be estimated is defined as in Equation 12 below.

Similar to δ1 and δ2, δ3 is expressed by using the change amount d *, and is expressed by equations 13-1 and 13-2 by first-order Taylor approximation.

  As described above, since the objective functions of Equation 9, Equation 10-3, and Equation 9 are all linear equations, the minute change d * can be estimated from these three equations using the least square method.

  Next, a parameter estimation method by the least square method using the above three equations will be described.

The least square method using the objective functions δ1, δ2, and δ3 is a problem of minimizing ΔTΔ that is the square of the objective function vector Δ in the following Expression 14. Objective functions δ1, δ2, and δ3 in Equation 14 are as shown in Equations 15-1, 15-2, and 15-3, respectively. A in Equation 14 is as in Equation 16, q is as in Equation 17, and B is as in Equation 18.

The solution q that minimizes the square sum of errors S = ΔTΔ satisfies the following Expression 20.

The solution q satisfying the above equation 20 can be obtained by the following equation 21.

Α, γ, and β are updated by the following equation 22 using the minute change vector q obtained by the above equation 21. Here, the parameter whose index is “old” is the previously calculated value, and the parameter whose number is “new” is the parameter estimated this time.

  Using the updated α, β, and γ, the estimation and update of the minute change amount by the least square method is repeated, and the updated α, β, and γ when the minute change amount is equal to or less than the threshold value is used as the estimation result. .

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various modifications can be made depending on the design and the like as long as the technical idea according to the present invention is not deviated from this embodiment. Of course, it is possible to change.

  In the above-described embodiment, the configuration in which the calculation unit is provided in the lighting control terminal 10 and the control unit is provided in the lighting fixture 1 has been described, but the configuration is not limited thereto. For example, the calculation unit may be provided in the lighting fixture 1 and the position of the user P with respect to the lighting fixture 1 may be calculated from the captured image captured by the lighting control terminal 10. Moreover, you may provide a control part in the illumination control terminal 10. FIG. In this case, the lighting control terminal 10 calculates the position information of the user P by the calculation unit and also generates a control signal for the lighting fixture 1 and transmits the control signal to the lighting fixture 1. Thereby, the lighting fixture 1 can operate the illumination part 13 according to a control signal.

DESCRIPTION OF SYMBOLS 1 Lighting fixture 2 Marking part 10 Illumination control terminal 12 Illumination control part 13 Illumination part 14, 25 Illuminance measuring part 22 Position calculating part 23 Imaging part

Claims (10)

A lighting fixture capable of adjusting the direction of illumination light, and
A plurality of mark portions provided integrally or in the vicinity of the lighting fixture;
An imaging unit that images the mark unit in accordance with a user operation;
A calculation unit that calculates a position of the user with respect to the lighting device based on a positional relationship of the mark unit included in the captured image captured by the imaging unit;
A control unit that adjusts an illumination direction of illumination light based on the position of the user calculated by the calculation unit.   The illumination control system according to claim 1, wherein the mark unit is configured such that a specific mark unit is distinguishable from other mark units with respect to a range in which the imaging unit can capture an image. The calculation unit estimates a direction of the imaging unit based on a positional relationship of the mark unit included in a captured image captured by the imaging unit, estimates a direction of the user from a direction of the imaging unit,
The lighting control system according to claim 2, wherein the control unit changes a lighting state between the front and the rear in the estimated direction of the user. The calculation unit estimates a distance between the lighting fixture and the imaging unit based on a positional relationship of the mark unit included in the captured image captured by the imaging unit,
The illumination control system according to claim 2, wherein the control unit adjusts a light distribution angle of the illumination light based on the estimated distance. It has an illuminance measurement unit,
The said control part controls the brightness | luminance of the illumination light irradiated from the said lighting fixture so that the illumination intensity measured by the said illumination intensity measurement part may become preset illumination intensity, The any one of Claim 1 thru | or 4 characterized by the above-mentioned. The lighting control system according to one item.   2. The control unit according to claim 1, wherein the control unit is different from the illumination light applied to the periphery of the position of the user calculated by the arithmetic unit and the illumination light applied to a part other than the periphery of the position of the user. Item 6. The illumination control system according to any one of Item 5. Having a plurality of the lighting fixtures,
The said control part makes illumination light irradiate from another lighting fixture, when the illumination intensity in the irradiation direction adjusted with the illumination light irradiated from the single lighting fixture is lower than predetermined illumination intensity. The illumination control system according to any one of claims 1 to 6.   The illumination control system according to claim 7, wherein an identifier for identifying each of the plurality of lighting fixtures is provided, and illumination light is emitted from each lighting fixture toward a user. A lighting control terminal that controls a lighting fixture that can adjust the irradiation direction of illumination light from a light source,
An imaging unit for imaging a plurality of landmarks provided in the vicinity of the light source;
A calculation unit that calculates a position of the user with respect to the lighting device based on a positional relationship of the mark unit included in the captured image captured by the imaging unit;
An illumination control terminal comprising: a control unit that adjusts an illumination direction of illumination light emitted from the lighting fixture based on the position of the user calculated by the arithmetic unit. It has an illuminance measurement unit that measures ambient illuminance,
The illumination control terminal according to claim 9, wherein brightness of illumination light emitted from the lighting fixture is controlled based on illuminance measured by the illuminance measurement unit.

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