JPH1012005A - Automatic tracking lighting system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic tracking lighting system which automatically tracks a target for illumination and projects light. SOLUTION: A spotlight 1 is placed on a ceiling surface 13 free to rotate both horizontally and vertically, and a horizontal drive means 3a varies the horizontal angle of the spotlight 1 while a vertical drive means 3b varies the vertical angle of the spotlight 1. A CCD camera 4 photographs a target 8 for illumination in an illuminated space 9. An image recognition system 5 processes images of the CCD camera 4, identifies the target 8 for illumination, and specifies its coordinates. A coordinate computing device 6 computes the amount of movement of the spotlight 1 from the amount of movement of the target 8 for illumination. A movable control device 7 converts the result of computation by the coordinate computing device 6 into drive signals for the horizontal drive means 3a and the vertical drive means 3b and outputs the signals to the horizontal drive means 3a and the vertical drive means 3b to rotate the spotlight 1 in a desired direction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tracking lighting device for automatically tracking and projecting performers in venues such as banquet halls, halls and stages.

[0002]

2. Description of the Related Art Conventionally, as an automatic tracking lighting device for automatically tracking and projecting a moving irradiation target of a person or the like,
For example, as shown in JP-A-64-33803, a person to be irradiated is provided with a transmitter such as an ultrasonic wave or a radio wave, and for example, a ceiling surface of an illumination space having a size of 15 mx 7.5 m. Approximately 20 receiving sensors are provided, and a transmitter, that is, a position of a person holding the transmitter is specified from a signal received by the receiving sensor, and the irradiation direction of the lighting equipment is automatically tracked by the person. There was something.

[0003]

In the automatic tracking illumination device having the above-mentioned structure, the person to be irradiated must have a transmitter in advance, and the person who has the transmitter feels inconvenience. there were. Also, in order to accurately specify the position of the transmitter, it is necessary to dispose a large number of receivers on the ceiling surface of the lighting space and clarify the positional relationship of each receiver in the lighting space, which is poor in workability. There was also a problem.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to provide an automatic tracking illumination device in which a person to be irradiated does not feel inconvenience and the workability is improved.

[0005]

According to the first aspect of the present invention, there is provided an illumination means having directivity,
A driving unit that changes the irradiation direction of the illumination unit, an imaging unit that changes the imaging direction together with the irradiation direction to image the same direction as the irradiation direction, and identifies an irradiation target from an image of the imaging unit and specifies coordinates of the irradiation target. Image recognition means for
The image recognizing means includes a calculating means for calculating the moving amount in the irradiation direction from the moving amount of the irradiation target, and a control means for controlling the driving of the driving means based on the calculation result of the calculating means. It can respond to irradiation targets that have not been set. In addition, since it is not necessary to dispose a large number of receivers and the like on the ceiling surface, workability can be improved. Furthermore, at the time of initial setting, the irradiation direction of the illumination unit can be visually matched with the coordinates of the irradiation target of the image recognition unit.

According to the second aspect of the present invention, the illuminating means having directivity, the driving means for changing the irradiation direction of the illuminating means,
Imaging means arranged in the illumination space so as to be able to image the illumination space of the illumination means, image recognition means for identifying an irradiation target from the image of the imaging means and specifying coordinates of the irradiation target, and irradiation in the image recognition means Computing means for computing the amount of movement in the irradiation direction from the coordinates of the target and the positional relationship between the lighting means and the imaging means in the lighting space, and control means for controlling the driving of the driving means based on the computation results of the computing means. Therefore, for example, it is possible to cope with a lighting fixture that changes the irradiation direction by reflecting the light on a mirror, and it is also possible to control a plurality of lighting units.

According to the third aspect of the present invention, the illuminating means having directivity, the first driving means for changing the irradiating direction of the illuminating means, and the illuminating space are arranged in the illuminating space so that the illuminating space can be imaged. Imaging means, second driving means for changing the imaging direction of the imaging means, storage means for storing the imaging direction of the imaging means, and identifying the irradiation target and identifying the coordinates of the irradiation target from the video of the imaging means. Image recognition means, second calculation means for calculating the movement amount of the second drive means from the movement amount of the irradiation target in the image recognition means, calculation results of the second calculation means, imaging means and illumination means in the illumination space Computing means for computing the amount of movement of the illumination means in the irradiation direction from the positional relationship of the imaging means and the imaging direction of the imaging means stored in the storage means, and the first drive based on the computation result of the first computing means. Drive control means The first control means and the second control means for driving and controlling the second drive means based on the calculation result of the second calculation means, so that a lens having a not very wide angle is used for the imaging means. This makes it possible to clearly capture an image of an irradiation target that is far away, and to easily perform image recognition.

According to a fourth aspect of the present invention, in the third aspect, a plurality of imaging means are provided, and the second arithmetic means calculates three-dimensional coordinates in the illumination space of the irradiation target from the imaging directions of the plurality of imaging means. As a result, the irradiation target can be accurately captured even if the floor surface of the illumination space has irregularities.

[0009]

Embodiments of the present invention will be described with reference to the drawings. (Embodiment 1) The automatic tracking illumination device of the present embodiment is shown in FIG.
As shown in FIG. 2, the spotlight 1 is disposed on the ceiling surface 13 and serves as illumination means for tracking the irradiation target 8 in the illumination space 9, and supports the spotlight 1 rotatably in the horizontal and vertical directions. Bracket 2 to be rotated, horizontal driving means 3a for changing the horizontal angle (PAN) of the irradiation direction of the spotlight 1 by rotating the bracket 2 in the horizontal direction, and a spot by rotating the spotlight 1 in the vertical direction. The vertical angle (T
A vertical driving means 3b for changing ILT), a small CCD camera 4 attached to the spotlight 1 and serving as an imaging means for taking an image in the same direction as the irradiation direction of the spotlight 1, and C
An image recognition device 5 as image recognition means for identifying the irradiation target 8 such as a person from the image of the CD camera 4 and specifying the coordinates of the irradiation target 8, and a spotlight based on the movement amount of the coordinates of the irradiation target 8 in the image recognition device 5. 1) a coordinate calculation device 6 as calculation means for calculating the movement amount in the irradiation direction, and a calculation result of the coordinate calculation device 6 being converted into a drive signal of a motor of the horizontal drive means 3a and the vertical drive means 3b. And a movable control device 7 serving as control means for outputting to the vertical drive means 3b.

The operation of the automatic tracking illumination device will be described with reference to FIGS. The direction of the horizontal angle of the imaging surface 4 ₂ of the CCD camera 4 to the X direction, the direction perpendicular angle to the Y direction.
In the present embodiment, for simplicity, only the X direction will be described. First, the image recognition device 5 performs image processing on the image of the CCD camera 4 using an existing image processing technique such as pattern matching or color matching. Then, the image recognition device 5 recognizes the pattern of the irradiation target 8, the imaging surface 4 ₂ of the CCD camera 4, for detecting a deviation from the center of the imaging surface 4 ₂ of the irradiation target 8.

[0011] Then, the coordinate calculation unit 6 calculates the movement amount of the irradiation direction of the spotlight 1 from the deviation from the center of the imaging surface 4 ₂ of the irradiation target 8. Current radiation direction of the spotlight 1 (Fig. 3, A direction in FIG. 4) is, if you are located substantially at the center of the imaging surface 4 ₂ of the CCD camera 4, from the center of the imaging surface 4 ₂ of the irradiation target 8 When the deviation and n _x, in order to match the irradiating direction of the spotlight 1 to the irradiation target 8, it is necessary to move by the movement angle amount theta _P the spotlight 1 in the horizontal direction. Here, when the focal length of the lens 4 ₁ of the CCD camera 4 is f, the moving angle amount theta _P in the horizontal direction of the spotlight 1 becomes ^{_{θ P = tan -1 (n x}} / f). In the vertical direction, the moving angle amount of the irradiation direction of the spotlight 1 can be obtained in the same procedure.

Further, the movable control device 7 is provided with a coordinate calculating device 6
Is converted into a drive signal of the horizontal drive means 3a,
Output to the horizontal drive means 3a. For example, horizontal driving means 3
a and the motor of the vertical driving unit 3b is servo-driven by feeding back the detection value from a sensor such as a potentiometer, and the movable control unit 7 uses the horizontal driving unit 3a and the horizontal driving unit 3a based on the detection value of the sensor corresponding to the desired rotation angle. The driving signal of the motor of the vertical driving unit 3b is output, and the motors of the horizontal driving unit 3a and the vertical driving unit 3b are operated.

[0013] The series of processing cycles described above, by the movement of the irradiation target 8, if the irradiation target 8 is deviated from the imaging surface 4 ₂ of the center of the CCD camera 4, so as to eliminate the deviation, i.e., the spotlight 1 Set irradiation direction to irradiation target 8
The movable control device 7 controls the horizontal driving means 3 so that
a and the vertical driving means 3b are sequentially driven and controlled. By repeating this series of processing cycles, the spotlight 1 can track and project the irradiation target 8. (Embodiment 2) The automatic tracking illumination device of the present embodiment is shown in FIG.
As shown in FIG. 1, a spotlight 1 which is disposed on a ceiling surface 13 of the lighting space 9 and tracks and projects an irradiation target 8 such as a person in the lighting space 9 and emits light. A bracket 2 rotatably supporting in the vertical direction, a horizontal driving means 3a for rotating the spotlight 1 in the horizontal direction, a vertical driving means 3b for rotating the spotlight 1 in the vertical direction, and a spot on the ceiling surface 13 A small CCD camera 4 which is arranged at a position different from the light 1 and which takes an image of the illumination space 9,
Image recognition device 5 serving as image recognition means for specifying the coordinates of irradiation target 8 by performing image processing on an image captured by camera 4
A coordinate calculating device 6 for calculating the moving amount of the irradiation direction of the spotlight 1 from the moving amount of the irradiation target 8 in the image recognition device 5; and the horizontal driving device 3a and the vertical driving device It comprises a movable control device 7 as control means for converting the drive signal of the means 3b into a motor drive signal and outputting it to the horizontal drive means 3a and the vertical drive means 3b.

The operation of the automatic tracking illumination device will be described with reference to FIGS. Here, for simplicity of description, consider a case where the CCD camera 4 is disposed substantially at the center of the ceiling surface 13 of the illumination space 9 as shown in FIG. At the time of initial setting, after the spotlight 1 and the CCD camera 4 are arranged at predetermined positions on the ceiling surface 13, the spotlight 1
Is rotated to project light to a predetermined position in the illumination space 9, and the irradiation direction is visually matched with the position of the irradiation target obtained by the image recognition device 5, whereby the spotlight 1 and the CCD camera 4 Parameters such as a mounting position and a mounting angle can be obtained. Then, during normal use, the coordinate calculation device 6 calculates the movement amount of the spotlight 1 from the movement amount of the irradiation target based on the parameters obtained at the time of initial setting. Therefore, it is not necessary to check the coordinates of the spotlight 1 and the CCD camera 4 from the design drawing or the like at the time of the initial setting, and to input the coordinates.

When the coordinates of the spotlight 1 and the CCD camera 4 are obtained from a design drawing, etc.
In some cases, the position on the design drawing of the CCD camera 4 and the actual mounting position are shifted. Because the displacement of the mounting position causes a displacement in the irradiation direction of the spotlight 1,
Although it was necessary to readjust the mounting position of the spotlight 1 and the CCD camera 4 and reset the coordinates, in the automatic tracking lighting device of the present embodiment, the irradiation direction of the spotlight 1 was visually adjusted at the time of initial setting. Therefore, the deviation between the mounting position on the drawing and the actual mounting position can be absorbed, and the irradiation direction of the spotlight 1 can be controlled with higher accuracy.

In normal use, first, the image recognition device 5 is
The image of the camera 4 is subjected to image processing using an existing image processing technique such as pattern matching or color matching to identify the irradiation target 8 and specify its coordinates. As a result, as shown in FIG. 7, the coordinates on the imaging plane 4 _second irradiation target 8 and obtained as _{(x t1, y t1, 0} ). Here, it is assumed that the irradiation target 8 is on the floor surface (horizontal plane) of the illumination space 9 and its Z coordinate is set to 0. The coordinates of the CCD camera 4 are (0, 0, z), and the coordinates of the spotlight 1 are (x _s , y).
_s , z _s ).

The imaging surface 4 of the CCD camera 4_TwoTo
And the coordinates in the actual lighting space 9 are simple.
It can be expressed by a proportional relationship, and the proportional constants in the x and y directions are
Each k_x, K_yThen, in the actual lighting space 9
The coordinates (x_t, Y _t, 0) is expressed by the following equation
Can be. x_t= K_x× x_t1 y_t= K_y× y_t1 Here, in the actual illumination space 9, as shown in FIG.
Then, the positional relationship between the spotlight 1 and the irradiation target 8 is obtained.
Then, the horizontal angle of the spotlight 1 and the
The vertical angle can be calculated. Spotlight 1
The mark is (x_s, Y_s, Z_s) So the spotlight
The coordinates of the irradiation target 8 viewed from 1 are (x_t-X _s, Y_t-Y
_s, -Z_s)It can be expressed as. This spotlight
1 is projected onto the floor of the illumination space 9 (x_s, Y_s,
0), the distance L from the irradiation target 8 is represented by the following equation.
be able to.

L = ((x _t −x _s ) ² + (y _t −y _s ) ² ) ^{1/2 Using} this distance L, the horizontal angle θ _{p of} the spotlight 1,
Vertical angle theta _t is expressed by the following equation. θ _p = cos ⁻¹ ((y _t −y _s ) / L) θ _t = tan ⁻¹ (z _s / L) In this way, the coordinate calculation device 6 calculates the position of the spotlight 1 from the movement amount of the irradiation target 8. It calculates the amount of movement of the horizontal angle theta _p and the vertical angle theta _t, movement control unit 7 to respectively convert the horizontal angle theta _p and the vertical angle theta _t to the drive signal of the horizontal drive means 3a and the vertical driving unit 3b, horizontal Output to the driving means 3a and the vertical driving means 3b. And Thus, the horizontal drive means 3a and the vertical drive means 3b are horizontal angle theta _p the spotlight 1 in the horizontal direction, by only each rotation perpendicular angle theta _t in the vertical direction, the irradiation target irradiating direction of the spotlight 1 8 is controlled. Then, in the next processing cycle, when the image recognition device 5 detects the deviation of the coordinates of the irradiation target 8, the coordinate calculation device 6 calculates the movement amount of the spotlight 1 according to the movement amount of the irradiation target 8, The device 7 controls the horizontal drive unit 3a and the vertical drive unit 3b based on the calculation result of the coordinate calculation device 6, and causes the spotlight 1 to track the irradiation target 8. By repeating this series of processing cycles, the spotlight 1 can follow the movement of the irradiation target 8. (Embodiment 3) The automatic tracking illumination device of the present embodiment is shown in FIG.
As shown in FIG. 1, a spotlight 1 as an illuminating means for tracking and projecting an irradiation target 8 in an illumination space 9, a bracket 2 for supporting the spotlight 1 rotatably in horizontal and vertical directions, and a spot A horizontal driving unit 3a and a vertical driving unit 3b as first driving units for rotating the light 1 in a horizontal direction and a vertical direction, respectively, and a small CCD camera 4 as an imaging unit for imaging an irradiation target 8 in the illumination space 9; A rotary table 10 as a second driving means for causing the CCD camera 4 to follow the movement of the irradiation target 8, a storage device 11 as a storage means for storing the imaging direction of the CCD camera 4,
An image recognition device 5 as image recognition means for identifying the irradiation target 8 from the image of the camera 4 using the existing image processing technology and specifying the coordinates of the irradiation target 8, and the moving amount of the irradiation target 8 in the image recognition device 5. C stored in the storage device 11
The spotlights 1 and C are determined based on the imaging direction of the CD camera 4.
The coordinate calculation device 6 as first and second calculation means for calculating the movement amount of the CD camera 4 and the calculation result of the coordinate calculation device 6 are converted into drive signals for the motors of the horizontal drive means 3a and the vertical drive means 3b. Horizontal driving means 3a and vertical driving means 3b
A movable control device 7 serving as first control means for outputting to the rotary table 10 a driving control signal for converting the calculation result of the coordinate calculation device 6 into a drive signal for the turntable 10 It is composed of

The operation of the automatic tracking illumination device will be described with reference to FIGS. Here, the same processing as in the first embodiment is performed, and the movable control device 12 matches the imaging direction of the CCD camera 4 with the irradiation target 8 based on the calculation result of the coordinate calculation device 6, so that the description is omitted. I do. Now
The storage device 11 stores the current imaging direction of the CCD camera 4. The horizontal angle θ _mp (t) and the vertical angle θ _mt (t) of the CCD camera 4 are calculated by accumulating the movement amounts of the turntable 10 with reference to the y-axis direction in FIG. 12 and the horizontal direction in FIG. And its imaging direction (θ _mp (t), θ
_mt (t)) can be expressed by the following equation.

Θ _mp (t) = Δθ _mp + θ _mp (t−1) θ _mt (t) = Δθ _mt + θ _mt (t−1) where θ _mp (t−1), θ _mt (t−1) ) Are the horizontal and vertical angles of the CCD camera 4 in the previous processing cycle, respectively, and Δθ _mp and Δθ _mt are the CCs in the current processing cycle, respectively.
The moving amount of the horizontal angle and the moving amount of the vertical angle of the D camera 4 are shown.

As shown in FIG. 13, when the spotlight 1 and the CCD camera 4 are projected on the floor of the illumination space 9, C
Distance L _m of the CD camera 4 from a point that is projected on the floor (0,0,0) to the irradiation target 8, the vertical angle of the CCD camera 4 theta
_{Using mt} (t), it can be expressed as the following equation. L _m = z _m / tan (θ _mt (t)) The coordinates (x _t , y _t , 0) of the irradiation target 8 are represented by the following equation.

X _t = L _m · cos (θ _mp (t)) y _t = L _m · sin (θ _mp (t)) At this time, the coordinates of the spotlight 1 are represented by (x _s , y _s ,
z _s ), the irradiation target 8 viewed from the spotlight 1
Is (x _t −x _s , y _t −y _s , −z _s ),
Point obtained by projecting the coordinates of the spotlight 1 on the floor of the lighting space 9 the distance L _S from _{(x s, y s, 0} ) to the irradiation target 8 is expressed by the following equation.

L _S = ((x _t −x _s ) ² + (y _t −y _s ) ² ) ^1/2 Using the value of the distance L _S , the horizontal angle θ _sp and the vertical angle θ of the spotlight 1 are calculated. _st is represented by the following equation. in the ^{_{θ sp = cos -1 ((y}} t -y s) / L S) θ st = tan -1 (z s / L S) such, that the horizontal angle theta _sp and vertical angle theta _st of the spotlight 1 Once obtained, the movable controller 7 determines the horizontal angle θ _sp and the vertical angle θ _st in the same manner as in the first embodiment.
a and a driving signal of the vertical driving unit 3b, respectively, and outputs the signals to the horizontal driving unit 3a and the vertical driving unit 3b.
The irradiation direction of the spotlight 1 is tracked to the irradiation target 8 by rotating the spotlight 1 in a desired direction. By repeatedly performing such processing, the spotlight 1 can be tracked to the irradiation target 8.

In this embodiment, since the imaging direction of the CCD camera 4 is tracked to the irradiation target 8, the CCD camera 4
It is possible to use a lens that is not very wide-angle for the lens. Therefore, even the irradiation target 8 far away can be clearly imaged, and the irradiation target 8 can be easily determined when performing image processing. At the time of the initial setting, the irradiation direction of the spotlight 1 is visually matched with the position of the irradiation target obtained by the image recognition device 5 in the same manner as in the second embodiment, and the description thereof will be omitted. (Embodiment 4) In the present embodiment, in the automatic tracking illumination device of Embodiment 3, two CCD cameras as imaging means for imaging an irradiation target in an illumination space are provided.

As shown in FIG. 14, the automatic tracking illumination device includes a spotlight 1 as illumination means for illuminating an illumination target 8 in an illumination space 9, and the spotlight 1 is rotatable in horizontal and vertical directions. Bracket 2 to support
A horizontal driving unit 3a and a vertical driving unit 3b as first driving units for rotating the spotlight 1 in the horizontal direction and the vertical direction, respectively, and two imaging units for imaging the irradiation target 8 in the illumination space 9. CCD cameras 4a and 4b and C
Turntables 10a and 10b as second driving means for tracking the movements of the irradiation target 8 by the CD cameras 4a and 4b, respectively;
Image recognizing devices 5a and 5b as image recognizing means for determining the irradiation target 8 from the images of the D cameras 4a and 4b using existing image processing technology and detecting the coordinates thereof;
a from the movement amount of the irradiation target 8 detected by
Second calculation for calculating the movement amounts of the CD cameras 4a and 4b, respectively
Of the turntables 10a, 15b based on the calculation results of the coordinate calculation devices 15a, 15b,
Movable control devices 12a and 12b as second control means for respectively outputting signals for driving the CCD camera 4b.
Storage device 1 as storage means for storing the imaging directions of a and 4b
1 and three-dimensional coordinates of the irradiation target 8 are calculated from the coordinates detected by the coordinate calculation devices 15a and 15b.
The three-dimensional coordinate operation device 14, the operation result of the three-dimensional coordinate operation device 14, and the CCD camera 4a stored in the storage device 11,
4b, a coordinate calculation device 6 as a first calculation means for calculating the irradiation direction of the spotlight 1 from the imaging direction, and the calculation results of the coordinate calculation device 6 as the horizontal drive means 3a and the vertical drive means 3
a movable control device 7 serving as a first control means for converting the drive signal into a drive signal of the first drive means b and outputting the drive signal to the horizontal drive means 3a and the vertical drive means 3b
It is composed of

The operation of the automatic tracking illumination device will be described with reference to FIGS. Here, the CCD camera 4a,
The 4b and the turntables 10a and 10b operate in the same processing cycle as in the first or third embodiment, respectively, and a description thereof will be omitted. The CCD cameras 4a and 4b operate synchronously in a series of processing cycles. At this time, the coordinates of the CCD cameras 4a and 4b are set to (0, 0,
z _m1 ), (x _m2 , y _m2 , z _m2 ), and the CCD camera 4a
If the horizontal angle is θ _m1p and the vertical angle is θ _m1t , and the horizontal angle of the CCD camera 4a is θ _m2p and the vertical angle is θ _m2t , C
The equation of a straight line indicating the imaging direction of the CD camera 4b is: x = t · cos (θ _m1t ) · sin (θ _m1p ) (1) y = t · cos (θ _m1t ) · cos (θ _m1p ) · _.. (2) z = −t · sin (θ _m1t ) + z _m1 (3), and the equation of a straight line indicating the imaging direction of the CCD camera 4 b is: x = r · cos (θ _m2t ) · sin (θ _m2p ) + x _m2 (4) y = r · cos (θ _m2t ) · cos (θ _m2p ) + y _m2 (5) z = −r · sin (θ _m2t ) + z _m2 ··・ It is expressed by (6). Here, t and r are parameters representing a straight line, respectively. Since the intersection of these two straight lines becomes the coordinates (x _t , y _t , z _t ) of the irradiation target 8, the above equation is solved from equations (1) to (6) assuming that the coordinates of the two straight lines are equal. Can be obtained as follows.

T = (x_m2・ Cos (θ_m2t) -Y_m2・ Sin (θ
_m2p)) / [Cos (θ_m1t) × (sin (θ_m1p) Cos (θ
_m2p) −cos (θ_m1p) ・ Sin (θ_m2p))] When the above equation is substituted into equations (1) to (3), the position of the irradiation target 8 is
Mark (x_t, Y_t, Z_t) Can be calculated as follows:
Wear. x_t= T · cos (θ_m1t) ・ Sin (θ_m1p) y_t= T · cos (θ_m1t) Cos (θ_m1p) z_t= −t · sin (θ_m1t) + Z_m1 The intersection of the two straight lines determined in the above processing,
Coordinates (x_t, Y_t, Z _t) And the following Embodiment 2
Similarly, the coordinate calculation device 6 determines that the spotlight 1 is horizontal.
The movement amount of the angle and the vertical angle is calculated, and the movable control device 7 calculates the coordinates.
The calculation result of the calculation device 6 is transferred to the horizontal drive unit 3a and the vertical drive
The driving signal of the horizontal driving means 3a and the vertical driving means 3b.
Output to the direct drive means 3b. And the horizontal driving means 3a
And the vertical drive means 3b detects a spot based on the drive signal.
The light 1 is rotated in a desired direction. Thus, this process
By repeating the management cycle, the spot
To make the irradiation direction of the unit 1 follow the movement of the irradiation target 8
Can be.

When only the heights of the CCD cameras 4a and 4b are different from each other and they are vertically overlapped with each other, that is, when x _m2 = 0 and y _m2 = 0, the parameter t is expressed by the following equation. Thus, the intersection of the two straight lines, that is, the coordinates of the irradiation target 8 can be similarly obtained. t = cos (θ _m2t ) × (z _m1 −z _m2 ) / (sin (θ _m1t )
cos (θ _m2t ) −cos (θ _m1t ) · sin (θ _m2t )) In this way, the three-dimensional coordinate calculation device 14
Since the dimensional coordinates are calculated and the coordinate calculating device 6 calculates the moving amount of the spotlight 1 based on the three-dimensional coordinates, the irradiation target 8 can be accurately determined even if the floor surface of the illumination space 9 has irregularities. You can track.

At the time of initial setting, the irradiation direction of the spotlight 1 is determined in the same manner as in the second embodiment.
Since the position of the irradiation target obtained by step 5b is visually matched, the description is omitted.

[0030]

According to the first aspect of the present invention, as described above, the illuminating means having directivity, the driving means for changing the irradiating direction of the illuminating means, and the imaging direction changing along with the irradiating direction are the same as the irradiating direction. Imaging means for capturing the direction, image recognition means for identifying the irradiation target from the image of the imaging means and specifying the coordinates of the irradiation target, and calculation for calculating the movement amount in the irradiation direction from the movement amount of the irradiation target in the image recognition means Means,
Since there is provided control means for controlling the drive means based on the calculation result of the calculation means, there is an effect that it is possible to cope with an irradiation target which does not have a transmitter or the like. Further, there is no need to dispose a receiver or the like on the ceiling surface, so that there is an effect that workability can be improved. Furthermore, since the irradiation direction of the illumination means is visually matched with the coordinates of the irradiation target of the image recognition means at the time of the initial setting, it is not necessary to input the coordinates of the illumination means and the imaging means, and it is possible to save labor at the time of construction. There is also an effect that can be done. Further, in the method of inputting the coordinates of the illumination means and the imaging means at the time of the initial setting, an error occurs in the irradiation direction of the illumination means due to a shift in the mounting position of the illumination means and the imaging means. The illumination direction is visually matched to the coordinates of the illumination target of the image recognition means, so that the displacement of the mounting position during construction can be absorbed, and the illumination means can track the illumination target with higher accuracy. There is also an effect.

According to a second aspect of the present invention, there is provided an illuminating means having directivity, a driving means for changing an irradiating direction of the illuminating means, and an imaging means arranged in the illuminating space so that the illuminating space of the illuminating means can be imaged. And image recognition means for identifying the irradiation target from the image of the imaging means and specifying the coordinates of the irradiation target,
Calculating means for calculating the amount of movement in the irradiation direction from the coordinates of the irradiation target in the image recognizing means and the positional relationship between the lighting means and the imaging means in the illumination space; Therefore, for example, it is possible to cope with a lighting fixture that changes the irradiation direction by reflecting the light on a mirror, and has an effect that a plurality of lighting units can be controlled. Further, similarly to the first aspect of the present invention, there is also an effect that the illumination unit can track the irradiation target with high accuracy by absorbing the displacement of the mounting position of the illumination unit and the imaging unit.

According to a third aspect of the present invention, the illuminating means having directivity, the first driving means for changing the irradiating direction of the illuminating means, and the illuminating means are arranged in the illuminating space so that the illuminating space can be imaged. Imaging means, second driving means for changing the imaging direction of the imaging means, storage means for storing the imaging direction of the imaging means, and identifying the irradiation target and identifying the coordinates of the irradiation target from the video of the imaging means. Image recognition means, second calculation means for calculating the movement amount of the second drive means from the movement amount of the irradiation target in the image recognition means, calculation results of the second calculation means, imaging means and illumination means in the illumination space Computing means for computing the amount of movement of the illumination means in the irradiation direction from the positional relationship of the imaging means and the imaging direction of the imaging means stored in the storage means, and the first drive based on the computation result of the first computing means. Drive control means Since the first control means and the second control means for driving and controlling the second drive means based on the calculation result of the second calculation means are provided, a lens having a not very wide angle is used for the imaging means. This makes it possible to clearly capture an image of an irradiation target that is far away, and to easily perform image recognition. Further, similarly to the first aspect of the present invention, there is also an effect that the illumination unit can track the irradiation target with high accuracy by absorbing the displacement of the mounting position of the illumination unit and the imaging unit.

According to a fourth aspect of the present invention, a plurality of image pickup means are provided, and the second calculation means calculates three-dimensional coordinates in the illumination space of the irradiation target from the image pickup directions of the plurality of image pickup means. There is an effect that the irradiation target can be accurately captured even if the floor surface has irregularities.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram illustrating an automatic tracking illumination device according to a first embodiment.

FIG. 2 is an external perspective view showing the automatic tracking illumination device according to the first embodiment.

FIG. 3 is a diagram showing a relationship between an imaging surface of the CCD camera and an actual illumination space.

FIG. 4 is a detailed diagram showing a relationship between an imaging surface of the CCD camera and an actual illumination space.

FIG. 5 is a schematic configuration diagram illustrating an automatic tracking illumination device according to a second embodiment.

FIG. 6 is a side view showing a positional relationship between the automatic tracking illumination device and the irradiation target according to the first embodiment.

FIG. 7 is a diagram showing an imaging surface of the CCD camera of the above.

FIG. 8 is a plan view showing the positional relationship between the spotlight and the irradiation target.

FIG. 9 is a side view showing the positional relationship between the spotlight and the irradiation target.

FIG. 10 is a projection view of the spotlight on the floor surface.

FIG. 11 is a schematic configuration diagram illustrating an automatic tracking illumination device according to a third embodiment.

FIG. 12 is a side view showing a positional relationship between the automatic tracking illumination device and an irradiation target according to the first embodiment.

FIG. 13 is a projection view onto the floor surface of the above automatic tracking illumination device.

FIG. 14 is a schematic configuration diagram illustrating an automatic tracking illumination device according to a fourth embodiment.

FIG. 15 is a projection view of the CCD camera on the floor surface.

FIG. 16 is a side view showing the positional relationship between the CCD camera and the irradiation target.

[Explanation of symbols]

 Reference Signs List 1 spotlight 3a horizontal driving means 3b vertical driving means 4 CCD camera 5 image recognition device 6 coordinate calculation device 7 movable control device 8 irradiation target 9 illumination space 13 ceiling surface

Claims (4)

[Claims] An illumination unit having directivity; a driving unit for changing an irradiation direction of the illumination unit; an imaging unit for changing an imaging direction together with the irradiation direction to image in the same direction as the irradiation direction; Image recognition means for identifying the irradiation target from the image of the imaging means and specifying the coordinates of the irradiation target, and calculating means for calculating the movement amount in the irradiation direction from the movement amount of the irradiation target in the image recognition means, Control means for controlling the driving of the driving means based on the calculation result of the calculation means. 2. An illuminating means having directivity, a driving means for changing an irradiating direction of the illuminating means, and an imaging means arranged in the illuminating space so as to be able to image an illuminating space of the illuminating means; Image recognition means for identifying the irradiation target from the image of the imaging means and specifying the coordinates of the irradiation target, and the coordinates of the irradiation target in the image recognition means and the positional relationship between the illumination means and the imaging means in the illumination space An automatic tracking illumination device comprising: a calculating means for calculating the amount of movement in the irradiation direction from the following; and a control means for controlling the driving of the driving means based on the calculation result of the calculating means. 3. An illuminating means having directivity, a first driving means for changing an irradiating direction of the illuminating means, and an imaging device arranged in the illuminating space so as to be able to image the illuminating space of the illuminating means. Means, second driving means for changing the imaging direction of the imaging means, storage means for storing the imaging direction of the imaging means, and identifying the irradiation target from the image of the imaging means and the coordinates of the irradiation target An image recognizing means for specifying, a second calculating means for calculating a moving amount of the second driving means from a moving amount of the irradiation target in the image recognizing means, a calculation result of the second calculating means and the illumination A first calculating unit that calculates a moving amount of the illumination unit in the irradiation direction from a positional relationship between the imaging unit and the illumination unit in a space and an imaging direction of the imaging unit stored in the storage unit; of First control means for controlling the driving of the first driving means based on the calculation result of the calculating means, and second control means for controlling the driving of the second driving means based on the calculation result of the second calculating means. An automatic tracking illumination device, comprising: a control unit. 4. The apparatus according to claim 1, further comprising a plurality of said image pickup means, wherein said second calculation means calculates three-dimensional coordinates of said irradiation target in said illumination space from image pickup directions of said plurality of said image pickup means. Item 6. The automatic tracking illumination device according to Item 3.