WO2018206332A1

WO2018206332A1 - Automated commissioning of lights

Info

Publication number: WO2018206332A1
Application number: PCT/EP2018/060982
Authority: WO
Inventors: Patrik Yves KOCH
Original assignee: Tridonic Gmbh & Co Kg
Priority date: 2017-05-12
Filing date: 2018-04-27
Publication date: 2018-11-15
Also published as: DE102017110359A1; AT16687U1

Abstract

The present invention relates to a controller (120) comprising a first communication interface, which is designed to communicate with a plurality of lights (111-113) arranged in an area, a second communication interface, which is designed to communicate with a vehicle (101) movable in the area, and at least one processor, which is designed to transmit operating information (132) of the plurality of lights (111-113) via the first interface, wherein the at least one processor is also designed to receive commissioning information (131) relating to the plurality of lights (111-113) from the vehicle (101) in response to the transmission of the operating information (132).

Description

AUTOMATED PICKING LIGHTS

TECHNICAL AREA

Various examples of the invention generally relate to techniques for automated picking of lights. In particular, various examples of the invention relate to techniques for communicating, during picking, operation information for a plurality of lights between a controller and the plurality of lights.

BACKGROUND

The increasing complexity of lighting systems and their design for communication with other units offers new perspectives in providing control of luminaires of the lighting system. To increase the user comfort, for example, in a lighting system having a plurality of lights, the various lights from the plurality of lights are assigned to groups. Thereby, for example, different light scenes can be defined that can be easily activated by a user, e.g. by pressing a corresponding button.

The configuration of a lighting system, sometimes referred to as picking, is traditionally a complex process. When picking the lighting system, picking information is collected for the plurality of lights of the lighting system. For example, the

Picking information index identification of the various lights and associated position information. Then, for example, an assignment of lights can be made into groups.

Typically, picking is required when the lighting system is first put into operation. A picking can also be used when replacing a lamp or a other subsequent change in the configuration of the lighting system may be required.

In reference implementations, such steps in the context of picking are made the presence of an expert. Often, picking has to be largely manual. The technical and personnel expense and thus the cost of such a picking can be correspondingly high.

From US 2016/0037293 AI techniques for picking luminaires are known. In this case, a mobile device can receive a coded light signal from a luminaire.

WO 2013/016439 A1 discloses techniques for identifying light sources. In the process, visible light is modulated.

From US 2016/0227634 AI techniques for automated picking are known. In this case, an autonomous vehicle is used which has a light detector which is set up to detect a light source. Then, information regarding association between a specific position of this light source and the identified light source is sent.

Such techniques have certain limitations and disadvantages. For example, based on information provided by the autonomous vehicle, it may not be possible, or only to a limited extent, to form groups when picking. Overall, the flexibility or accuracy in acquiring the corresponding information may be limited.

BRIEF DESCRIPTION OF THE INVENTION

Therefore, there is a need for improved techniques for picking a variety of lights. In particular, there is a need for such techniques that overcome or alleviate at least some of the above disadvantages and limitations. This object is solved by the features of the independent claims. The features of the dependent claims define embodiments.

In one example, a controller includes a first communication interface. The first communication interface is configured to communicate with a plurality of lights arranged in an area. The controller also includes a second communication interface. The second communication interface is configured to communicate with a vehicle movable in the area. The controller also includes at least one processor. This is arranged to transmit and / or receive (transmit) operating information of the plurality of lights via the first interface. The at least one processor is further configured to receive picking information regarding the plurality of lights from the vehicle in response to transmitting the operation information.

For example, the moving vehicle may be an autonomous vehicle, i. a robot. It would also be possible in other examples that the moving vehicle is manually moved by operators.

The plurality of lights may define a lighting system. The lighting system can be set up to illuminate the area. The illumination system may also include one or more switches and / or one or more sensors, such as motion sensors.

For example, the area could include multiple rooms. The area could correspond to a building.

The various lights of the plurality of lights may comprise, for example, an operating device and a lighting means, e.g. LEDs. The lights of the plurality of lights may also have a communication interface. About the

Communication interface, the lights can be set up to communicate with the controller. Regarding transmitting the operational information: For example, the at least one processor of the controller may be configured to send the operational information of the plurality of lights via the interface to one or more lights of the plurality of lights. Alternatively or additionally, the at least one processor may be configured to receive the operational information of the plurality of lights via the first interface of one or more lights of the plurality of lights. In general, unidirectional or bidirectional communication between the controller and lights from the plurality of lights would be possible.

The first communication interface can be set up, for example, for wireless or wired communication. For example, the first communication interface could be configured to communicate with the plurality of lights via a bus system. A communication could for example be implemented via a network supply of the plurality of lights as a transmission medium. It could, for example, a

Phase angle modulation can be used. Other

Transmission techniques may include, for example, IEEE 802.11 WiFi or cellular network communications such as 3GPP Machine Type Communication (MTC).

Accordingly, the second communication interface can be set up in particular for wireless communication with the vehicle. For example, the communication could be over IEEE 802.11b WLAN or 3GPP MTC. Other communication techniques are conceivable.

By transmitting the operating information between the plurality of lights and the controller, it may be possible to consider different operating states of the plurality of lights during picking. This allows the

Picking information depending on the different operating conditions are determined. It is also possible to selectively adjust the operating states by means of the operating information in such a way that the light characteristics for individual luminaires from the plurality of luminaires are determined particularly accurately. in the Compared to reference techniques of automated picking can be so very accurate and extensive

Picking information to be collected.

For example, the picking information may indicate a light characteristic measured by the vehicle and associated position information. The picking information could optionally index the measured light characteristic for several operating states of the respective lamp. These operating conditions may correspond to the operating information.

The light characteristic can be selected from the following group: light intensity; Light contrast; Light pressure; Light color; as well as local light distribution.

For example, the local light distribution can index the light intensity and / or the light contrast and / or the light pressure and / or the light color in a spatially resolved manner for a plurality of positions in the area.

In some examples, it would be possible for the light characteristic to be indexed for different lights of the plurality of lights by the picking information. This may mean that the light characteristic can be measured individually and separately for the different lights of the vehicle. Such an individual measurement of the light characteristic can be promoted in particular by transmitting the operating information between the controller and the plurality of lights. By way of example, it may be possible to use the operating information to set the operating state of the plurality of luminaires in each case in such a way that there is no or no significant superimposition of illumination at a specific position by a plurality of luminaires from the plurality of luminaires. This can be achieved, for example, by selectively switching on or off different luminaires from the plurality of luminaires during the picking process. Thus, luminaires can be operated occasionally and the light characteristic can be determined spatially resolved. The at least one processor may be configured to map the light characteristics in the area resolved for the lights from the plurality of lights based on the light characteristic and the associated position information. This means that it may be possible to make a map of the light characteristics in the area, wherein each association with different lights from the plurality of lights can be provided spatially resolved and resolved for the different lights. For example, the position information in this context may index certain locations within the area, for example in a local coordinate system or in a global coordinate system.

The at least one processor may be configured to determine, based on the light characteristic under position information, a geometry and / or orientation of at least one luminaire from the plurality of luminaires in the region. By way of example, the light characteristic provided by a luminaire, for example the luminous intensity, can have a characteristic spatial dependence, which is determined by the geometry and orientation of the respective luminaire. For example, an elongate halogen luminaire as a ceiling spotlight may have a characteristic spatial distribution of the luminous intensity that corresponds to the elongated shape. Accordingly, a spot emitter may have a characteristic light characteristic that corresponds, for example, to an orientation of the emitter.

In some examples, such an analysis, for example with respect to the geometry and / or orientation of the lights, may already be done by at least one processor of the vehicle. The corresponding logic can therefore be arranged at least partially in the vehicle. In such a case it would be possible that the

Picking information is already indicative of the geometry and / or orientation of one or more lights from the plurality of lights in the area.

Based on the measured light characteristics, it may also be particularly well possible to form groups of lights. For example, as mentioned above, the

Picking information measured by the vehicle

Index light characteristics and associated position information for multiple lights from the plurality of lights. This may mean that a separation of the light characteristics of different lights can be effected. Then, the at least one processor may be configured to form groups of lights based on the measured light characteristics and the associated position information.

Groups of lights can then be assigned to a common lighting scene. Based on the grouping of lights, a common control of several lights can be made. For example, All luminaires in a group could be switched on or off together or dimmed.

For example, it would be possible for such luminaires to be assigned to a group having comparable light characteristics. For example, such lights could be assigned to a group having significant light levels in an overlap area. Alternatively or additionally, such luminaires could also be assigned to a group having identical, complementary or comparable light colors. Alternatively or additionally, such luminaires could also be assigned to a group having a comparable local light distribution. For example, it could be achieved that all halogen ceiling luminaires - e.g. in a common room of the area - to be assigned to a first group and all wall spots to be assigned to a second group, etc.

The picking information may, for example, indicate overlapping areas in the area in which multiple lights from the plurality of lights contribute to the lighting. Then, the at least one processor may be configured to form groups of lights based on the overlap areas. In this way it could be achieved, for example, that all luminaires which contribute to the lighting of the room in a room are assigned to a common group. Alternatively or additionally, it could be achieved, for example, that all the luminaires in a room that are used, for example, to illuminate a room Presentation area or an input area of the room, to be assigned to a common group.

In addition to the picking information, further information about the area can also be collected by means of the vehicle. For example, it would be possible for the at least one processor to continue to be set up in order to receive cartography information for the area from the vehicle via the second communication interface. For example, the cartography information may include a three-dimensional point cloud and / or images for the area. Thus, an interior map for the area can be created. By means of such techniques, it may in particular be possible to define the positions of the various luminaires of the plurality of luminaires in the region in a particularly precise manner.

For example, the position of various lights with respect to certain geometric features or landmarks in the area detected by the cartography information for the area may be determined. For example, the position of lights could be defined by means of the cartography information as a distance to a daylight window, an entrance door, a passageway area, etc. By means of the cartography information, it may thus be possible to detect certain topographic information for the area and to correlate it with the position information of luminaires from the plurality of luminaires.

Then, the at least one processor may be configured to perform based on the cartography information and the

Picking information to form groups of lights. For example, such luminaires of the plurality of luminaires could be assigned to a common group having a comparable position within the area based on the picking information. For example, all such lights could be assigned to a common group that is closer to a particular landmark within the area that is less than a threshold. The landmark and the distance to the landmark can be determined based on the cartography information. For example, all lights could be one common Be assigned to groups that are particularly close to a door or a passage area or a presentation area in a common area in the area.

Basically, techniques for determining cartography information by vehicles are known, see, for example, Huitl, Robert, et al. "TUMindoor: An extensive image and point cloud dataset for visual indoor localization and mapping." Image Processing (ICIP), 2012 19th IEEE International Conference on. IEEE, 2012. Therefore, it is not necessary to explain at this point further details for determining the cartography information by means of the vehicle.

For example, it would be possible for the at least one processor to be configured to send the operational information of the plurality of lights to the vehicle via the second interface. Thus, it can be ensured that information about the operation of the plurality of lights is synchronized between the controller, the vehicle and the plurality of lights. For example, it may be possible for certain measurements made by the vehicle, for example regarding the light characteristic, to be carried out in a time-synchronized manner with the operation of the plurality of lights, e.g. time synchronized with a particular operating mode. In this way it can be achieved, for example, that certain lights are selectively switched on or off, while corresponding measurements are carried out by means of the vehicle. For example, if a single luminaire is to be measured, i. the light characteristic of this single light to be determined can be indexed by means of the operating information that only this single light is turned on and all adjacent lights are turned off. The operation information may be provided in accordance with the plurality of lights, so that the plurality of lights can be controlled accordingly. On the other hand, the operating information can also be transmitted to the vehicle, so that the vehicle can perform the measurement time-synchronized with the control of the lights.

In some examples, the at least one processor may be further configured to set one for a selected mode of operation Receive a plurality of lights indicative operation request via the second communication interface of the vehicle and to send the operation information based on the operation request to the plurality of lights. In other words, it may thus be possible for the vehicle to request a specific operating state in the control and for the control to forward corresponding operating information to the plurality of lights. This can be helpful, in particular, when the vehicle has to be repositioned, for example, in order to subsequently carry out a specific measurement. Then, a corresponding operation request may be sent following the repositioning so that the particular operating condition can then be implemented. In this way latencies can be reduced.

In particular, such techniques may be helpful when multiple vehicles are used for picking in the area. In that case, it may accordingly be possible to implement operating states with respect to the various vehicles by means of a time-multiplexed operation. In order to trigger the various operating states in a time-efficient manner, it may be helpful if the different vehicles each send the operating request when they are ready for the measurement, i. are properly positioned, etc.

In some examples, the at least one processor could be configured to receive additional picking information via the first interface. In this case, the further picking information can indicate position information which describes a distance between the vehicle and at least one lamp from the plurality of lamps. In other words, therefore, a relative positioning of the vehicle with respect to the lights can alternatively or additionally also be effected by one or more lights of the illumination system. For example, at least some lights could have an environmental sensor that can detect the vehicle and then miss the distance to the vehicle. Such information can be particularly accurate. In combination with the position information obtained from the vehicle, the accuracy can be further increased. In another example, a vehicle includes a first communication interface. The first communication interface is configured to communicate with a plurality of lights arranged in an area. The vehicle also includes a second communication interface. The second communication interface is configured to communicate with a controller. The vehicle also includes at least one processor. This is arranged to identification information of at least one lamp of the plurality of lights on the first

Receive communication interface. The at least one processor is further configured to generate position information for the at least one luminaire. Then, the at least one processor is further configured to, based on the identification information and the position information

Picking information for the at least one lamp from the plurality of lights to determine and the

Picking information about the second

Communication interface to the controller too.

By combining the position information for the at least one luminaire with the identification information for the at least one luminaire, the picking information can be generated. In the various examples described herein, different techniques may be used to achieve the same

Receive identification information about the first communication interface. For example, it would be possible for the first communication interface to be set up to handle the

Identification information by means of light modulation of light, which is emitted by the at least one light to receive. Such techniques are sometimes referred to as Visible Light Communication (VLC) (see IEEE 802.15.7). However, other techniques would also be conceivable, for example near field communication in the GHz spectral range.

The identification information of the various luminaires may include, for example, an address of the respective luminaire that is unique in a specific address space. The position information for the various luminaires can be defined, for example, in a global coordinate system, for example WGS 84. Alternatively or additionally, the position information could be indicative of a distance between the vehicle and a corresponding lamp. For example, at least one environment sensor of the vehicle may be configured to determine this relative distance; then, together with an absolute position of the vehicle, the position of the lamp can be deduced. Alternatively or additionally, it would also be possible for the position information to be indicative of a position of the lights relative to certain landmarks in the area. It would also be possible for the position information to be indicative of a position of the various lights with respect to other features of the topography of the area. In particular, such techniques may be combined with the at least one processor further configured to perform simultaneous localization and mapping of the vehicle based on the position information and to send corresponding mapping information to the controller via the second interface. Therefore it is not necessary to explain further details here. Basically, the simultaneous localization and mapping can be based on different environmental sensors, such as cameras, distance measurement sensors such as LIDAR or stereo cameras or runtime cameras, GPS beacons, etc. One or more such sensors can form a positioning system of the vehicle. As a result, a map of the area including, for example, a three-dimensional point cloud, etc. can be obtained. Corresponding techniques for simultaneous localization and mapping (SLAM) are generally known to the person skilled in the art, for example from Dissanayake, MWM Gamini, et al. "A Solution to the Simultaneous Localization and Map Building (SLAM) Problem." IEEE Transactions on robotics and automation 17.3 (2001): 229-241, so no further details need to be mentioned here.

It is also possible for the at least one processor to be set up in order to receive operating information of the plurality of luminaires from the controller via the second communication interface. The at least one processor can continue to be set up to further determine the picking information based on the operating information. It would thus be possible for a specific operating state for the plurality of luminaires to be indexed by means of the operating information. The operating state may be associated, for example, with a selected light characteristic of the plurality of lights. For example, the operating state could indicate which lights from the plurality of lights are currently on or off. For example, the operating state could indicate which lights with which light intensity or light color provide the lighting. Based on such

Operational information may then be possible to synchronize certain measurements used to determine the

Picking information is necessary to perform.

For example, the vehicle could have an environment camera. The environment camera may be configured to capture image data of lights from the plurality of lights. Then, the at least one processor may be configured to determine a geometry and orientation of the luminaires from the plurality of luminaires based on the image data.

Such techniques may include, for example, image analysis, classification or feature recognition. For this purpose, suitable filters, for example an artificial neural network can be used. Such recognition of the geometry and / or orientation of the luminaires based on image data can be promoted, for example, by indicating by means of the operating information that only one of the plurality of luminaires is currently activated or deactivated. Then, a segmentation of corresponding image data with respect to the operating state isolated light can be done very reliable.

For example, the environment camera may include multiple pixels. For example, the environment camera could be implemented by a CMOS sensor. For example, the surrounding camera could be implemented by a CCD sensor. For example, the surround camera could be configured to provide image data with a certain resolution, eg, 1 megapixel or larger. It is possible that the vehicle comprises at least one light sensor. The at least one light sensor may be configured to measure light characteristics of lights of the plurality of lights. The at least one processor may be further configured to further determine the picking information based on the light characteristics.

For example, the light sensor could be implemented by the surrounding camera or a photodiode. For example, the light sensor could comprise one or more frequency-selective filters.

For example, the light sensor could be controlled by the at least one processor in such a way that the light characteristics of the luminaires are determined in a time-synchronized manner with an operating state of the plurality of luminaires indicated by the operating information. For example, the

Light characteristics can be determined for individual luminaires from the plurality of lights are determined by a few different lights are operated by a suitable choice of operating conditions. This can be indexed by the appropriate operating information. For example, in a measurement of the light intensity each individual lights could be turned on, so there is no superposition of lighting several lights from the plurality of lights. Thus, the light intensity as a light characteristic can be determined very accurately and resolved for the different lights are obtained.

Sometimes it can happen that lights enable several operating states. For example, different lights can be dimmed or provide different colors and thus allow multiple operating states. Then, it may be possible by means of the operating information to switch through these different operating states and in each case perform time-synchronized by means of the light sensor, a corresponding measurement of the associated light characteristic. That's what you can do

Picking information for the various operating conditions are obtained. For example, it may be possible for the at least one processor to be set up in order to determine a geometry and / or orientation of the luminaires based on the light characteristics. Then, the picking information may continue to be indicative of the geometry and / or orientation of the lights.

For example, the light characteristic could indicate a local light distribution of the different lights. Based on the local light distribution, it may be possible to deduce the geometry and / or orientation of the luminaires. Such techniques may, for example, be supplemented by the image data captured by the surrounding camera.

The vehicle may also include a drive. For example, the drive may include an electric motor, tires or rotors. The drive may be configured to move the vehicle on the ground or in the air.

The vehicle may also include a positioning system. The positioning system may be configured to determine an intrinsic position of the vehicle. The positioning system could include, for example, a satellite navigation system. The positioning system could also use simultaneous localization and mapping techniques. For example, the positioning system could

Use odometry information from the drive to determine changes in the vehicle's own position.

The at least one processor may be configured to drive the drive while measuring the light characteristic of a selected one of the plurality of lights to reposition the vehicle and to obtain corresponding home positions of the vehicle from the positioning systems. Based thereon, the at least one processor may be configured to determine a local light distribution of the selected luminaire. The picking information can then be indicative of the local light distribution. In other words, it may thus be possible to measure the light characteristic at different eigenpositions of the vehicle. As a result, local variations of the light characteristic can be measured. For example, a drop or increase in light intensity may be measured for different distances or orientations to light. For example, the picking information could be indicative of the local light distribution.

The at least one processor may be further configured to send an operating request indicative of a selected operating mode to the controller via the second communication interface. For example, a corresponding operating request can be sent, for example, if an identification of a luminaire has taken place by means of the first communication interface and then the light characteristic of this identified luminaire is to be measured. For example, a separation of the identified luminaires with respect to the operating states of the plurality of luminaires can be implemented. Then the light characteristic can be measured very accurately.

The first communication interface may be configured to communicate with the plurality of lights by means of at least one of modulated light or modulated high frequency alternating electromagnetic fields. For example, VLC communication may be by means of modulated light. It could also be a WLAN communication.

In one example, a system includes a controller and a vehicle. The system could further include a variety of lights.

One method includes transmitting operational information of a plurality of lights. The method further comprises, in response to transmitting the operational information, receiving picking information regarding the plurality of lights from a vehicle.

A computer program product includes program code that can be executed by at least one processor. Running the Program codes cause the at least one processor to perform a method. The method includes transmitting operational information of a plurality of lights. The method further comprises, in response to transmitting the operational information, receiving picking information regarding the plurality of lights from a vehicle.

A computer program includes program code that can be executed by at least one processor. Running the program code causes the at least one processor to perform a method. The method includes transmitting operational information of a plurality of lights. The method further comprises, in response to transmitting the operational information, receiving picking information regarding the plurality of lights from a vehicle.

In another example, a method includes receiving identification information of at least one of a plurality of lights from the at least one light. The method further comprises generating position information for the at least one luminaire. The method further comprises determining picking information for the at least one lamp based on the identification information, as well as on the

Position information. The method further includes sending picking information to a controller.

A computer program product includes program code that can be executed by at least one processor. Running the program code causes the at least one processor to perform a method. The method comprises receiving identification information of at least one luminaire from a plurality of luminaires from the at least one luminaire. The method further comprises generating position information for the at least one luminaire. The method further comprises determining picking information for the at least one lamp based on the identification information, as well as on the

Position information. The method further includes sending picking information to a controller. A computer program includes program code that can be executed by at least one processor. Running the program code causes the at least one processor to perform a method. The method comprises receiving identification information of at least one luminaire from a plurality of luminaires from the at least one luminaire. The method further comprises generating position information for the at least one luminaire. The method further includes determining

Picking information for the at least one lamp based on the identification information, as well as on the

For such methods and systems effects can be achieved which are comparable to the effects that can be achieved with the vehicle or the control according to various other examples.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 schematically illustrates a system according to various examples, the system having a plurality of lights, a controller, and a vehicle.

FIG. 2 schematically illustrates the vehicle according to various examples in greater detail.

FIG. 3 schematically illustrates a luminaire from the plurality of luminaires according to various examples in greater detail.

FIG. 4 schematically illustrates the control according to various examples in greater detail. FIG. 5 schematically illustrates picking information that is transmitted to the controller according to various examples in the context of picking from the vehicle.

FIG. 6 schematically illustrates configuration information that may be determined according to various examples in the context of picking the plurality of lights by the controller and based on the picking information.

FIG. 7 is a flowchart of an example method.

FIG. 8 is a flowchart of an example method.

FIG. 9 schematically illustrates an area having a plurality of lights, as well as the movement of the vehicle through the picking area according to various examples.

FIG. 10 schematically illustrates light characteristics of lights of the plurality of lights, as well as the assignment of lights to groups according to various examples.

FIG. 11 is a signal flow diagram according to various examples. FIG. 12 is a signal flow diagram according to various examples. FIG. 13 is a signal flow diagram according to various examples. FIG. 14 is a signal flow diagram according to various examples. FIG. 15 is a signal flow diagram according to various examples. FIG. 16 is a flowchart according to various examples.

DETAILED DESCRIPTION OF EMBODIMENTS

The above-described features, features, and advantages of this invention, as well as the manner in which they are achieved, will become apparent clearer and more clearly understood in the context of the following description of the embodiments, which are explained in more detail in connection with the drawings.

Hereinafter, the present invention will be described with reference to preferred embodiments with reference to the drawings. In the figures, like reference characters indicate the same or similar elements. The figures are schematic representations of various embodiments of the invention. Elements shown in the figures are not necessarily drawn to scale. Rather, the various elements shown in the figures are reproduced in such a way that their function and general purpose will be understood by those skilled in the art. In the figures, connections and couplings between functional units and elements may also be implemented as indirect connections or couplings. A connection or coupling may be implemented by wire or wireless. Functional units can be implemented as hardware, software or a combination of hardware and software.

When commissioning or configuring a lighting system with a large number of luminaires, which are each addressed individually, each luminaire can receive a unique address. Based on the unique address as identification information, it may be possible to address the respective luminaire directly. Typically, the distribution of addresses to the lights in advance and thus regardless of the position of the lamp in the corresponding area or the position of the respective lamp relative to surrounding lights takes place. The link of the

Identification information of the lights with the corresponding position is done manually in reference implementations in the context of so-called picking.

Various techniques for automating picking are described below. According to the techniques described herein, automated creation of a digital floor plan of an area for mapping the area may be made. This can be linked to the picking of the lights, ie with the Determining the positions of the luminaires in the mapped area together with the respective identification.

According to various examples described herein, such automated picking may be done using a mobile vehicle. For example, an autonomously acting robot can be used. For example, a ground-based robot or a flying robot such as a drone can be used. The robot may for example have an energy storage such as a battery with steering, etc. The robot may have a drive. The robot may also have a sensor for navigation or environment detection. For example, the robot may be configured to perform SLAM techniques and to have a positioning system. Thus, in the various examples described herein, it may be possible to provide cartography information for the area. In this context, it may be possible, for example, for the determined spatial geometry to be stored with the respective position of different luminaires. In this way, a particularly precise localization of the different lights can be generated.

The robot may also include one or more light sensors. The robot can also have an environment camera. The robot can also be set up to perform VLC communication with lights. The robot may also include a memory to store the identification information for a plurality of lights. Correspondingly, position information for a plurality of luminaires or own position information for the robot can also be stored.

A central controller may implement a higher level light management system. The controller can control the various lights and uniquely link the respective identification information with individually addressed lights, for example in the context of configuration information stored in a database.

For example, a picking could be implemented as follows: First, the central controller causes the sending of Identification information, such as by VLC, in a desired area through the lights. For example, the robot may be positioned within the desired area.

The robot can then register and map the geometry of the room. The robot may further identify lights in the area. The robot can then receive the identification information from the lights, for example by means of VLC.

If the identification information has been received from a luminaire, this can be linked with position information for the corresponding luminaire. Based on this, picking information can be determined.

Sometimes, it may happen that identification information from multiple luminaires is temporally and spatially overlapped received by the robot. Such a scenario can occur, for example, when several lamps simultaneously contribute to illuminating an overlapping area. In such a case, it would be possible, for example, to assign the luminaires which simultaneously contribute to the illumination of the overlapping area to a common group.

The groups can implement a control group, which is based on appropriate lighting management

Configuration information is implemented, can be used for user-friendly addressing of multiple lights.

It is possible that the local light distribution - for example, the increase or decrease of the luminous flux - for different lights in the context of measuring the light characteristic is detected and stored. For example, a conclusion can be drawn on the geometry and / or orientation of a luminaire. For example, it can be detected whether certain lights are oriented in the longitudinal or transverse direction or have a ceiling or wall mounting.

In some examples, it would be possible for an identification of different luminaires to be in fixed timestamps of the different ones Lights emitted by light modulation. For this purpose, for example, a timer (English, timer) can be used. By means of such techniques, a conclusion on the distance between the lights to each other may be possible.

FIG. 1 illustrates aspects relating to a system 100. The system 100 includes a controller 120. For example, the controller 120 could be implemented by one or more processors, a microprocessor, an ASIC, or an FPGA.

The system 100 also includes multiple lights 111-113. Luminaires 111-113 implement a lighting system for illuminating an area.

The system 100 also includes a vehicle 101, such as a robot. The vehicle 101 may move through the area.

By means of the vehicle 101, picking of the lights 111-113 can be promoted. Corresponding configuration information 133 - which is created on the basis of the order picking and serves for light management of the illumination system - can be stored by the controller 120 in a database 121. For example, based on the configuration information 133, a comfortable switching on and off of the various lights 111-113 can take place. For this purpose, it would be possible, for example, that the lighting system further comprises one or more of the following elements: switches; Motion detector; sensors; Environmental sensors; Etc.

For picking, picking information 131 is transmitted from the vehicle 101 to the controller 120. For example, the picking information 131 may be indicative of a link between identification information for the various lights 111-113 and positional information for the various lights 111-113. For this purpose, the vehicle 101 can be set up to receive corresponding identification information 135 from the various lights 111-113-for example by means of VLC-as well as to generate the associated position information, for example by means of a positioning system which has its own position for the vehicle Vehicle 101 and / or by means of one or more environment sensors.

To further promote picking, also operating information 132 is communicated between the controller 120 and the plurality of lights 111-113. For example, the operating information could be indicative of an operating condition of the plurality of lights. The operating state can determine the light characteristic of the plurality of lights. In some examples, the operational information 132 could indicate the operating status for each of the lights 111-113. In other examples, the operational information 132 could simultaneously indicate the operating status for a plurality of the lights 111-113. It would also optionally be possible in some examples for the operational information 132 to be relayed to the vehicle 101 (not shown in FIG. 1).

Based on the operation information 132, it is possible to gather a lot of information about the lights 111-113 in connection with the picking. For example, it would be possible for the vehicle 101 to be set up to determine the light characteristic for the various lamps 111-113. Then, it would be possible for the picking information 131 to index a light characteristic and associated position information measured by the vehicle 101. Such a technique for determining the spatially resolved light characteristic - for example, the light intensity, the light contrast, the light pressure, the light color and / or the local light distribution - can be promoted in particular by using the operating information 132. For example, by means of the operating information 132, a temporal synchronization between the measurement of the different light characteristics can take place. Different light characteristics may be associated with different lights 111-113 and / or with different operating states of a single light 111-113. FIG. 2 illustrates aspects relating to the vehicle 101. The vehicle 101 includes a drive 201. For example, the drive 201 could include wheels, a motor, rotors, etc. The vehicle 101 also includes a photodiode 202. The photodiode 202 implements a light sensor. In some examples, the vehicle 101 could also include more than one photodiode 202. For example, the vehicle 101 could include a plurality of photodiodes having different sensitivities. By means of the photodiode 202 or other suitable light sensors, it is possible to measure the light characteristics of lamps 111-113 in the environment. Then, the picking information 131 may be further determined based on the measured light characteristics. The vehicle 101 also includes a processor 203. The processor 203 is configured to control the photodiode 202 and the driver 201. The processor 203 is further configured to control environment sensors 204, 205. The environmental sensors 204, 205 are set up to acquire specific information about the environment of the vehicle 101. In the example of FIG. 2, the environmental sensors are implemented by a multi-pixel camera 204, as well as a laser based distance meter (LIDAR) 205.

The vehicle 101 also includes a positioning system 206. The positioning system 206 is configured to determine an intrinsic position of the vehicle 101. Various techniques may be used to determine the self-position of the vehicle 101. For example, a satellite based positioning system 206 could be implemented. For example, the positioning system 206 could also rely on the environmental sensors 204, 205 to perform, for example, SLAM techniques. The positioning system 206 could also be coupled to the drive 201, for example, to obtain odometry information relating to a change in the intrinsic position of the vehicle 101.

The vehicle 101 also includes two communication interfaces 207, 208. The processor 203 may receive the identification information 135 from the lights 111-113 via the communication interface 207. The processor 203 may also send the picking information 131 to the controller 120 via the communication interface 208.

For example, to determine position information for the various lights 111-113, the processor 203 may reference the positioning system 206. The position information for the various lights 111-113 could be determined based on an own position of the vehicle 101. This can represent a certain approximation. When the vehicle 101 is in the vicinity of the respective lamp 111-113, the self-position of the vehicle 101 can be a good estimate of the position of the lamp. Alternatively or additionally, the processor 203 could also use one or more environmental sensors 204, 205 to determine the position information of the various lights 111-113. For example, based on measurement data of the environmental sensors 204, 205, a distance between the vehicle 101 and the respective light 111-113 could be determined. Then it would be possible to further determine the position information for the lights based on the determined distance. In this way, the position information for the various luminaires can be determined particularly accurately.

FIG. Figure 3 illustrates aspects relating to a luminaire 111-113. The light 111-113 includes an operating device 211. For example, the operating device 211 may be configured to receive an AC mains voltage or a DC mains voltage. The operating device 211 may be configured to rectify an AC mains voltage. The operating device 211 can be designed to smooth a voltage and have corresponding filters. The operating device 211 may also include a boost converter or a buck converter.

The luminaire 111-113 also comprises a luminous means 212. The luminaire 111-113 could also comprise a multiplicity of luminous means. The light source 212 may be, for example, a light emitting diode or a halogen lamp. The illuminant 212 could be implemented by, for example, a gas discharge lamp.

The light 111-113 also includes a communication interface 213. Via the communication interface 213, the operating device 211 Send operating information 232 to the controller 120 and / or receive operating information 132 from the controller 120. Based on the operation information 132, an operation state of the light 111-113 can be adjusted by the operation device 211. Alternatively or additionally, the operating device 211 can communicate the current operating state by means of the operating information 132. The operating device 211 may include, for example, a microprocessor, FPGA or ASIC for such logic applications. FIG. 4 illustrates aspects relating to the controller 120. The controller 120 includes a processor 221. The controller 120 also includes a communication interface 222. The processor 221 may send the operational information 132 to the individual or multiple lights 111-113 via the communication interface 222. The processor 221 may alternatively or additionally receive the operational information 132 from one or more of the lights 111-113 via the communication interface 222.

By means of the communication interface 223, the processor 221 can receive the picking information 131 from the vehicle 101. Optionally, it would also be possible for the processor 221 to send the operation information 132 or other information to the vehicle 101 via the communication interface 223 (not shown in FIG. 4).

FIG. 5 illustrates aspects relating to the

Picking Information 131. The picking information 131 may be transmitted from the vehicle 101 to the controller 120. In the example of FIG. 5, the picking information 131 is indicative of identification information of a corresponding lamp 111-113, as well as position information for this lamp 111-113. Furthermore, in the example of FIG. 5 the picking information 131 indicative of an orientation of this lamp 111-113. Alternatively or additionally, it could also be possible for the picking information 131 to be indicative of a geometry of the luminaire. In the example of FIG. 5, the picking information 131 is further indicative of a local light distribution measured by the vehicle 101. In the example of FIG. 5, this is implemented by the illuminated area, ie an area in the area where the light intensity is above a threshold. Alternatively or additionally, it would also be possible for other light characteristics to be indexed by the picking information 131, for example the light intensity, the light contrast, the light pressure or the light color, for example, again spatially resolved by means of the corresponding local light distribution.

FIG. FIG. 6 illustrates aspects related to the configuration information 133. The controller 120 may be configured to provide the configuration information 133 based on the

Ordering information 131 to determine the plurality of lights 111-113. In this case, the configuration information 133 includes information that corresponds to the information in the picking information 131 or at least can be derived therefrom. For example, the configuration information 133 indicates the identification information of the respective lamp. The

Configuration information 133 further indexes one or more groups to which the corresponding light is associated. The configuration information 133 also indicates one or more switches by means of which the operating state of the respective light 111-113 can be changed.

In the various examples, it may be possible that the formation of groups of lights 111-113 is performed based on the picking information 131. For example, the picking information 131 could indicate the light characteristics and associated position information resolved for a plurality of lights 111-113, ie, individually for the different lights. Then, the processor 221 may be configured to form groups of lights based on these light characteristics and the associated position information. For example, such lights 111-113 can be grouped, which are positioned close to each other. For example, it would also be possible to group luminaires 111-113 which have comparable light characteristics, For example, have regard to light intensity or light color. Alternatively or additionally, it would also be possible to group such luminaires 111-113 which contribute to the illumination in an overlapping area. Sometimes it would be possible for that

Picking information 131 is already indicative of the overlap areas. Then, appropriate logic may be implemented by the processor 203 of the vehicle 101.

FIG. 7 is a flowchart of an example method. First, in 1001, the transmission of operation information between a controller and a plurality of lights takes place. For example, it would be possible for the operating information to be indicative of one or more operating states of the lights of the plurality of lights. For example, the operational information could indicate the various operating conditions in which the various lights of the plurality of lights are currently or are to be operated.

The operating information can be from the controller to the lights of the

Variety of lights are sent. It would also be possible for that

Operating information is transmitted from the lights of the plurality of lights to the controller.

In 1002, picking information regarding the plurality of lights is received. For example, the

Picking information a link between

Indicate positioning information and identification information for the various lights of the plurality of lights. The picking information may also contain further information, for example a measured light characteristic of the various lamps.

For example, the method according to the example of FIG. 7 are executed by the controller 120, for example, by the processor 221 of the controller 120.

FIG. 8 is a flowchart of an example method. First, in 1005, identification information of at least one lamp is received by the at least one lamp. For example, at least one of modulated light or modulated high-frequency electromagnetic alternating fields could be used for this purpose. For example, VLC could be used.

Then position information for the at least one luminaire is generated in 1006. This may happen, for example, based on an intrinsic position of the vehicle as an estimate. Alternatively or additionally, the position information for the at least one luminaire in 1006 could also be effected by means of at least one environment sensor which is set up to determine a distance between the vehicle of the at least one luminaire. The position information may then be determined based on the distance.

In 1007, picking information is determined and sent. The picking information may be based on the

Position information from 1006 and the identification information from 1005 are determined.

For example, the method according to the example of FIG. 8 are executed by the vehicle 101, for example by the processor 203. FIG. 9 illustrates aspects relating to a region 300. In the region 300, a plurality of lights 111-113 (illustrated by the circles in FIG. 9) are arranged. The area 300 includes a plurality of rooms 301-308. Luminaires 111-113 (circles in FIG. 9) are respectively arranged in the different spaces 301-308. For picking the corresponding lighting system, the vehicle 101 is used. In FIG. 9, a trajectory 102 of the vehicle 101 during picking is shown (in FIG. 9, the trajectory 102 is shown with the dashed line). The vehicle 101 moves along the trajectory 102 and comes in succession close to the various lights 111-113.

In FIG. 9, local branches 103 of the trajectory 102 are also illustrated by way of example for one of the luminaires 111-113 in the space 301 (dashed arrows in FIG. 9). Such local branches 103 may be used to determine the local light distribution of the corresponding luminaire 111-113. For this purpose, the drive 201 can be actuated by the processor 203 of the vehicle 101 while measuring the light characteristic of the corresponding light 111-113 for repositioning the vehicle along the branches 103. Then, proper positioning of the vehicle 101 along the branches 103 may be obtained from the positioning system 206. It is then possible to determine the local light distribution based on the eigenpositions, as well as the light characteristic measured at the different eigenpositions, such as the local light intensity or the local light color, etc. It is then possible that the picking information 131 is indicative of the local light distribution.

FIG. 10 illustrates aspects relating to region 300. In particular, FIG. 10 aspects relating to the local light distribution 502 of different luminaires 111-114. In the example of FIG. 10, the local light distributions 502 of the luminous intensity are shown for the different luminaires 111-114 (in FIG. 10, the light distributions 502 are shown with dashed lines). For example, the lights 113, 114 implement ceiling lights which illuminate in all directions, so that the local light distribution 502 of the light intensity surrounds the respective light 113, 114. Instead, the lights 111, 112 implement spots such that the local light distribution 502 of the light intensity is arranged at a distance from the respective lights 111, 112 in accordance with the orientation 501 of the lights 111, 112. In some examples, it is possible that the orientation 501 and / or geometry of the various lights 111-114 is determined by suitable repositioning of the vehicle 101. Another technique for determining the geometry and / or orientation 501 of the lights 111-114 may be implemented by the camera 204. By means of the camera 204, image data of the luminaires 111-114 can be detected. Then, based on the image data, a geometry and / or orientation of the luminaires can be determined. In some examples, it would be possible for such an analysis of the image data to determine the geometry and / or orientation 502 not to be performed by the vehicle 101, but rather by the controller 120. In such a case, it may be possible that the image data from the vehicle 101 are transmitted to the controller 120. This can be done for example in the context of cartography information. For example, the local light distribution 502 could be measured and, based thereon, together with the corresponding position information for the various luminaires 111-114, the geometry and orientation 501 of the luminaires 111-114 can be determined.

Correspondingly spatially resolved information about the light characteristic or the position information relating to the lights 111-114 can be used to map the light characteristics in the area 300 for the plurality of lights 111-114. This means that a map can be created which is, for example, indicative of the local light distribution 502 of the various luminaires 111-114 and respective associated positions of the luminaires 111-114. For example, the geometry and orientation could also be stored in the corresponding card. In other examples, corresponding cartography information could be determined by the vehicle 101 and transmitted from the vehicle to the controller 120. In other examples, the corresponding cartography information could also be determined by the controller 120 based on the picking information 131.

In FIG. 10, an overlap area 503 (hatched area) is also shown. In the overlap area 503, both the light 113 and the light 114 contribute to the lighting. For example, it would be possible for the picking information 131 to explicitly or implicitly index this overlap area 503. Then, for example, it would be possible for the controller 120 to associate the lights 113, 114 with a common group 173 because they contribute to the common illumination in the overlap area 503. Alternatively or additionally, it would also be possible for the controller 120 to determine overlapping areas 503 based on cartography information. In the examples of FIGS. FIGS. 9 and 10 could include cartography information for the area 300 concerning, for example, the positions of the Luminaires 111-114 or the light characteristic by SLAM techniques of simultaneous localization and mapping of the vehicle 101 are determined.

However, other criteria may be considered when forming groups 371-373. For example, the group 371 could be formed because all the lights 111-114 are arranged within a space 301. The detection that all lights 111-114 are arranged within a room can be done, for example, landmark detection in appropriate cartography information. For example, the cartography information could have a 3D point cloud associated with image material, so that, for example, the door to the room 301 or the walls of the room 301 can be recognized. It can then be concluded that the lamps 111-114 are arranged in the room 301, because all lamps 111-114 are arranged on one side of the door or within the four walls forming the space 301. In another, particularly simple implementation, for example, the position information of the various lights 111-114 could be compared with each other and a distance of the various lights 111-114 are determined to each other. Then the distance could be compared to a threshold. Depending on the threshold value, the luminaires 111-114 can then be assigned to the common group 371. Another criterion for the formation of groups relates, for example, to the light characteristics of the luminaires 111, 112 used. The luminaires 111-112 have a local light distribution 502 which indicates a maximum of the light intensity that is laterally offset from the position of the respective luminaires 111, 112 , Because the two lights 111, 112 have the same light characteristic in this respect, the lights 111, 112 can be assigned to the common group 372.

FIG. 11 illustrates aspects relating to the communication between the vehicle 101, the controller 120, and the lights 111-114. First, in 3001 operation information 2001 is sent from the controller 120 to the lights 111-114. The operating information 2001 is indicative of a desired operating state of the various lamps 111-114. Different lights 111-114 can be operated in the same or different operating states. For example, some lights 111-114 may be turned on while other lights 111-114 are turned off. For example, in the desired operating state, some lights 111-114 may transmit identification information in accordance with VLC, while other lights may not modulate identification information into the transmitted light.

The lights 111-114 can thus be controlled by the controller 120 by means of the operating information 2001.

Subsequently, the operating information 2001 is transmitted from the controller 120 to the vehicle 101 in 3002. This informs the vehicle 101 of which operating state the various lights 111-114 are currently implementing.

In 3003, identification information 2003 is transmitted from the lights 111-114 to the vehicle 101. For example, this could include VLC.

Then, in 3004, picking information is determined. This may, for example, correlate positioning information generated for a luminaire 111-114 with the corresponding one

Identification information 2003 include. The picking information 2004 is transmitted in 3005 from the vehicle 101 to the controller 120.

FIG. 12 illustrates aspects relating to communication between the vehicle 101, the controller 120, and the light 111-114. The example of FIG. 12 basically corresponds to the example of FIG. 11. However, the operating information 2001 is transmitted in 3011 from the lights 111-114 to the controller 120. In this example, the lights 111-114 set the controller 120 aware of the current operating state. 3012-3015 correspond to 3002-3005.

In the examples of FIGS. 11 and 12, it is possible for the vehicle 101 to time-synchronize the light characteristics of the various lights 111-114 with, for example, the light sensor 202 one or more indicated by the respective operating information 2001 operating states of the various lamps 111-114 measures. That is, for example, in response to receiving the operation information 2001 in 3002 or 3012, a corresponding measurement of the light characteristics of the various lights 111-114 may be performed. As a result, an association between light characteristics and operating states of the various lamps 111-114 can be made possible. Sometimes it may be desirable to trigger specific operating states starting from the vehicle 101 in a targeted manner. Such a scenario is shown in FIG. 13 illustrated.

FIG. 13 illustrates aspects relating to communication between the vehicle 101, the controller 120, and the lights 111-114.

In the scenario of FIG. 13, first an operation request 2005 is transmitted in 3021 from the vehicle 101 to the controller 120. The operation request 2005 is indicative of an operation mode of the plurality of lights 111-114. Based on the operation request 2005, the controller 120 then determines the operation information 2001 and sends it to the light 111-114 in 3022 to control the desired operation state in accordance with the operation request 2005. The implementation of the desired operating state is acknowledged to the vehicle 101 by the operation information 2001 transmitted from the controller 120 to the vehicle 101 in 3023 (optional). 3024-3026 then again correspond to 3003-3005.

FIG. 14 illustrates aspects relating to the communication between the vehicle 101, the controller 120, and the lights 111-114. The example of FIG. 14 basically corresponds to the example of FIG. 11. In particular, FIG. 14 aspects relating to the transmission of cartography information. 3031 corresponds to 3001. In 3032, cartography information 2006 is transmitted from the vehicle 101 to the controller 120. The cartography information can be generated for example on SLAM techniques. For example, the cartography information could be a 3D point cloud and / or image data captured by the sensors 204, 205 of the vehicle 101 include.

3033, 3034 again correspond to 3002, 3003.

In 3035, cartography information 2006 is again transmitted from the vehicle 101 to the controller 120. For example, new cartography information 206 covering a wider area of the area 300 could be communicated. For this purpose, the vehicle 101 may have been repositioned between 3032 and 3035.

3036 corresponds in principle to 3004. In this case, the cartography information could also be taken into account in 3036 when determining the picking information. For example, position information for the various lights 111-114 could be determined particularly accurately based on the cartography information.

3037 is equivalent to 3005.

In 3038, current cartography information 2006 is again transmitted from the vehicle 101 to the controller 120.

From FIG. 14, it can be seen that the cartography information 2006 can basically be transmitted independently of the picking information 2004.

FIG. 15 illustrates aspects relating to the communication between the vehicle 101, the controller 120, and the lights 111-113. In particular, FIG. 15 Aspects Concerning Picking Information 2004. In the example of FIG. 15, in addition to the picking information 2004, which is determined by the vehicle 101 and transmitted to the controller 120, also further picking information 2009 in 3035 is transmitted from the lights 111-113 to the controller 120. For example, it would also be possible for the further order picking information 2009 to include identification information for the various lamps 111-113 as well as position information for the various lamps 111-113. For example, the position information of the other picking information 2009 could be relative to the position be defined of the vehicle 101. For example, it would be possible for sensors in the various lamps 111-114 to be able to recognize the vehicle 101 and to determine a distance between the respective lamp 111-114 and the vehicle 101.

FIG. 16 is a flowchart of an example method.

For example, the method according to the example of FIG. 16 are executed by the vehicle 101 and the processor 203, respectively.

First, an operation request is sent in 1010, for example to a controller. The operation request triggers the activation of all lights. It means that the operation request causes all lights to be switched to a corresponding operating state in which they emit light. For example, the controller could be configured to send operating information corresponding to the operation request to the various lights.

Instead of the operating request, a corresponding operating state for activating all the lights could also be triggered recurrently according to a predefined time schedule.

In 1011, the position of the vehicle is changed. For example, a corresponding drive of the vehicle could be triggered for this purpose. In 1011, SLAM techniques may be performed to properly change position with respect to a topography of the surrounding area. In 1011, a given trajectory could also be traversed. In some examples, it would also be possible for the position of the vehicle to be changed manually.

In 1012 it is checked whether one or more lights are detected at the now changed, current position. For example, a light sensor could be used for this purpose. If the light sensor receives a signal, it can be concluded that there is a lamp attached. Alternatively or additionally, surroundings sensors such as a camera could be used to detect one or more lights in image data, for example. If no light was detected in 1012, the position is further changed by a new iteration of 1011.

Otherwise, in 1013, the reception of

Identification information from a current luminaire. This can be done for example by radio beacons or VLC.

Sometimes it may happen that identification information is received for more than one light. This may be the case if the position of the vehicle is arranged in an overlapping area in which several lamps contribute to the lighting.

In 1014, an operation request for a current light is sent. This operation request causes a separation of the lighting by the current lamp, even if the vehicle is positioned in an overlap area. For example, a controller may send appropriate operational information to the plurality of lights that causes only the single, current light to remain on while the other lights are turned off and thus emit no light. Alternatively or additionally, the operation request may cause the current light to be switched to a particular operating state from a plurality of available operating states of the current light; e.g. For example, one of several light colors and / or one of several light intensities could be selected.

The change of the operating state is acknowledged by receiving corresponding operating information in 1014.

In 1015 the light characteristic of the current luminaire is measured. This may include, for example, the repositioning of the vehicle 101 in the near field region of the current luminaire, for example along branches of the corresponding trajectory. By way of example, this could alternatively or additionally also include the use of surroundings sensors, such as cameras for determining the geometry and / or orientation of the luminaire. For example, the luminous intensity of the luminaire could be determined spatially resolved by repeatedly measuring at different eigenpositions of the vehicle. In 1016 it is checked if another light characteristic is available for the current light. If this is the case, then in a renewed iteration of 1014 a corresponding operation request is sent for the current light. This operation request causes the current light to be operated in a different operating state. For example, the light intensity could be changed by setting a suitable dimmer level. Alternatively or additionally, the light color, the light pressure or another light characteristic could be changed. Then, in the next iteration of 1015, the corresponding light characteristic for the current light in the current operating state is measured again.

If it is determined in 1016 that there is no more light characteristic for the current light, then 1012 is executed again. There it is checked whether at the current position another light contributes to the lighting. If this is the case, one or more light characteristics for different operating states of this further luminaire can be measured in a renewed iteration of 1013-1015.

Of course, the features of the previously described embodiments and aspects of the invention may be combined. In particular, the features may be used not only in the described combinations but also in other combinations or per se, without departing from the scope of the invention.

For example, various distributions of the logic between the vehicle and the controller have been described above. In some examples, it may be possible to implement different distributions of this logic. For example, it would be conceivable in some scenarios that the cartography information is preprocessed only to a small extent in the vehicle, and then the mapping takes place largely in the controller. Accordingly, it would be possible that position information for a distance between the vehicle and the lights is at least partially determined by the lights. Furthermore, various examples have been described above with regard to determining picking information for luminaires. However, corresponding examples can also be implemented for other elements of the corresponding lighting system, such as sensors or operating devices.

Further, various examples have been described above in which positional information for a lamp is generated by the vehicle. It would also be possible for the position information for a luminaire to be determined, at least in part, by the luminaire, e.g. by means of suitable ambient sensor technology of the luminaire. Thereby, a distance to the vehicle can be determined by the lamp; this distance could be e.g. be combined with a self-position of the vehicle, determined by a positioning system of the vehicle.

Claims

1. Control (120) comprising:

a first communication interface (222) arranged to communicate with a plurality of lights (111-114) disposed in an area (300-308),

a second communication interface (223) arranged to be movable with one in the area (300-308)

Vehicle (101) to communicate, and

at least one processor (221) arranged to transmit operating information (132, 2001) of the plurality of lights (111-114) via the first interface,

wherein the at least one processor (221) is further configured to receive order picking information (131, 2004) concerning the plurality of lights (111-114) from the vehicle (101) in response to the transmission of the operation information (132, 2001).

2. Control (120) according to claim 1,

wherein the picking information (131, 2004) indicates a light characteristic and associated position information measured by the vehicle (101), optionally for a plurality of operating states of the respective lamps (111-114).

3. control (120) according to claim 2,

wherein the at least one processor (221) is arranged to be based on the light characteristic and the associated one

Position information to map the light characteristics in the area (300-308) resolved for the lights (111-114) among the plurality of lights (111-114).

4. control (120) according to claim 2 or 3,

wherein the at least one processor (221) is arranged to determine, based on the light characteristic and the position information, a geometry and / or orientation of at least one lamp (111-114) of the plurality of lamps (111-114) in the area (300-308 ).

5. control (120) according to any one of claims 2 - 4,

wherein the light characteristic is selected from the following group: light intensity; Light contrast; Light pressure; Light color; and local light distribution (502).

6. controller (120) according to one of the preceding claims,

wherein the picking information (131, 2004) is indicative of a geometry and / or orientation of a luminaire (111-114) among the plurality of luminaires (111-114) in the area (300-308).

7. Control (120) according to one of the preceding claims,

wherein the picking information (131, 2004) indicates light characteristics and associated position information measured by the vehicle (101) resolved for a plurality of lights (111-114) among the plurality of lights (111-114),

wherein the at least one processor (221) is arranged to form groups (371-373) of lights (111-114) based on the light characteristics and associated position information.

8. Control (120) according to one of the preceding claims,

the picking information (131, 2004)

Overlapping areas (503) in the area (300-308) indicated in which a plurality of lights (111-114) of the plurality of lights (111-114) contribute to the lighting,

wherein the at least one processor (221) is arranged to form groups (371-373) of lights (111-114) based on the overlap areas (503).

9. controller (120) according to one of the preceding claims,

wherein the at least one processor (221) is arranged to receive cartographic information for the area (300-308) from the vehicle (101) via the second communication interface.

10. Control (120) according to claim 9,

wherein the at least one processor (221) is arranged to, based on the cartography information and the Picking Information (131, 2004) Groups (371-373) of lamps (111-114) to form.

11. Control (120) according to one of the preceding claims,

wherein the at least one processor (221) is further configured to send the operation information (132, 2001) of the plurality of lights (111-114) to the vehicle (101) via the second interface.

12. controller (120) according to one of the preceding claims,

wherein the at least one processor (221) is further adapted to receive an operating request (2005) indicative of an operating condition of the plurality of lights (111-114) via the second communication interface from the vehicle (101) and to provide the operation information (132, 2001) to the plurality of lights (111-114) based on the operation request (2005).

13. Control (120) according to one of the preceding claims,

wherein the at least one processor (221) is further configured to provide further order picking information (136) about the first one

Receive interface,

the further picking information (131, 2004)

Position information indicative of a distance between the vehicle and at least one lamp (111-114) of the plurality of

Lights describe.

14. Vehicle (101) comprising:

a first communication interface (207) configured to communicate with a plurality of ones located in an area (300-308)

Lights (111-114) to communicate

a second communication interface (208) arranged to communicate with a controller (120), and

at least one processor (203) arranged to receive identification information (135) of at least one luminaire (111-114) from the plurality of luminaires (111-114) via the first communication interface, wherein the at least one processor (203) is further adapted to generate position information for the at least one lamp (111-114),

wherein the at least one processor (203) is further arranged to determine, based on the identification information (135) and the position information, picking information (131, 2004) for the at least one lamp (111-114) and the picking information (131, 2004) via the second communication interface to the controller (120) to send.

15. Vehicle (101) according to claim 14,

wherein the at least one processor (203) is further configured to communicate via the second communication interface

Receive operation information (132, 2001) of the plurality of lights (111-114) from the controller (120),

wherein the at least one processor (203) is further configured to further determine the order picking information (131, 2004) based on the operation information (132, 2001).

16. Vehicle (101) according to claim 14 or 15,

wherein the at least one processor (203) is arranged to perform simultaneous localization and mapping of the vehicle (101) and to send corresponding cartography information to the controller (120) via the second interface.

The vehicle (101) of any of claims 14-16, further comprising:

an environment camera (204) arranged to acquire image data of lights (111-114) among the plurality of lights (111-114),

wherein the at least one processor (203) is arranged to determine a geometry and / or orientation of the luminaires (111-114) from the plurality of luminaires (111-114) based on the image data,

wherein the picking information (131, 2004) is further indicative of the geometry and / or orientation of the lights (111-114).

18. The vehicle (101) of claim 14, further comprising:

at least one light sensor (202) arranged to measure light characteristics of lights (111-114) of the plurality of lights (111-114),

wherein the at least one processor (203) further

is arranged to further determine the picking information (131, 2004) based on the light characteristics.

19. vehicle (101) according to claim 15 and claim 18,

wherein the at least one processor (203) is arranged to provide the at least one light sensor (202) for time-synchronized measurement of light characteristics of the luminaires (111-114) with an operating state of the plurality of luminaires (111-114) indicated by the operating information (132, 2001) ) head for.

20. vehicle (101) according to claim 18 or 19,

wherein the at least one processor (203) is arranged to determine a geometry and / or orientation of the luminaires (111-114) based on the light characteristics,

The vehicle (101) of any one of claims 18-20, further comprising:

a drive (201),

a positioning system (206) arranged to determine an intrinsic position of the vehicle (101),

wherein the at least one processor (203) is arranged to drive the drive (201) during the measurement of the light characteristic of a selected lamp (111-114) of the plurality of lamps (111-114) for repositioning the vehicle (101) and corresponding ones To obtain proper positions of the vehicle (101) from the positioning system (206),

wherein the at least one processor (203) is arranged to determine a local light distribution (502) of the selected luminaire (111-114). wherein the picking information (131, 2004) is further indicative of the local light distribution (502).

22. vehicle (101) according to any one of claims 14 - 21,

wherein the at least one processor (203) is further adapted to send an operating request (2005) indicative of an operating condition of the plurality of lights (111-114) to the controller (120) via the second communication interface.

23. vehicle (101) according to any one of claims 14 - 22,

wherein the first communication interface is configured to communicate with the plurality of lights (111-114) by means of at least one of modulated light or modulated high frequency electromagnetic alternating fields.

The vehicle (101) of any of claims 14-23, further comprising:

at least one environment sensor (204, 205) arranged to determine a distance between the vehicle (101) and a lamp (111-114) of the plurality of lamps (111-114),

wherein the at least one processor (203) is arranged to determine the position information based on the distance.

System (100) comprising:

- A controller (120) according to any one of claims 1

- A vehicle (101) according to any one of claims 14

- Optionally, the variety of lights (111-114).

26. A method comprising:

- Transmission of operating information (132, 2001) of a plurality of lights (111-114), and

in response to transmitting the operational information (132,

2001): receiving picking information (131, 2004) concerning the plurality of lights (111-114) from a vehicle (101).

27. A method comprising: Receiving identification information (135) of at least one luminaire (111-114) from a plurality of luminaires (111-114) from the at least one luminaire (111-114),

Generating position information for the at least one luminaire (111-114),

- based on the identification information (135) and the position information: determining picking information (131, 2004) for the at least one lamp (111-114), and

Sending the picking information (131, 2004) to a controller (120).