Illumination system, light illumination method and electronic equipment

Abstract

The invention discloses an illumination system, a light illumination method and electronic equipment, and belongs to the technical field of intelligent control. The lighting system comprises a lighting lamp and a processor, and the processor is connected with the lighting lamp; the processor is used for controlling the illuminating lamp to illuminate to obtain an initial illuminating pattern meeting the initial pattern display requirement, and determining an illuminating adjustment strategy based on the posture variation of the illuminating lamp under the condition that the posture of the illuminating lamp changes, or determining the illuminating adjustment strategy based on the target pattern display requirement and the posture variation of the illuminating lamp; and performing illumination adjustment on the illuminating lamp according to the illumination adjustment strategy to obtain a target illumination pattern corresponding to the initial illumination pattern. The processor timely adjusts the lighting strategy according to the posture change quantity of the lighting lamp to obtain the target lighting pattern corresponding to the initial lighting pattern before posture change, drifting of the lighting pattern due to posture change of the lighting lamp such as shaking of the lighting lamp is reduced by adjusting lighting, and the lighting interaction experience feeling is high.

Description

Technical Field

[0001] This application relates to the field of intelligent control technologies, and particularly to lighting systems, lighting methods, and electronic devices. Background Art

[0002] With the development of intelligent control technologies, it is possible to control the lighting system on an electronic device during the movement of the electronic device through intelligent control technologies for lighting. Taking the electronic device as a vehicle as an example, during the driving of the vehicle, the headlights in the lighting system project light onto the road ahead to form a lighting pattern, so as to display the driving trajectory and driving intention of the vehicle through the lighting pattern and improve driving safety. Summary of the Invention

[0003] This application provides a lighting system, a lighting method, and an electronic device for controlling a lighting lamp to perform lighting. The technical solutions are as follows:

[0004] In a first aspect, a lighting system is provided. The lighting system includes a lighting lamp and a processor, and the processor is connected to the lighting lamp. Among them, the processor is used to control the lighting lamp to perform lighting to obtain an initial lighting pattern that meets the initial pattern display requirements. And, in the case where the lighting lamp undergoes an attitude change during the lighting process, the processor is further used to determine a lighting adjustment strategy based on the attitude change amount of the lighting lamp, or the processor is used to determine a lighting adjustment strategy based on the received target pattern display requirements and the attitude change amount of the lighting lamp. After determining the lighting adjustment strategy, the processor is further used to adjust the lighting of the lighting lamp according to the lighting adjustment strategy to obtain a target lighting pattern corresponding to the initial lighting pattern, where the time of obtaining the initial lighting pattern is earlier than the time of obtaining the target lighting pattern. Among them, the target pattern display requirements and the initial pattern display requirements indicate different lighting patterns, that is, determining the lighting adjustment strategy based on the target pattern display requirements and the attitude change amount of the lighting lamp is a strategy for adjusting the lighting lamp when the pattern formed by the lighting changes at the moment when the lighting lamp changes its attitude.

[0005] When the lighting lamp undergoes an attitude change, the processor will timely adjust the lighting strategy according to the attitude change amount of the lighting lamp to obtain a target lighting pattern corresponding to the initial lighting pattern before the attitude change. By adjusting the lighting, the drift of the lighting pattern caused by the attitude change of the lighting lamp is reduced. For example, the jitter of the lighting pattern caused by the jitter of the lighting lamp is corrected, thereby realizing the provision of a stable lighting pattern and improving the lighting interaction experience.

[0006] In a possible implementation, the lighting lamp includes a plurality of light sources; the processor is configured to control at least one of the plurality of light sources to perform lighting to obtain an initial lighting pattern. Moreover, during the process of adjusting the lighting of the lighting lamp based on the lighting adjustment strategy, the processor can also adjust at least one of the number or brightness of the light sources participating in lighting among the plurality of light sources according to the lighting adjustment strategy to obtain a target lighting pattern. Through the processor, the lighting of the plurality of light sources can be synchronously managed with high management efficiency. Moreover, by adjusting the number and / or brightness of the light sources participating in lighting, a target lighting pattern corresponding to the initial lighting pattern can be obtained, with low complexity and high efficiency of lighting adjustment.

[0007] In a possible implementation, the lighting system is applied to an electronic device. The processor is connected to at least one of a locator and an auxiliary system included in the electronic device. The auxiliary system is used to assist the movement of the electronic device. In this connection relationship, the processor can be used to obtain at least one of the first operation data of the locator and the second operation data of the auxiliary system, and determine the attitude change amount of the lighting lamp according to at least one of the first operation data and the second operation data. The attitude change amount of the lighting lamp can be determined through the operation data of different modules, and the determination process is simple and efficient. Moreover, whether it is the first operation data of the locator, the second operation data of the auxiliary system, or both the first operation data and the second operation data, the processor can determine the attitude change amount of the lighting lamp, without restricting the operation data used, and has a wide generality.

[0008] In a possible implementation, the lighting system further includes a jitter detection module, which is connected to the processor. The jitter detection module is configured to measure the movement parameters of the jitter detection module and send the movement parameters to the processor; the processor is further configured to determine the attitude change amount of the jitter detection module according to the movement parameters, and convert the attitude change amount of the jitter detection module according to the first transformation relationship between the jitter detection module and the lighting lamp to obtain the attitude change amount of the lighting lamp. The jitter detection module is used for jitter detection and has a dynamic response ability. It can automatically measure its own movement parameters in the presence of attitude changes, and the accuracy of the attitude change amount of the lighting lamp determined based on the movement parameters with high timeliness output by the jitter detection module is high.

[0009] Moreover, the present application does not limit the process by which the processor determines the attitude change amount of the lighting lamp. It can be determined according to the operation data of the locator and the auxiliary system, or according to the movement parameters of the jitter detection module. The lighting system can be applicable to multiple scenarios, with high flexibility and wide generality.

[0010] In a possible implementation, the processor is used to determine the first posture of the jitter detection module according to the movement parameters of the jitter detection module, determine the posture change amount of the jitter detection module according to the historical posture and the first posture of the jitter detection module, the historical posture is determined according to the historical parameters of the jitter detection module, and the historical parameters are measured when the posture of the jitter detection module does not change. By comparing the historical posture and the first posture, the posture change amount of the jitter detection module can be determined. The determination process of the posture change amount is simple and efficient.

[0011] In a possible implementation, the lighting system is applied to an electronic device, and the electronic device further includes an intermediate module, and the intermediate module is respectively associated with the postures of the lighting lamp and the jitter detection module; the processor is further used to obtain the first coordinate transformation relationship between the jitter detection module and the intermediate module, obtain the second coordinate transformation relationship between the intermediate module and the lighting lamp, and determine the first transformation relationship according to the first coordinate transformation relationship and the second coordinate transformation relationship. Since the intermediate module is respectively associated with the postures of the lighting lamp and the jitter detection module, the coordinate transformation relationship between the intermediate module and the lighting lamp and the coordinate transformation relationship between the intermediate module and the jitter detection module are parameters that can be obtained and are of low acquisition difficulty. By using the intermediate module to indirectly determine the first transformation relationship between the lighting lamp and the jitter detection module, the operation complexity of obtaining the first transformation relationship is reduced, and the acquisition efficiency is improved.

[0012] In a possible implementation, taking the image acquisition device connected to the processor as the intermediate module as an example, the processor is further used to control the lighting lamp to illuminate the marker; the image acquisition device is used to perform image acquisition on the marker to obtain an acquired image, and send the acquired image to the processor. The acquired image includes the marker and the projection generated by illuminating the marker; the processor is used to determine the marker data and the projection data according to the received acquired image, and determine the second coordinate transformation relationship according to the marker data and the projection data. By using image acquisition to dynamically calibrate the second coordinate transformation relationship, the second coordinate transformation relationship can be dynamically adjusted according to the posture change of the lighting lamp, and the obtained second coordinate transformation relationship is more in line with the current posture change scenario and has higher accuracy.

[0013] In a possible implementation, at least one of the jitter detection module and the intermediate module is configured in the lighting lamp. This application does not limit the locations of the jitter detection module and the intermediate module. They can both be in the lighting lamp, or one of them can be in the lighting lamp, with high flexibility.

[0014] In a possible implementation, the processor is used to determine the lighting compensation parameter according to the second transformation relationship between the lighting lamp and the projection plane where the initial lighting pattern is located, and the attitude change amount of the lighting lamp, and determine the lighting adjustment strategy according to the lighting compensation parameter. The lighting compensation parameter is used to correct the change of the lighting pattern formed by the lighting lamp predicted by the processor under the condition of attitude change. By predicting the change of the lighting pattern under the attitude change of the lighting lamp first, the lighting compensation parameter can be determined according to the predicted lighting pattern, and the lighting adjustment strategy determined according to the lighting compensation parameter can correct the change of the lighting pattern caused by the current attitude change, with high correction timeliness.

[0015] In a possible implementation, the processor is configured inside the lighting lamp. By configuring the processor inside the lighting lamp, the connection between the processor and the lighting lamp is realized, and the connection method is simple, and the lighting adjustment efficiency is higher.

[0016] In a second aspect, a lighting method is provided. The method is applied to a lighting system, and the lighting system includes a lighting lamp and a processor, and the processor is connected to the lighting lamp. The method includes: controlling the lighting lamp to perform lighting through the processor to obtain an initial lighting pattern that meets the initial pattern display requirement; when the lighting lamp undergoes an attitude change, determining a lighting adjustment strategy based on the attitude change amount of the lighting lamp through the processor, or determining a lighting adjustment strategy based on the received target pattern display requirement and the attitude change amount of the lighting lamp; adjusting the lighting of the lighting lamp according to the lighting adjustment strategy through the processor to obtain a target lighting pattern corresponding to the initial lighting pattern, and the time when the initial lighting pattern is obtained is earlier than the time when the target lighting pattern is obtained.

[0017] In a possible implementation, the lighting lamp includes a plurality of light sources. Controlling the lighting lamp to perform lighting through the processor to obtain an initial lighting pattern that meets the initial pattern display requirement includes: controlling at least one of the plurality of light sources to perform lighting through the processor to obtain the initial lighting pattern; adjusting the lighting of the lighting lamp according to the lighting adjustment strategy through the processor to obtain a target lighting pattern corresponding to the initial lighting pattern includes: adjusting at least one of the number or brightness of the light sources participating in lighting among the plurality of light sources according to the lighting adjustment strategy through the processor to obtain the target lighting pattern.

[0018] In a possible implementation, the lighting system is applied to an electronic device, and the processor is connected to at least one of a locator and an auxiliary system included in the electronic device. The auxiliary system is used to assist the movement of the electronic device; before determining the lighting adjustment strategy based on the attitude change amount of the lighting lamp, it further includes: obtaining at least one of the first operation data of the locator and the second operation data of the auxiliary system through the processor, and determining the attitude change amount of the lighting lamp according to at least one of the first operation data and the second operation data.

[0019] In a possible implementation, the lighting system further includes a jitter detection module, and the jitter detection module is connected to the processor; before determining the lighting adjustment strategy based on the attitude change amount of the lighting lamp, it further includes: measuring the movement parameters of the jitter detection module through the jitter detection module, and sending the movement parameters to the processor; determining the attitude change amount of the jitter detection module by the processor according to the movement parameters, and converting the attitude change amount of the jitter detection module according to the first transformation relationship between the jitter detection module and the lighting lamp to obtain the attitude change amount of the lighting lamp.

[0020] In a possible implementation, determining the attitude change amount of the jitter detection module by the processor according to the movement parameters includes: determining the first attitude of the jitter detection module by the processor according to the movement parameters of the jitter detection module, determining the attitude change amount of the jitter detection module according to the historical attitude and the first attitude of the jitter detection module, the historical attitude is determined according to the historical parameters of the jitter detection module, and the historical parameters are measured when the attitude of the jitter detection module does not change.

[0021] In a possible implementation, the lighting system is applied to an electronic device, and the electronic device further includes an intermediate module, and the intermediate module is associated with the attitudes of the lighting lamp and the jitter detection module respectively; before converting the attitude change amount of the jitter detection module according to the first transformation relationship between the jitter detection module and the lighting lamp, it further includes: obtaining the first coordinate transformation relationship between the jitter detection module and the intermediate module by the processor, obtaining the second coordinate transformation relationship between the intermediate module and the lighting lamp, and determining the first transformation relationship according to the first coordinate transformation relationship and the second coordinate transformation relationship.

[0022] In a possible implementation, the intermediate module is an image acquisition device, and the image acquisition device is connected to the processor; obtaining the second coordinate transformation relationship between the intermediate module and the lighting lamp includes: controlling the lighting lamp to illuminate a marker by the processor; performing image acquisition on the marker by the image acquisition device to obtain an acquired image, and sending the acquired image to the processor, the acquired image includes the marker and the projection generated by illuminating the marker; determining the marker data and the projection data according to the received acquired image by the processor, and determining the second coordinate transformation relationship according to the marker data and the projection data.

[0023] In a possible implementation, at least one of the jitter detection module and the intermediate module is disposed inside the lighting lamp.

[0024] In a possible implementation, determining an illumination adjustment strategy based on the attitude change amount of the illumination lamp includes: determining an illumination compensation parameter by a processor according to a second transformation relationship between the illumination lamp and the projection plane where the initial illumination pattern is located, and the attitude change amount of the illumination lamp, and determining an illumination adjustment strategy according to the illumination compensation parameter. The illumination compensation parameter is used to correct the change of the illumination pattern formed by the illumination lamp predicted by the processor when the attitude changes.

[0025] In a possible implementation, the processor is configured inside the illumination lamp.

[0026] In a third aspect, an electronic device is provided. A lighting system is installed on the electronic device, and the lighting system is used to execute the lighting method in the second aspect or any possible implementation manner of the second aspect.

[0027] In a possible implementation, the electronic device includes a vehicle, a drone, or a robot.

[0028] In a fourth aspect, a computer-readable storage medium is provided. At least one instruction is stored in the computer-readable storage medium, and the instruction is loaded and executed by a processor to implement the lighting method in the second aspect or any possible implementation manner of the second aspect.

[0029] In a fifth aspect, a computer program (product) is provided. The computer program (product) includes a computer program / instructions, and the computer program / instructions are executed by a processor to enable the electronic device to implement the lighting method in the second aspect or any possible implementation manner of the second aspect.

[0030] In a sixth aspect, a communication device is provided. The device includes: a transceiver, a memory, and a processor. Among them, the transceiver, the memory, and the processor communicate with each other through an internal connection path. The memory is used to store instructions, and the processor is used to execute the instructions stored in the memory to control the transceiver to receive signals and control the transceiver to send signals. And when the processor executes the instructions stored in the memory, the processor executes the method in the second aspect or any possible implementation manner of the second aspect.

[0031] Optionally, the processor is one or more, and the memory is one or more.

[0032] Optionally, the memory may be integrated with the processor, or the memory is separately arranged from the processor.

[0033] In a specific implementation process, the memory can be a non-transitory memory, such as a read only memory (ROM), which can be integrated with the processor on the same chip or can be separately provided on different chips. The present application does not limit the type of the memory and the setting manner of the memory and the processor.

[0034] In a seventh aspect, a chip is provided, including a processor configured to call and run the running program instructions or code stored in the memory, so that a communication device installed with the chip executes the methods in the above aspects.

[0035] In an eighth aspect, another chip is provided, including: an input interface, an output interface, a processor, and a memory. The input interface, the output interface, the processor, and the memory are connected through an internal connection path. The processor is configured to execute the code in the memory. When the code is executed, the processor is configured to execute the methods in the above aspects.

[0036] It should be understood that for the beneficial effects obtained by the technical solutions and corresponding possible implementation manners in the second to eighth aspects of the present application, reference can be made to the technical effects of the first aspect and its corresponding possible implementation manners described above, and details are not described herein again. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic structural diagram of an illumination system provided by an embodiment of the present application;

[0038] Figure 2 A schematic structural diagram of another illumination system provided by an embodiment of the present application;

[0039] Figure 3 A display schematic diagram of an initial illumination pattern provided by an embodiment of the present application;

[0040] Figure 4 A schematic structural diagram of an electronic device provided by an embodiment of the present application;

[0041] Figure 5 A schematic structural diagram of yet another illumination system provided by an embodiment of the present application;

[0042] Figure 6 A schematic structural diagram of still another illumination system provided by an embodiment of the present application;

[0043] Figure 7 A schematic diagram of a processing process of a processor provided by an embodiment of the present application;

[0044] Figure 8 A schematic diagram of a processing process of another processor provided by an embodiment of the present application;

[0045] Figure 9 A flowchart of a lighting method provided by an embodiment of the present application;

[0046] Figure 10 A flowchart of another lighting method provided by an embodiment of the present application. Specific embodiments

[0047] The terms used in the embodiments of the present application are only for explaining the specific embodiments of the present application, and are not intended to limit the present application. To make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0048] With the development of intelligent control technology, the lighting of the lighting lamp can be controlled through intelligent control technology to improve the accuracy of the lighting pattern obtained by lighting. Taking the vehicle driving scenario as an example, the vehicle lamp configured on the vehicle is used as the lighting lamp, and the intelligent control technology is used to control the vehicle lamp to form different lighting patterns on the road surface, so as to display the driving trajectory and driving intention of the vehicle through the lighting pattern. For example, by emitting light in the front by the vehicle lamp to form a lighting pattern that fits the lane line, it is shown that the driving intention is to drive straight, or by emitting light in the front by the vehicle lamp to form a lighting pattern with a turning arc, and the lighting pattern fits the current lane line and the lane line to be changed, so as to show that the driving intention is that the vehicle changes lanes. The above-mentioned vehicle lamp lighting pattern can be called a light carpet in some cases.

[0049] The embodiment of the present application provides an illumination system, which can perform lighting to realize the display of the lighting pattern. Figure 1 A schematic structural diagram of an illumination system provided by an embodiment of the present application, see Figure 1 , the illumination system 1 includes a lighting lamp 11 and a processor 12. The processor 12 can be a module with data processing functions such as a microcontroller unit (MCU) or a system on chip (SOC). Optionally, the lighting lamp 11 and the processor 12 are connected. The embodiment of the present application does not limit the connection manner between the lighting lamp 11 and the processor 12, and can establish a communication connection by means of a wired or wireless network as Figure 1 shown. Or as Figure 2 shown, the processor is configured in the lighting lamp, thereby realizing the connection between the processor and the lighting lamp.

[0050] Exemplarily, the processor 12 obtains an initial pattern display requirement, which indicates an initial pattern to be formed by illuminating with the lighting lamp 11. Taking the lighting lamp 11 as the vehicle headlight configured on the vehicle as an example, it is detected that a pedestrian is passing in front of the vehicle. Therefore, it is necessary to emit light on the road where the pedestrian is walking to form a zebra crossing pattern. In this case, the initial pattern is the zebra crossing. Or, taking the lighting lamp 11 as the aircraft lamp configured on the unmanned aerial vehicle as an example, the user of the lighting system 1 needs to emit light to the performer A on the stage through the aircraft lamp to achieve the spotlight effect on the performer A. In this case, the initial pattern display requirement is to form a circle within the reference area where the performer A is located, and the initial pattern is the circle located in the reference area.

[0051] Optionally, the processor 12 may receive the initial pattern display requirement input by the user of the lighting system 1. Taking the unmanned aerial vehicle lighting in the above embodiment as an example, the user inputs the object identifier of the tracking object and the shape information of the reference area through the terminal connected to the unmanned aerial vehicle. The terminal determines the initial pattern display requirement according to the received information and sends the initial pattern display requirement to the lighting system 1 in the unmanned aerial vehicle. Thus, the processor 12 in the lighting system 1 receives the initial pattern display requirement. Or, the processor 12 may obtain the environmental information of the operating environment where the lighting system 1 is located and determine the initial pattern display requirement based on this environmental information. For example, for the above scenario of forming a zebra crossing by vehicle headlight lighting, the processor 12 receives the environmental information of the vehicle, determines that there is a pedestrian passing in front according to the environmental information, and automatically triggers the zebra crossing lighting requirement of the lighting lamp 11. That is, the processor 12 determines that the initial pattern display requirement is to display a zebra crossing pattern on the advancing surface of the pedestrian in front.

[0052] Regardless of the method by which the processor 12 obtains the initial pattern display requirement, after obtaining the initial pattern display requirement, the processor 12 can control the lighting lamp 11 to perform lighting based on the connection with the lighting lamp 11 to obtain an initial lighting pattern that meets the initial pattern display requirement. For example, the processor 12 determines the coordinate points of the initial pattern on the projection surface and controls the lighting lamp 11 to emit light to the determined coordinate points, thereby obtaining an initial lighting pattern composed of at least one coordinate point. The shape of the initial lighting pattern is the same as the shape of the initial pattern, and the size may be the same or different. For example, the initial lighting pattern is a pattern obtained by enlarging the initial pattern proportionally.

[0053] In a possible scenario, the lighting lamp 11 includes multiple light sources, and any one of the light sources can be used to emit light. The light source can be a light-emitting diode (LED) lamp or other devices with a light-emitting function. The controller 12 controls at least one of the multiple light sources to perform lighting to obtain an initial lighting pattern. For example, the controller 12 determines the target light sources that need to emit light among the multiple light sources, as well as the light emission angles of each target light source, determines the origin of the light through a specified light source among the target light sources, and then limits the light emission angle of the light at the origin to control the light to fall on the specified coordinate points.

[0054] Exemplarily, the initial lighting pattern formed by the controller 12 controlling the lighting lamp 11 to meet the initial pattern display requirement means that the initial lighting pattern meets at least one of the display requirements of the position, shape, and brightness of the pattern display. For example, the shape difference between the initial lighting pattern and the initial pattern is within the tolerance range, that is, the shape gap between the initial lighting pattern and the initial pattern is less than the shape threshold. The shape threshold can be set based on experience or adjusted according to the application scenario. Taking the above initial lighting pattern as a zebra crossing as an example, when the coincidence degree between the zebra crossing light and the moving trajectory of the pedestrian is greater than the first threshold, the lighting position of the initial lighting pattern meets the display requirement of the position. Taking the drone chasing the light performer A as an example, the lighting lamp 11 emits light towards the performer A, forms a circle centered on the performer A at the feet of the performer A, and the image acquisition device acquires an image of the performer A. The brightness of the performer A in the acquired image is determined. When the brightness is not less than the second threshold, it is determined that the lighting brightness of the initial lighting pattern meets the display requirement of the brightness. Among them, the first threshold and the second threshold can be set based on experience or adjusted according to the application scenario.

[0055] During the process of lighting by the lighting lamp 11, the lighting lamp 11 may have a posture change. Exemplarily, the lighting system 1 may shake or move its position due to the operation of the operator, resulting in a posture change of the lighting lamp 11. Or, the lighting lamp 11 is configured on an electronic device, and the electronic device is moving. During the movement, the lighting lamp 11 may have a posture change. Taking the electronic device as the drone in the above embodiment as an example, the drone may change its movement trajectory during operation, thereby causing a posture change of the machine lamp on the drone. Taking the electronic device as a vehicle as an example, when the vehicle is driving on an unstructured road or the vehicle itself accelerates or decelerates, it will cause the vehicle to shake, and the vehicle lamp configured on the vehicle will also shake accordingly, resulting in a posture change. Among them, the unstructured road surface refers to a non-flat road surface with speed bumps, potholes, etc.

[0056] The embodiments of the present application do not limit the relationship between the traveling surface and the projection surface of the electronic device moving. The traveling surface and the projection surface can be the same surface, that is, the electronic device moves on the projection surface. Taking the electronic device as Figure 3 the vehicle shown in the figure as an example, the vehicle travels on the road surface. During the traveling process, the vehicle turns on the headlights to project light onto the road surface, forming an initial illumination pattern in the shape of a cloud. In this case, the traveling surface is the road surface, and the projection surface is also the road surface. Optionally, the traveling surface and the projection surface can also be different surfaces. For example, in the above embodiment, the drone emits light towards the performer A, then the projection surface is the stage surface where the performer A is located, and the traveling surface is the flight surface of the drone.

[0057] Regardless of the situation that causes the attitude change of the lighting lamp 11, the processor 12 will detect the attitude of the lighting lamp 11, and when it detects that the lighting lamp 11 has an attitude change, it will perform lighting adjustment. In a possible implementation manner, the processor 12 obtains the attitude change amount of the lighting lamp 11. When the attitude change amount is greater than zero or greater than the error threshold, it is determined that the lighting lamp 11 has an attitude change, and the processor 12 triggers the lighting adjustment of the lighting lamp 11. Among them, the error threshold can be set based on experience or adjusted according to the application scenario. The processor 12 can obtain the attitude change amount of the lighting lamp 11 through the following two methods including but not limited to.

[0058] Obtaining method one: For the situation where the processor 12 is connected to at least one of the locator and the auxiliary system included in the electronic device, the processor 12 obtains at least one of the first operation data of the locator and the second operation data of the auxiliary system, and determines the attitude change amount of the lighting lamp 11 according to at least one of the first operation data and the second operation data.

[0059] Figure 4 is a schematic structural diagram of an electronic device provided by the embodiments of the present application. Refer to Figure 4 , the electronic device includes a lighting system 1, a locator, and an auxiliary system. The locator and the auxiliary system are respectively connected to the lighting system 1. Exemplarily, the locator refers to a device that can determine the position of the electronic device. The locator can be a global positioning system (GPS), lidar, etc. Since the position of the electronic device can also be determined by using the simultaneous localization and mapping (SLAM) algorithm for images, in some cases, the locator can also be a device such as a camera or a camera for image acquisition.

[0060] In a possible implementation, the first operation data output by the locator is the position information of the electronic device. Exemplarily, six degrees of freedom are required to describe the positioning of an object in a three-dimensional space, namely three degrees of freedom of position and three degrees of freedom of attitude. Among them, the three degrees of freedom of position include the waist, shoulder, and elbow, and the three degrees of freedom of attitude include pitch, yaw, and roll. Therefore, the processor 12 can determine the parameters of the three degrees of freedom corresponding to the attitude according to the six degrees of freedom of the first operation data, thereby obtaining the current attitude of the electronic device.

[0061] Exemplarily, the auxiliary system is used to assist the movement of the electronic device. Taking the electronic device as a vehicle, the auxiliary system is, for example, an advanced driving assistance system (ADAS). The auxiliary system includes various sensors to sense the surrounding environment of the electronic device in real time, collect environmental data to sense the movement state of the electronic device, and the second operation data output by the auxiliary system indicates the movement state of the electronic device. The processor 12 can determine the current attitude of the electronic device according to the second operation data. For example, the angle between the electronic device and the horizontal plane is determined according to the moving direction, and the pitch included in the current attitude is obtained.

[0062] The processor 12 can determine the current attitude of the vehicle according to the operation data of at least one of the auxiliary system or the locator. Then, according to the attitude correspondence relationship between the lighting lamp 11 and the electronic device, when the electronic device is in the current attitude, the second attitude where the lighting lamp 11 is located can be determined according to the current attitude of the electronic device and the attitude correspondence relationship. Then, the absolute value between the current second attitude of the lighting lamp 11 and the reference attitude is calculated to obtain the attitude change amount of the lighting lamp 11. Among them, the reference attitude indicates the initial state where the attitude of the lighting lamp 11 has not changed. The meaning of the attitude of the lighting lamp 11 not changing is similar to the meaning of the attitude of the jitter detection module not changing, which can be seen in the relevant description in obtaining method two and will not be elaborated here for the time being.

[0063] Obtaining method two: For the case where the lighting system 1 further includes a jitter detection module, the processor 12 determines the attitude change amount of the jitter detection module according to the movement parameters of the jitter detection module measured by the jitter detection module, and converts the attitude change amount of the jitter detection module according to the first transformation relationship between the jitter detection module and the lighting lamp 11 to obtain the attitude change amount of the lighting lamp 11.

[0064] Figure 5 This is a schematic structural diagram of a lighting system provided by an embodiment of the present application. See Figure 5, the lighting system 1 further includes a jitter detection module 13, and the jitter detection module 13 is connected to the processor 12. Among them, the jitter detection module 13 can be any device capable of measuring the jitter condition of the lighting system 1, including but not limited to an inertial measurement unit (IMU), a gyroscope, or a suspension system, etc. Figure 6 Illustrates the connection relationship of the modules in the lighting system 1 in the case where the electronic device applying the lighting system 1 is a vehicle. Figure 6 In it, the jitter detection module 13 is an IMU, and the lighting lamp 11 is a vehicle lamp. Refer to Figure 6 , the vehicle lamp and the IMU respectively establish communication connections with the processor 12.

[0065] Since the jitter detection module 13 and the lighting lamp 11 are configured in the same lighting system 1, when the attitude of the lighting lamp 11 changes, the attitude of the jitter detection module 13 will also change. For example, when the vehicle passes over a speed bump and jolts, the vehicle lamp in the vehicle jitters, and the IMU in the vehicle also jitters accordingly. That is, there is a correlation between the attitude change amount of the jitter detection module 13 and the attitude change amount of the lighting lamp 11. Thus, the processor 12 can determine the attitude change amount of the lighting lamp 11 according to the attitude change amount of the jitter detection module 13.

[0066] Exemplarily, after the jitter detection module 13 measures the movement parameters of the jitter detection module 13, it sends the movement parameters to the processor 12, and the processor 12 determines the attitude change amount of the jitter detection module 13 according to the movement parameters of the jitter detection module 13. In a possible case, the processor 12 can directly measure the speed through the jitter detection module 13 to obtain the movement parameters indicating the attitude. The processor 12 can also first calibrate the jitter detection module 13 and use the calibrated jitter detection module 13 to measure the speed to obtain the movement parameters. Among them, calibrating the jitter detection module 13 includes estimating the zero bias and noise matrix of the jitter detection module 13. For example Figure 7 as shown, Figure 7 in it, the jitter detection module 13 is an IMU. Before using the IMU for measurement, the processor 12 will also perform zero bias estimation on the IMU to determine the initial attitude of the IMU in the stationary state. The processor 12 can use the error state Kalman filter algorithm to fuse the IMU estimated zero bias and noise matrix, or can also use other methods to estimate the zero bias and noise matrix of the IMU. The above process of estimating the zero bias and noise matrix can be called the internal parameter calibration of the jitter detection module 13 in some cases.

[0067] Whether the processor 12 calibrates the jitter detection module 13 or not, the movement parameters of the jitter detection module 13 can be obtained based on the jitter detection module 13. In a possible case, the movement parameters include a reference acceleration and a reference angular velocity. The reference acceleration indicates the speed change of the jitter detection module 13, and the reference angular velocity indicates the angular change of the jitter detection module 13. The reference angular velocity can be the angular velocity of the pitch angle and the angular velocity of the roll angle of the jitter detection module 13. Among them, the pitch angle indicates the included angle of the jitter detection module 13 in the horizontal plane and is used to determine the up-and-down jitter of the jitter detection module 13. The roll angle indicates the included angle between the jitter detection module 13 and the plumb plane and is used to determine the left-and-right jitter of the jitter detection module 13. The plumb plane refers to the plane perpendicular to the ground.

[0068] Continuing to take the jitter detection module 13 as the IMU in the vehicle as an example, the IMU includes an accelerometer and a gyroscope. The accelerometer is used to measure the acceleration, and the gyroscope is used to measure the angular velocity. During the movement of the lighting system 1, the IMU observes the acceleration and the angular velocity to obtain the initial acceleration and the initial angular velocity.

[0069] For example Figure 8 as shown Figure 8 the processor 12 in includes an attitude estimation module, a lighting compensation module, and an external parameter estimation module. The attitude estimation module is used to obtain the attitude change amount of the jitter detection module 13. Figure 8 In, the IMU that has completed zero-bias estimation will output acceleration data, which is also the initial acceleration. Since the jitter detection module 13 has dynamic response characteristics and will measure the movement situation, the jitter detection module 13 will continuously measure and obtain the initial acceleration and the initial angular velocity. Based on the communication connection with the jitter detection module 13, the processor 12 obtains the initial acceleration and the initial angular velocity sent by the jitter detection module 13, and determines the movement parameters according to the received initial acceleration and initial angular velocity.

[0070] Optionally, the processor 12 can use the received initial acceleration and initial angular velocity as the movement parameters, that is, directly use the initial acceleration as the reference acceleration and the initial angular velocity as the reference angular velocity to obtain the movement parameters. In a possible case, the processor 12 can also verify the received initial acceleration and initial angular velocity to obtain more accurate movement parameters. Exemplarily, the processor 12 mutually verifies the initial acceleration and the initial angular velocity to obtain the reference acceleration and the reference angular velocity. Among them, mutual verification means that the processor 12 uses the acceleration to verify the drift of the angular velocity.

[0071] Since the direction of gravity remains vertically downward, when the jitter detection module 13 is in a non-horizontal plane, the gravitational acceleration generated by gravity can be decomposed into an acceleration in the horizontal direction and an acceleration in the vertical direction, and the magnitudes of the acceleration in the horizontal direction and the acceleration in the vertical direction are related to the angle between the jitter detection module 13 and the horizontal plane, that is, related to the magnitude of the pitch angle. Therefore, the pitch angle of the jitter detection module 13 can be determined by the gravitational acceleration, and then the angular velocity of the jitter detection module 13, that is, the initial angular velocity, can be calibrated and optimized according to the determined pitch angle. Exemplarily, the process by which the processor 12 calibrates and obtains the movement parameter includes, but is not limited to: calibrating the initial acceleration to obtain a reference acceleration; acquiring the movement acceleration of the electronic device; determining the gravitational acceleration of the jitter detection module 13 according to the reference acceleration and the movement acceleration; and calibrating the initial angular velocity according to the gravitational acceleration to obtain a reference angular velocity.

[0072] Exemplarily, the processor 12 can determine the abnormal acceleration in the initial acceleration, remove the abnormal acceleration, and obtain the reference acceleration. Since the accelerometer adopted by the jitter detection module 13 is a multi-axis accelerometer, the measured acceleration is the acceleration component of each axis among multiple axes. The processor 12 can determine the abnormal acceleration in the acceleration component, remove the abnormal acceleration, and synthesize the reference acceleration value according to the acceleration components after removal. Among them, the process of removing the abnormal acceleration can be implemented by means of chi-square calibration. For example, the abnormal acceleration is filtered through the chi-square calibration passing threshold, so as to avoid the reduction of the calibration accuracy caused by the abnormal acceleration. The threshold for filtering can be set according to experience or through the implementation environment.

[0073] After the processor 12 obtains the reference acceleration by calibrating the initial acceleration, it can calibrate the initial angular velocity with the reference acceleration. In a possible implementation, since the acceleration of the jitter detection module 13 includes the gravitational acceleration caused by gravity and the moving acceleration of the jitter detection module 13, and the movement of the jitter detection module 13 is generated based on the movement of the electronic device. For example, the moving acceleration of the IMU in the vehicle is equal to the moving acceleration of the vehicle itself. Therefore, the moving acceleration of the electronic device can be determined as the moving acceleration of the jitter detection module 13, so as to remove the moving acceleration in the reference acceleration and obtain the accurate gravitational acceleration. Optionally, after the processor 12 obtains the reference acceleration, it determines the difference between the reference acceleration and the gravitational acceleration constant. When the difference is not greater than the error threshold set based on experience, it is determined that there is no moving acceleration in the jitter check module 13, that is, the jitter detection module 13 is in a stationary or uniform motion state, and the reference acceleration can be directly determined as the gravitational acceleration. When the difference is greater than the error threshold, it is determined that there is a moving acceleration in the jitter detection module 13, such as accelerating forward or decelerating forward, etc. In this case, the moving acceleration included in the reference acceleration needs to be removed. Among them, the gravitational acceleration constant is, for example, 9.8 meters per second squared (m / s2).

[0074] The embodiments of the present application do not limit the process by which the processor 12 obtains the moving acceleration of the electronic device. Taking the electronic device as a vehicle as an example, the processor 12 can access the center console of the vehicle to obtain the moving acceleration of the vehicle. Alternatively, the processor 12 obtains the moving acceleration sent by other speed measurement devices. The other speed measurement devices are, for example, radar speed measurement instruments configured on the roadside. The processor 12 provides the device identifier of the electronic device, such as the license plate number, and accesses the radar speed measurement instrument according to the license plate number to determine the moving acceleration of the electronic device. Alternatively, the processor 12 uses the decomposition vectors of the reference acceleration in different axes, and takes the decomposition vector consistent with the moving direction of the electronic device as the moving acceleration. Taking the reference acceleration decomposed into an x-axis vector horizontally to the right and a y-axis direction vertically downward as an example, since the electronic device moves to the right and the moving directionality is consistent with the x-axis direction, the x-axis vector is determined as the moving acceleration.

[0075] After the processor 12 determines the moving acceleration, it can subtract the value in the direction of the moving acceleration according to the decomposition of the reference acceleration in different axes to obtain the gravitational acceleration. After the processor 12 obtains the gravitational acceleration, it determines the pitch angle of the jitter detection module 13 according to the decomposition vector of the gravitational acceleration, calibrates the initial angular velocity according to the pitch angle, and corrects the drift of the initial angular velocity to obtain the reference acceleration. In a possible case, the influence of the moving acceleration on the gravitational acceleration can be suppressed by tuning the complementary filtering method, that is, as Figure 8As shown, after performing the chi-square check on the initial acceleration, the complementary fusion factor is also adjusted according to the magnitude of the moving acceleration, thereby suppressing the influence of the moving acceleration on the check result.

[0076] After obtaining the movement parameters, the processor 12 can perform attitude estimation on the jitter detection module 13 according to the movement parameters to determine the attitude change amount of the jitter detection module 13. In a possible implementation manner, the process by which the processor 12 determines the attitude change amount of the jitter detection module 13 includes: determining the first attitude of the jitter detection module 13 according to the movement parameters of the jitter detection module 13, and determining the attitude change amount of the jitter detection module 13 according to the historical attitude and the first attitude of the jitter detection module 13. Among them, the historical attitude is determined according to the historical parameters of the jitter detection module 13, and the historical parameters are measured when the attitude of the jitter detection module 13 does not change. The process of determining the historical attitude of the jitter detection module 13 according to the historical parameters is similar to the process of determining the first attitude of the jitter detection module 13 according to the movement parameters. For the relevant content of determining the first attitude according to the movement parameters, reference can be made, and it will not be repeated here.

[0077] In a possible implementation manner, the processor 12 determines a quaternion according to the reference acceleration and the reference angular velocity. The quaternion indicates the rigid body rotation of the jitter detection module 13, and the first attitude of the jitter detection module 13 at the moment of outputting the initial acceleration and the initial angular velocity is determined through the quaternion. Then, the processor 12 obtains the historical attitude of the jitter detection module 13, and the historical attitude indicates the attitude of the jitter detection module 13 at the non-jitter moment. Among them, the non-jitter movement moment can be a non-movement moment, that is, a stationary moment, or a moment during movement when there is no jitter. For example, the moment of driving at a constant speed on a structured road. The definition of a structured road corresponds to the definition of an unstructured road in the above embodiment, referring to a flat road surface without potholes and speed bumps. The processor 12 calculates the absolute value between the first attitude and the historical attitude, and determines the absolute value as the attitude change amount of the jitter detection module 13, thereby determining the change in the attitude of the jitter detection module 13 relative to the non-jitter case when jitter occurs.

[0078] After determining the amount of attitude change of the jitter detection module 13, the processor 12 can perform a transformation according to the first transformation relationship between the jitter detection module 13 and the lighting lamp 11, so as to obtain the amount of attitude change of the lighting lamp 11. Exemplarily, the processor 12 can directly calibrate the first transformation relationship between the jitter detection module 13 and the lighting lamp 11, or can indirectly calibrate it through other intermediate modules. In a possible case, the electronic device applying the lighting system 1 further includes an intermediate module, and the intermediate module is respectively associated with the attitudes of the lighting lamp 11 and the jitter detection module 13. Then the processor 12 can obtain the first coordinate transformation relationship between the jitter detection module 13 and the intermediate module, obtain the first coordinate transformation relationship between the intermediate module and the lighting lamp 11, and determine the first transformation relationship according to the first coordinate transformation relationship and the second coordinate transformation relationship.

[0079] Among them, the attitude association between two modules means that the coordinate transformation relationship between the two modules can be calibrated. Taking the electronic device as a vehicle as an example, as Figure 7 shown, the intermediate module can be a camera configured on the vehicle. Since the lighting lamp 11 is used to emit light outward, and the camera records images by receiving light, the camera and the lighting lamp 11 are complementary, and the coordinate transformation relationship between the camera and the lighting lamp 11 can be calibrated, and the camera and the lighting lamp 11 are attitude-associated.

[0080] In a possible implementation manner, the transformation relationship between different modules can be obtained by calibrating the external parameter matrix. The external parameter matrix of any module is used to describe the position and attitude of any module in the world coordinate system, including a rotation matrix and a translation vector. The rotation matrix indicates the orientation and orientation of any module, that is, the attitude, and the translation vector indicates the position of any module. By calibrating the external parameter matrices between different modules, the transformation relationship between the positions and attitudes of different modules, that is, the rigid body transformation relationship, can be obtained. The world coordinate system involved in the embodiments of the present application is not limited, and it can be the northeast celestial coordinate system, the north-east celestial coordinate system, or other types of world coordinate systems. The northeast celestial coordinate system refers to a coordinate system in which the x-axis points east, the y-axis points north, and the z-axis points to the sky. The north-east celestial coordinate system refers to a coordinate system in which the x-axis points north, the y-axis points east, and the z-axis points to the sky.

[0081] Optionally, the transformation relationship between different modules can be obtained by offline calibration of the external parameter matrix. Taking the transformation relationship between different modules as the first coordinate transformation relationship between the jitter detection module 13 and the intermediate module, where the jitter detection module 13 is an IMU and the intermediate module is a camera as an example, in the field of intelligent driving, the IMU and the camera are usually jointly calibrated for the vehicle to determine the driving intention according to the current driving condition and driving environment of the vehicle. Before the joint calibration, it is necessary to calibrate the external parameter matrix between the IMU and the camera first. Therefore, based on the vehicle operation requirements, the vehicle manufacturer will perform offline calibration of the external parameter matrix of the camera and the IMU before leaving the factory to obtain the first coordinate transformation relationship. Subsequently, when the subsequent processor 12 needs to obtain the first coordinate transformation relationship, it can access the storage space storing the performance parameters and extract the first coordinate transformation relationship included in the performance parameters, that is Figure 7 the IMU-camera external parameter transformation obtained from the optimal external parameter estimation shown

[0082] In a possible case, the transformation relationship between different modules can also be obtained by online calibration of the external parameter matrix. Taking the transformation relationship between different modules as the second coordinate transformation relationship between the intermediate module and the lighting lamp 11, where the intermediate module is an image acquisition device as an example, the process of determining the second coordinate transformation relationship includes but is not limited to: the processor 12 controls the lighting lamp 11 to illuminate the marker; the image acquisition device performs image acquisition on the marker to obtain the acquired image and sends the acquired image to the processor 12. The acquired image includes the marker and the projection generated by illuminating the marker; the processor 12 determines the marker data and the projection data according to the received acquired image, and determines the second coordinate transformation relationship according to the marker data and the projection data

[0083] See Figure 8 , Figure 8 In, the electronic device to which the lighting system 1 is applied is a vehicle, the lighting lamp 11 is a vehicle lamp, and the image acquisition device is a camera on the vehicle. When the vehicle is driving, the vehicle lamp is turned on, and the light of the vehicle lamp will fall on some markers, obtaining the vehicle lamp projection corresponding to the markers. The markers and the vehicle lamp projection are photographed by the camera on the vehicle to obtain the marker data and the projection data. The processor 12 obtains the acquired image collected by the camera, determines the marker data and the projection data according to the acquired image, uses the method of minimizing the reprojection error, establishes an external parameter optimization equation according to the marker data and the projection data, and solves the external parameter matrix between the vehicle lamp and the camera through the external parameter optimization equation to obtain the second coordinate transformation relationship. Among them, the external parameter optimization equation can be a non-linear optimization equation. The process of calibrating the external parameter matrix through the reprojection error can be, in some cases, as Figure 7 shown, called motion compensation based on image input, and the camera-vehicle lamp external parameter transformation is determined through motion compensation

[0084] The embodiments of the present application do not limit the markers involved in calibrating the external parameter matrix. During the movement of the electronic device, the markers can be road signs, trees, etc. passed by. When the above online calibration process occurs in the detection stage, the markers can be patterns such as checkerboards for external parameter calibration. In addition, the multiple projections obtained during the external parameter calibration process can be obtained by illuminating multiple markers, or can be obtained by illuminating the same marker at different angles. In a possible case, at least one of the jitter detection module 13 and the intermediate module is configured in the lighting lamp 11.

[0085] After the processor 12 obtains the first coordinate transformation relationship and the second coordinate transformation relationship, it can determine the first transformation relationship according to the first coordinate transformation relationship and the second coordinate transformation relationship. For example, the first coordinate transformation relationship and the second coordinate transformation relationship are multiplied, and the product obtained by multiplication is determined as the first transformation relationship. Since the first transformation relationship indicates the attitude correspondence relationship between the jitter detection module 13 and the lighting lamp 11, therefore, in the case where the attitude change amount of the jitter detection module 13 is known, the attitude change amount of the lighting lamp 11 in this case can be determined according to the attitude change amount of the jitter detection module 13 and the first transformation relationship. Optionally, the process of converting the attitude change amount of the jitter detection module 13 through the first transformation relationship can be multiplying the first transformation relationship and the attitude change amount of the jitter detection module 13, and determining the product obtained by multiplication as the attitude change amount of the lighting lamp 11.

[0086] In addition, the processor 12 can first determine the attitude change amount of the jitter detection module 13, and then determine the attitude change amount of the lighting lamp 11 according to the attitude change amount of the jitter detection module 13. The processor 12 can also first determine the first attitude of the jitter detection module 13, determine the second attitude of the lighting lamp 11 according to the first attitude of the jitter detection module 13, and then calculate the absolute value between the second attitude of the lighting lamp 11 and the reference attitude to obtain the attitude change amount of the lighting lamp 11. Exemplarily, the processor 12 converts the first attitude according to the first transformation relationship to obtain the second attitude, and the conversion process can be the matrix multiplication in the above embodiments. After that, the processor 12 obtains the reference attitude of the lighting lamp 11 when the attitude has not changed, and determines the attitude change amount of the lighting lamp 11 according to the reference attitude and the second attitude. The reference attitude can also be obtained by converting the historical attitude of the jitter detection module 13 through the first transformation relationship.

[0087] Exemplarily, the processor 12 can determine the attitude change amount of the lighting lamp 11 by choosing any one of acquisition method 1 or acquisition method 2 according to the structure of the lighting system 1. For example, in the case where the electronic device applying the lighting system 1 only includes a locator, choose acquisition method 1 to obtain the attitude change amount of the lighting lamp 11, or, in the case where the jitter detection module 13 is configured in the lighting system 1, such as Figure 7The second acquisition method shown obtains the IMU attitude estimate based on the movement parameters output by the jitter detection module 13 to obtain the first attitude of the IMU, and then obtains the attitude change amount of the lighting lamp 11 according to the first attitude. The processor 12 can also combine the first acquisition method and the second acquisition method to obtain the attitude change amount of the lighting lamp 11. For example Figure 8 As shown, during the process of obtaining the IMU attitude estimate based on the movement parameters, the operation data output by the locator or the auxiliary system is also referred to for verifying the attitude estimated based on the movement parameters to obtain the first attitude. Figure 8 In this case, the locator is a GPS and the auxiliary system is an ADAS.

[0088] After obtaining the attitude change amount of the lighting lamp 11, the processor 12 can determine whether the lighting lamp 11 has an attitude change according to the attitude change amount of the lighting lamp 11, and perform lighting adjustment in the case of an attitude change. Since the lighting lamp 11 has an attitude change, the light emitted by the lighting lamp 11 falling on the projection surface will shift. For example, when the lighting lamp 11 jitters to the right, the light emitted by the lighting lamp 11 shifts to the right. In this case, the projection position of the shifted light on the projection surface will also shift to the right, and the lighting pattern formed by multiple beams of light will also shift to the right and its shape may be distorted. Therefore, the processor 12 needs to perform lighting adjustment on the lighting lamp 11 in the case of an attitude change of the lighting lamp 11 to avoid the lighting pattern on the projection surface from shifting and jittering, thereby reducing the interactive experience.

[0089] Exemplarily, the processor 12 can determine a lighting adjustment strategy according to the attitude change amount of the lighting lamp 11, so as to perform lighting adjustment on the lighting lamp 11 through the lighting adjustment strategy, so that even if the lighting lamp 11 has an attitude change, the target lighting pattern corresponding to the initial lighting pattern can be successfully displayed. Among them, the target lighting pattern can be the same as or different from the initial lighting pattern. Next, the acquisition process of the lighting adjustment strategy for the target lighting pattern in the two cases will be illustrated by examples respectively.

[0090] Case 1: The target lighting pattern is the same as the initial lighting pattern.

[0091] Case 1 means that the target pattern to be displayed by the lighting lamp 11 is the same as the initial pattern, that is, the pattern display requirement of the lighting lamp 11 has not changed, and it is still the initial pattern display requirement involved in displaying the initial lighting pattern. In a possible implementation manner, the processor 12 determines a lighting adjustment strategy based on the attitude change amount of the lighting lamp 11. The processor 12 can determine a lighting compensation parameter according to the second transformation relationship between the lighting lamp 11 and the projection surface where the initial lighting pattern is located, and the attitude change amount of the lighting lamp 11, and determine a lighting adjustment strategy according to the lighting compensation parameter. The lighting compensation parameter is used to correct the change of the lighting pattern formed by the lighting lamp 11 under the condition of attitude change predicted by the processor 12.

[0092] Optionally, according to the initial pattern display requirement and the attitude change amount of the lighting lamp 11, the processor 12 predicts the lighting pattern formed by the lighting lamp 11 on the projection plane when the attitude changes, obtains the first shape parameter, and then determines the lighting compensation parameter required to correct the lighting pattern. For example Figure 8 As shown, after the processor 12 determines the attitude change amount of the lighting lamp 11 by determining the vehicle pose, the lighting shape calculation can be performed according to the attitude change amount of the lighting lamp 11 to obtain the first shape parameter.

[0093] Exemplarily, the process for the processor 12 to obtain the first shape parameter includes but is not limited to: obtaining the second transformation relationship between the lighting lamp 11 and the projection plane; determining the transformation matrix of the lighting shape according to the second transformation relationship and the attitude change amount of the lighting lamp 11, and determining the first shape parameter according to the transformation matrix and the initial pattern. The meanings of the second transformation relationship and the first transformation relationship are similar, and are used to indicate the attitude and position transformation between the lighting lamp 11 and the projection plane. Through the second transformation relationship, the coordinate position where the light emitted by the lighting lamp 11 falls on the projection plane can be determined. Optionally, the processor 12 can directly calibrate the second transformation relationship between the lighting lamp 11 and the projection plane, or can indirectly calibrate the second transformation relationship between the lighting lamp 11 and the projection plane through other modules configured on the electronic device. For example, the processor 12 obtains the third transformation relationship between the lighting lamp 11 and the reference module, and determines the third transformation relationship as the second transformation relationship, and the reference module is parallel to the projection plane.

[0094] The embodiments of the present application do not limit the reference module, and the reference module can be any module parallel to the projection plane. Taking the electronic device as a vehicle and the projection plane as the road surface as an example, the reference module can be the vehicle chassis parallel to the road surface. Taking the electronic device as a drone and the projection plane as the stage surface below as an example, the reference module can be the bottom of the fuselage parallel to the stage surface. Since the reference module is parallel to the projection plane, the difference between the reference module and the projection plane in the world coordinate system is the distance in the z-axis direction, and the shapes of the lighting patterns formed on planes with different z-axis heights correspond. Since the processor 12 corrects the anti-shake process with reference to the shape, the third transformation relationship between the lighting lamp 11 and the reference module can be determined as the second transformation relationship between the lighting lamp 11 and the projection plane. The process for the processor 12 to obtain the third transformation relationship between the lighting lamp 11 and the reference module is similar to the acquisition processes of the first coordinate transformation relationship and the second coordinate transformation relationship in the above embodiments, and can be to access the storage space to obtain the offline calibration value in the storage space, or to online calibrate the external parameter matrix.

[0095] In a possible scenario, after obtaining the second transformation relationship, the processor 12 can determine the offset of the light emitted by the lighting lamp 11 according to the attitude change amount of the lighting lamp 11, determine the offset of the light on the projection plane according to the second transformation relationship and the offset of the light, and obtain a transformation matrix for representing the offset of the light on the projection plane. After obtaining the transformation matrix, the processor 12 determines the initial pattern according to the initial pattern display requirement, and determines the coordinate points of the light on the projection plane when the light for forming the initial pattern is emitted to the projection plane according to the initial pattern and the transformation matrix, and obtains an illumination pattern formed by at least one coordinate point, that is, a first shape parameter for describing the illumination pattern.

[0096] In a possible implementation manner, the processor 12 determines an illumination compensation parameter according to the first shape parameter and the initial illumination pattern. Since the initial illumination pattern meets the initial pattern display requirement, the difference between the first shape parameter and the initial illumination pattern can be calculated to determine the gap between the illumination pattern indicated by the first shape parameter and the initial pattern display requirement. This difference is the coordinate points that need to be supplemented and the coordinate points that need to be removed. Then, the illumination compensation parameter is determined according to the difference between the illumination patterns. The illumination compensation parameter indicates the coordinate points that need to be moved on the projection plane, such as the coordinate points where light needs to be supplemented or the coordinate points where light needs to be removed.

[0097] After determining the illumination compensation parameter, the processor 12 can determine an illumination adjustment strategy according to the illumination compensation parameter. The processor 12 can directly determine the illumination adjustment strategy according to the illumination compensation parameter to achieve the shape correction of the illumination pattern. For the case where the lighting lamp 11 includes multiple light sources as shown in the above embodiment and the initial illumination pattern is obtained by illuminating with at least one light source, the illumination adjustment strategy can indicate to adjust at least one of the number or brightness of the light sources participating in the illumination among the multiple light sources. For example, for the case where the first shape parameter indicates that the illumination pattern is shifted to the right, the illumination adjustment strategy includes turning on the light source that emits light to the left coordinate points and turning off the light source that emits light to the right coordinate points. Or, for the case where the lighting lamp 11 shakes and causes the multiple light sources to overlap, the illumination adjustment strategy includes adjusting the brightness of the overlapping multiple light sources.

[0098] In a possible scenario, the illumination adjustment strategy can also indicate to adjust the light emission angle of the light source of the lighting lamp 11. Since the shake of the illumination pattern is caused by the offset of the light emission angle of the lighting lamp 11, the processor 12 can determine the light emission angle that needs to be supplemented according to the illumination compensation parameter to correct the angle offset of the emitted light so that the light emission of the lighting lamp 11 returns to the state before the shake.

[0099] Optionally, the processor 12 may further determine an illumination adjustment strategy according to the illumination compensation parameter and the chamfer compensation amount. For example, there may be a problem with the edge contour of the projection shape corrected by the processor 12 according to the illumination compensation parameter. Taking Figure 3 as an example, the light carpet formed by the vehicle emitting light onto the road surface through the vehicle lamp includes two parts, a light curtain and a pattern. Among them, the light curtain is exemplified by a rectangular rectangle in Figure 3 , and this light curtain is used for pattern presentation. During the process of the processor 12 correcting the illumination pattern according to the illumination compensation parameter, the light curtain may not fit the lane line. For example, a part of the left edge exceeds the lane line, and a part is missing on the right edge, resulting in the light curtain not being rectangular. Therefore, during the process of the processor 12 determining the illumination adjustment strategy according to the illumination compensation parameter, it can predict the chamfer characteristics of the corrected illumination pattern according to the illumination compensation parameter, determine the chamfer transformation parameter according to the chamfer characteristics and the transformation matrix, determine the chamfer compensation amount according to the chamfer transformation parameter, and determine the illumination adjustment measurement according to the chamfer compensation amount and the illumination compensation parameter.

[0100] Exemplarily, the processor 12 predicts the coordinate points where the light rays emitted based on the illumination compensation parameter fall on the projection plane according to the illumination compensation parameter and the attitude change amount of the illuminating lamp 11, and obtains the corrected illumination pattern formed by the coordinate system. Obtain the chamfer characteristics of the illumination pattern, correct the edge contour of the predicted illumination pattern according to the chamfer characteristics, and obtain the chamfer transformation parameter, which indicates the edge shape of the illumination pattern. Then, determine the chamfer compensation amount according to the edge shape of the illumination pattern, that is, the coordinate points that need to be supplemented or the coordinate points that need to be removed, and determine the illumination adjustment strategy according to the chamfer compensation amount and the illumination compensation parameter. Optionally, the process of the processor 12 determining the illumination adjustment strategy according to the illumination compensation parameter and the chamfer compensation amount is similar to the process of determining the illumination adjustment strategy according to the illumination compensation parameter, and reference can be made to the relevant descriptions in the above embodiments, which will not be repeated here.

[0101] Case 2: The target illumination pattern is different from the initial illumination pattern.

[0102] Case 2 means that the target pattern to be displayed by the illuminating lamp 11 has changed and is different from the initial pattern. Continuing with Figure 3 as an example, during the forward movement of the vehicle, when the vehicle passes over a speed bump, the vehicle shakes, and the illumination pattern in front of the vehicle changes from a cloud shape to an exclamation mark shape based on the presence of the speed bump, to remind the driver that they are passing over a speed bump and pay attention to the bumps. In this case, the target pattern display requirement obtained by the processor 12 indicates to display an exclamation mark. The embodiments of the present application do not limit the process of the processor 12 receiving the target pattern display requirement. It is similar to the process of obtaining the initial pattern display requirement, and reference can be made to the relevant content about the initial pattern display requirement in the above embodiments, which will not be repeated here.

[0103] In a possible implementation, the processor 12 may determine an illumination adjustment strategy based on the received target pattern display requirement and the attitude change amount of the illumination lamp 11. Similar to the process in Case 1, the processor 12 first determines a transformation matrix according to the attitude change amount of the illumination lamp 11 and the second transformation relationship. Then, the processor 12 determines the first light emission strategy of the illumination lamp 11 according to the target pattern display requirement and the transformation matrix. For example, the coordinate position of the light projection point in the current frame is determined according to the pattern display requirement, and the first light emission strategy is determined according to the coordinate position and the transformation matrix. Here, the current frame is the moment when the attitude of the illumination lamp 11 changes. After that, the processor 12 further obtains the second light emission strategy corresponding to the initial target pattern, and determines the illumination adjustment strategy according to the first light emission strategy and the second light emission strategy. For example, the first light emission strategy indicates that light source A needs to emit light at 30 degrees to the northeast, light source B needs to emit light at 31 degrees to the northeast, and light source C needs to emit light at 32 degrees to the northeast. The second light source emission strategy is that light source A emits light at 29 degrees to the northeast. In this case, the determined illumination adjustment strategy is to adjust light source A to the northeast and increase light sources B and C.

[0104] Whether it is Case 1 or Case 2, after obtaining the illumination adjustment strategy, the processor 12 can perform illumination adjustment on the illumination lamp 11 according to the illumination adjustment strategy to obtain a target illumination pattern corresponding to the illumination pattern, where the moment of obtaining the initial illumination pattern is earlier than the moment of obtaining the target illumination pattern. The processor 12 controls the illumination lamp 11 to emit light according to the illumination adjustment strategy to obtain a target illumination pattern corresponding to the initial illumination pattern. For example Figure 7 and Figure 8 as shown, the processor 12 controls the intelligent vehicle lamp to emit light through the illumination compensation module to form a light carpet projection.

[0105] Optionally, the correspondence between the target illumination pattern and the initial illumination pattern means that the illumination ranges of the target illumination pattern and the initial illumination pattern correspond. Taking the illumination of the target illumination pattern according to the initial pattern display requirement in Case 1 as an example, the relative distance between the target illumination pattern and the electronic device is equal to the relative distance between the initial illumination pattern and the electronic device, so that the user of the electronic device does not perceive the movement of the illumination pattern during the interaction process. Taking the illumination of the target illumination pattern according to the target pattern display requirement in Case 2 as an example, although the pattern changes, the illumination range remains unchanged. For example Figure 3 in, the exclamation mark and the cloud are in the same light curtain, and the position of the light curtain relative to the vehicle remains unchanged, and the light curtain does not drift. In this case, although the attitude of the illumination lamp 11 changes, the user also does not perceive the jitter of the illumination pattern.

[0106] In summary, for the lighting system provided in the embodiments of the present application, when the attitude of the lighting lamp changes, the processor will timely adjust the lighting strategy according to the attitude change amount of the lighting lamp, and obtain a target lighting pattern corresponding to the initial lighting pattern before the attitude change. By adjusting the lighting, the drift of the lighting pattern caused by the attitude change of the lighting lamp is reduced, so as to provide a stable lighting pattern and improve the lighting interaction experience. The manner in which the processor obtains the attitude change amount of the lighting lamp is not limited. It can be through operation data such as a locator, or can be calculated according to the movement parameters measured by the jitter detection module, with high flexibility. During the process of attitude estimation based on the movement parameters measured by the jitter detection module, the influence of the movement acceleration of the jitter detection module on the attitude estimation will be removed, thereby improving the real-time accuracy and long-term stability of the estimated first attitude.

[0107] Embodiments of the present application provide a lighting method, which can be executed by a lighting system. The lighting system includes a lighting lamp and a processor, and the lighting lamp and the processor are connected. The lighting system can be the lighting system 1 shown above Figure 1 、 Figure 2 、 Figures 4 - 6 . The flowchart of the method is as shown in Figure 9 and includes S901 - S903.

[0108] S901, control the lighting lamp to perform lighting through the processor to obtain an initial lighting pattern that meets the initial pattern display requirement.

[0109] Exemplarily, the processor and the lighting lamp are connected. For example, a communication connection is established between the processor and the lighting lamp through a wired or wireless network. Alternatively, the processor is configured inside the lighting lamp, thereby achieving the connection. In a possible case, the processor obtains the initial pattern display requirement, and controls the lighting lamp to emit light towards the projection surface according to the initial pattern display requirement, so as to display the initial lighting pattern on the projection surface. The process of the processor obtaining the initial pattern display requirement and controlling the lighting of the lighting lamp according to the initial pattern display requirement is similar to the process of the processor 12 obtaining the initial pattern display requirement and controlling the lighting of the lighting lamp 11 in the embodiment shown above Figure 1 . Taking the lighting lamp including multiple light sources as an example, the lighting system can control at least one of the multiple light sources to perform lighting through the processor to obtain the initial lighting pattern. For a detailed description, reference can be made to the embodiment shown in Figure 1 , and details will not be repeated here.

[0110] S902, when the attitude of the lighting lamp changes, determine a lighting adjustment strategy based on the attitude change amount of the lighting lamp through the processor, or determine a lighting adjustment strategy based on the received target pattern display requirement and the attitude change amount of the lighting lamp.

[0111] In a possible implementation, the lighting system detects the posture of the lighting lamp through a processor to obtain the posture change amount of the lighting lamp, so as to determine the lighting adjustment strategy when the posture of the lighting lamp changes. Based on the different configuration structures of the lighting system, the lighting system can obtain the posture change amount in different ways through the processor.

[0112] Structure 1: The lighting lamp is applied to an electronic device, and the processor is connected to at least one of a locator and an auxiliary system included in the electronic device.

[0113] Among them, the auxiliary system is used to assist the movement of the electronic device. For the relevant descriptions of the electronic device, locator, and auxiliary system, reference can be made to Figure 4 the descriptions of the electronic device, locator, and auxiliary system in the illustrated embodiments, which will not be repeated here. In this connection relationship, the lighting system can obtain at least one of the first operation data of the locator and the second operation data of the auxiliary system through the processor, and determine the posture change amount of the lighting lamp according to at least one of the first operation data and the second operation data. For the process of determining the posture change amount of the lighting lamp according to at least one of the first operation data and the second operation data, reference can be made to Acquisition Method 1 in the above embodiments, which will not be elaborated here.

[0114] Structure 2: The lighting system further includes a jitter detection module, and the jitter detection module is connected to the processor.

[0115] For the description of the jitter detection module, reference can be made to Figures 5 - 6 the illustrated embodiments. The lighting system can measure the movement parameters of the jitter detection module through the jitter detection module and send the movement parameters to the processor; the processor determines the posture change amount of the jitter detection module according to the movement parameters, and converts the posture change amount of the jitter detection module according to the first transformation relationship between the jitter detection module and the lighting lamp to obtain the posture change amount of the lighting lamp.

[0116] Optionally, the process of obtaining the movement parameters is similar to the process in the above embodiments where the processor 12 obtains the movement parameters of the jitter detection module 13, and the process of determining the posture change amount of the jitter detection module according to the movement parameters is similar to the process in the above embodiments where the processor 12 determines the posture change amount of the jitter detection module 13 according to the movement parameters. In a possible implementation, the lighting system can determine the first posture of the jitter detection module through the processor according to the movement parameters of the jitter detection module, determine the posture change amount of the jitter detection module according to the historical posture and the first posture of the jitter detection module, the historical posture is determined according to the historical parameters of the jitter detection module, and the historical parameters are measured when the posture of the jitter detection module does not change.

[0117] Exemplarily, the process by which the lighting system determines the attitude change amount of the lighting lamp based on the attitude change amount of the jitter detection module by the processor is similar to the process in the above embodiment where the processor 12 determines the attitude change amount of the lighting lamp 11 based on the attitude change amount of the jitter detection module 13, and also includes obtaining a first transformation relationship, converting the attitude change amount of the jitter detection module according to the first transformation relationship to obtain the attitude change amount of the lighting lamp. Optionally, the process by which the lighting system obtains the first transformation relationship includes, but is not limited to: obtaining, by the processor, a first coordinate relationship between the jitter detection module and the intermediate module, obtaining a second coordinate transformation relationship between the intermediate module and the lighting lamp, and determining the first transformation relationship based on the first coordinate transformation relationship and the second coordinate transformation relationship. Here, the intermediate module is a module included in the electronic device to which the lighting system is applied, and the intermediate module is associated with the attitudes of the lighting lamp and the jitter detection module respectively. Exemplarily, at least one of the intermediate module and the jitter detection module is configured inside the lighting lamp.

[0118] In a possible implementation manner, when the intermediate module is an image acquisition device, the process by which the lighting system obtains the second coordinate transformation relationship includes, but is not limited to: controlling, by the processor, the lighting lamp to illuminate a marker; performing image acquisition on the marker by the image acquisition device to obtain an acquired image, and sending the acquired image to the processor. The acquired image includes the marker and the projection generated by illuminating the marker; determining, by the processor, marker data and projection data based on the received acquired image, and determining the second coordinate transformation relationship based on the marker data and the projection data. After obtaining the second coordinate transformation relationship, the lighting system can determine the first transformation relationship based on the second coordinate transformation relationship and the first coordinate transformation relationship, and determine the attitude change amount of the lighting lamp based on the first transformation relationship. For the detailed process of determining the attitude change amount of the lighting lamp through the jitter detection module, reference can be made to the relevant description in the acquisition method two in the above embodiment, and details will not be repeated here.

[0119] The lighting system can select the acquisition method corresponding to Structure 1 or Structure 2 based on the structure, or, when both structures are satisfied, combine at least one of the first operation data and the second operation data with the movement parameter to obtain the first attitude of the jitter detection module, determine the attitude change amount of the jitter detection module based on the first attitude, and further determine the attitude change amount of the lighting lamp based on the attitude change amount of the jitter detection module.

[0120] Regardless of the method for obtaining the attitude change amount of the lighting lamp, the lighting system can obtain a lighting adjustment strategy according to the attitude change amount of the lighting lamp when the attitude change amount of the lighting lamp indicates that the lighting lamp has an attitude change, for example, a jitter occurs. Optionally, when the pattern display requirement remains unchanged, that is, when the target pattern to be illuminated is the same as the initial pattern, the lighting system can determine a lighting adjustment strategy through a processor according to the attitude change amount of the lighting lamp. For example, the processor determines a lighting compensation parameter according to the second transformation relationship between the lighting lamp and the projection plane where the initial lighting pattern is located, and the attitude change amount of the lighting lamp, and determines a lighting adjustment strategy according to the lighting compensation parameter. The lighting compensation parameter is used to correct the change of the lighting pattern formed by the lighting lamp predicted by the processor when the attitude of the lighting lamp changes. When the pattern display requirement changes and the target pattern to be illuminated is different from the initial pattern, the lighting system can determine a lighting adjustment strategy through a processor according to the target pattern display requirement and the attitude change amount of the lighting lamp.

[0121] S903. Through the processor, the lighting lamp is adjusted according to the lighting adjustment strategy to obtain a target lighting pattern corresponding to the initial lighting pattern, and the time when the initial lighting pattern is obtained is earlier than the time when the target lighting pattern is obtained.

[0122] In a possible implementation manner, for the case where the lighting lamp shown in S901 includes multiple light sources, the process of the lighting system adjusting the lighting lamp through the processor is, for example, that the processor adjusts at least one of the number or brightness of the light sources participating in lighting among the multiple light sources according to the lighting adjustment strategy to obtain the target lighting pattern. The process of obtaining the target lighting pattern according to the lighting adjustment strategy is similar to the process of the processor 12 controlling the lighting lamp 11 to perform lighting adjustment in the embodiment shown above, and will not be repeated here. Figure 1 Shown in the embodiment, the process of the processor 12 controlling the lighting lamp 11 to perform lighting adjustment is similar, and will not be repeated here.

[0123] In summary, the lighting method provided by the embodiment of the present application can timely adjust the lighting strategy according to the attitude change amount of the lighting lamp when the attitude of the lighting lamp changes, obtain a target lighting pattern corresponding to the initial lighting pattern before the attitude change, reduce the drift of the lighting pattern caused by the attitude change of the lighting lamp by adjusting the lighting, realize providing a stable lighting pattern, and improve the lighting interaction experience. The method for obtaining the attitude change amount of the lighting lamp is not limited, and it can be obtained through operation data such as a locator, or can be calculated according to the movement parameters measured by the jitter detection module, with high flexibility.

[0124] Figure 10 This is a flowchart of another lighting method provided by the embodiment of the present application. Figure 10It shows how the processor in the lighting system controls the lighting of the vehicle lights to form a light carpet when the electronic device applying the lighting system is a vehicle, the lighting lamp is a vehicle lamp, and the jitter detection module is an IMU.

[0125] S1001, Obtain IMU data and ADAS data.

[0126] Among them, the IMU data corresponds to the movement parameters of the jitter detection module 13 in the above embodiment, and the ADAS data corresponds to the second operation data of the auxiliary system in the above embodiment. During the movement of the vehicle, the processor receives the IMU data sent by the IMU and the ADAS data sent by the ADAS based on the communication connections with the IMU and the ADAS.

[0127] S1002, Estimate the attitude of the IMU according to the IMU data and the ADAS data.

[0128] Exemplarily, the IMU includes an accelerometer and a gyroscope. Among them, the accelerometer is used to measure the initial acceleration, and the gyroscope is used to measure the initial angular velocity. After the processor obtains the IMU data, it can mutually verify the initial acceleration and the initial angular velocity included in the IMU data. For example, the initial acceleration is calibrated online by using chi-square calibration to obtain the reference acceleration, so as to suppress the influence of the acceleration on the accuracy of the attitude estimation and improve the accuracy of the estimated attitude. Determine the gravitational acceleration, that is, the gravity component, according to the reference acceleration, verify the initial angular velocity according to the gravitational acceleration to obtain the reference angular velocity, and then correct the gravity component according to the reference angular velocity. After verifying to obtain the reference acceleration and the reference angular velocity, the attitude of the IMU can be estimated based on the adaptive complementary filtering algorithm according to the reference acceleration, the reference angular velocity, and the corrected gravity component, and the estimated attitude is verified by combining the ADAS data during the estimation process to obtain the attitude of the IMU. Among them, the attitude of the IMU corresponds to the first attitude of the jitter detection module 13 in the above embodiment.

[0129] S1003, Determine the attitude change amount of the vehicle lamp according to the attitude of the IMU.

[0130] Exemplarily, the process by which the processor determines the attitude change amount of the vehicle lamp according to the attitude of the IMU is similar to the process by which the processor 12 determines the attitude change amount of the lighting lamp 11 according to the first attitude of the jitter detection module 13 in the above embodiment. For the relevant content in the second acquisition method, reference can be made, and the description will not be repeated here.

[0131] S1004, Calculate the lighting shape transformation of the light carpet during the jitter process according to the attitude change amount of the vehicle lamp and the vehicle lamp-chassis calibration data, and correct the lighting shape cut angle.

[0132] In a possible scenario, the headlight-chassis calibration data corresponds to the second transformation relationship in the above embodiments, the calculated lighting shape transformation corresponds to the transformation matrix in the above embodiments, and the correction of the lighting shape chamfer corresponds to the lighting compensation parameter and chamfer compensation amount determined according to the transformation matrix in the above embodiments. For a detailed description, refer to the relevant content of the first case in the above embodiments, which will not be repeated here.

[0133] S1005. According to the working conditions and the change of the self-vehicle pose, calculate the position of the projection point of the lighting shape chamfer in the current frame, and control the lighting module to illuminate the ground.

[0134] Exemplarily, determining the position of the projection point in the current frame corresponds to the process of determining the lighting adjustment strategy according to the lighting compensation parameter in the above embodiments. For details, refer to the relevant content of the first case in the above embodiments, which will not be repeated here. After the processor determines the position where the light ray falls in the current frame, it controls the headlight to emit light according to the lighting adjustment strategy, so that the emitted light ray falls on the calculated position to obtain the target lighting pattern.

[0135] In a possible case, the processor and the lighting lamp can be integrated in one lighting system, or can be configured in different systems of the same device. Taking an electronic device as a vehicle as an example, if the lighting lamp is the headlight on the vehicle, the processor can be the mobile data center (MDC) on the vehicle's computing platform.

[0136] The embodiment of the present application also provides an electronic device, on which a lighting system is installed, and the lighting system is used to execute the lighting method provided by the embodiment of the present application. Optionally, the electronic device includes a vehicle, a drone or a robot.

[0137] The embodiment of the present application also provides a computer-readable storage medium, in which at least one instruction is stored, and the instruction is loaded and executed by a processor to enable the electronic device to implement the lighting method as described above.

[0138] The embodiment of the present application also provides a computer program (product), when the computer program is executed by a computer, it can enable the processor or the electronic device to execute the corresponding steps and / or processes in the above method embodiments.

[0139] The embodiment of the present application also provides a chip, which includes a processor for calling and running the instruction stored in the memory from the memory, so that the electronic device installed with the chip executes the lighting method as described above.

[0140] An embodiment of the present application further provides another chip, including: an input interface, an output interface, a processor, and a memory. The input interface, the output interface, the processor, and the memory are connected through an internal connection path. The processor is configured to execute the code in the memory. When the code is executed, the processor is configured to execute any one of the above lighting methods.

[0141] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access, or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state disk).

[0142] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.), and signals involved in the present application are all authorized by the user or fully authorized by all parties. And the collection, use, and processing of relevant data need to comply with relevant laws, regulations, and standards in relevant countries and regions. For example, the amount of posture change involved in the present application is obtained under full authorization.

[0143] Those of ordinary skill in the art can realize that, in combination with the method steps and modules described in the embodiments disclosed herein, they can be implemented in software, hardware, firmware, or any combination thereof. To clearly illustrate the interchangeability of hardware and software, the steps and components of each embodiment have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those of ordinary skill in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0144] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above embodiments can be completed by hardware or can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium, and the above-mentioned storage medium can be a read-only memory, a disk, an optical disc, etc.

[0145] When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer program instructions. As an example, the method of the embodiments of the present application can be described in the context of machine-executable instructions, such as program modules executed in devices included in a target real or virtual processor. Generally speaking, program modules include routines, programs, libraries, objects, classes, components, data structures, etc., which perform specific tasks or implement specific abstract data structures. In each embodiment, the functions of the program modules can be merged or split among the described program modules. The machine-executable instructions for the program modules can be executed within a local or distributed device. In a distributed device, the program modules can be located in both local and remote storage media.

[0146] The computer program code for implementing the method of the embodiments of the present application can be written in one or more programming languages. These computer program codes can be provided to the processors of general-purpose computers or special-purpose computers, so that when the program codes are executed by the computer, the functions / operations specified in the flowchart and / or block diagram are implemented. The program codes can be executed entirely on the computer, partially on the computer, as an independent software package, partially on the computer and partially on a remote computer, or entirely on a remote computer or server.

[0147] In the context of the embodiments of the present application, the computer program code or related data can be carried by any suitable carrier so that the device, apparatus, or processor can execute the various processes and operations described above. Examples of carriers include signals, computer-readable media, etc.

[0148] Examples of signals can include electrical, optical, radio, acoustic, or other forms of propagated signals, such as carrier waves, infrared signals, etc.

[0149] A machine-readable medium can be any tangible medium that contains or stores a program for or relevant to an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any suitable combination thereof. More detailed examples of machine-readable storage media include electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0150] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0151] In several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the module is only a logical function division, and there can be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed couplings or direct couplings or communication connections to each other can be indirect couplings or communication connections through some interfaces, devices, or modules, and can also be electrical, mechanical, or other forms of connections.

[0152] The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they can be located in one place, or can be distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the embodiments of this application.

[0153] In addition, the functional modules in each embodiment of this application can be integrated into one processing module, or each module can exist physically alone, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0154] When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of this application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0155] In this application, terms such as "first" and "second" are used to distinguish between identical or similar items with basically the same functions and effects. It should be understood that there is no logical or chronological dependency between "first", "second", and "nth", nor are the quantity and execution order limited. It should also be understood that although the following description uses terms such as first and second to describe various elements, these elements should not be limited by the terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of various described examples, the first image can be referred to as the second image, and similarly, the second image can be referred to as the first image. Both the first image and the second image can be images, and in some cases, they can be separate and different images.

[0156] It should also be understood that in various embodiments of this application, the magnitudes of the sequence numbers of each process do not mean the sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0157] In this application, the meaning of the term "at least one" refers to one or more, and the meaning of the term "multiple" refers to two or more. For example, multiple second messages refer to two or more second messages. In this article, the terms "system" and "network" are often used interchangeably.

[0158] It should be understood that the terms used in the description of various described examples in this article are only for describing specific examples and are not intended to be limiting. As used in the description of various described examples and the appended claims, the singular forms "a", "an", and "the" are also intended to include the plural forms unless the context clearly indicates otherwise.

[0159] It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. The term "and / or" is a correlative relationship describing associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0160] It should also be understood that the term "comprising" (also known as "includes", "including", "comprises" and / or "comprising") when used in this specification specifies the presence of the stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or their groups.

[0161] It should also be understood that the terms "if" and "when" can be interpreted to mean "when" ("when" or "upon") or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if it is determined..." or "if [the stated condition or event] is detected" can be interpreted to mean "when it is determined..." or "in response to determining..." or "when [the stated condition or event] is detected" or "in response to detecting [the stated condition or event]".

[0162] It should be understood that determining B based on A does not mean determining B solely based on A. B can also be determined based on A and / or other information.

[0163] It should also be understood that the "one embodiment", "an embodiment", "a possible implementation" mentioned throughout the specification means that the specific features, structures, or characteristics related to the embodiment or implementation are included in at least one embodiment of this application. Therefore, the "in one embodiment" or "in an embodiment", "a possible implementation" that appear throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics can be combined in one or more embodiments in any suitable manner.

Claims

1. A lighting system, characterized in that, the lighting system includes a lighting lamp and a processor, and the processor is connected to the lighting lamp; the processor is configured to control the lighting lamp to perform lighting to obtain an initial lighting pattern that meets the initial pattern display requirement; the processor is further configured to, when the attitude of the lighting lamp changes, determine a lighting adjustment strategy based on the attitude change amount of the lighting lamp, or determine a lighting adjustment strategy based on the received target pattern display requirement and the attitude change amount of the lighting lamp; the processor is further configured to perform lighting adjustment on the lighting lamp according to the lighting adjustment strategy to obtain a target lighting pattern corresponding to the initial lighting pattern, and the time when the initial lighting pattern is obtained is earlier than the time when the target lighting pattern is obtained.

2. The lighting system according to claim 1, characterized in that, the lighting lamp includes a plurality of light sources; the processor is configured to control at least one of the plurality of light sources to perform lighting to obtain the initial lighting pattern; the processor is configured to adjust at least one of the number or brightness of the light sources participating in lighting among the plurality of light sources according to the lighting adjustment strategy to obtain the target lighting pattern.

3. The lighting system according to claim 1 or 2, characterized in that, the lighting system is applied to an electronic device, and the processor is connected to at least one of a locator and an auxiliary system included in the electronic device, and the auxiliary system is used to assist the movement of the electronic device; the processor is further configured to obtain at least one of the first operation data of the locator and the second operation data of the auxiliary system, and determine the attitude change amount of the lighting lamp according to at least one of the first operation data and the second operation data.

4. The lighting system according to claim 1 or 2, characterized in that, the lighting system further includes a jitter detection module, and the jitter detection module is connected to the processor; the jitter detection module is configured to measure the movement parameters of the jitter detection module and send the movement parameters to the processor; the processor is further configured to determine the attitude change amount of the jitter detection module according to the movement parameters, and convert the attitude change amount of the jitter detection module according to the first transformation relationship between the jitter detection module and the lighting lamp to obtain the attitude change amount of the lighting lamp.

5. The lighting system according to claim 4, characterized in that, the processor is configured to determine the first attitude of the jitter detection module according to the movement parameters of the jitter detection module, and determine the attitude change amount of the jitter detection module according to the historical attitude and the first attitude of the jitter detection module, and the historical attitude is determined according to the historical parameters of the jitter detection module, and the historical parameters are measured when the attitude of the jitter detection module does not change.

6. The lighting system according to claim 4 or 5, characterized in that, the lighting system is applied to an electronic device, and the electronic device further includes an intermediate module, and the intermediate module is respectively associated with the attitudes of the lighting lamp and the jitter detection module. The processor is further configured to obtain a first coordinate transformation relationship between the jitter detection module and the intermediate module, obtain a second coordinate transformation relationship between the intermediate module and the lighting lamp, and determine the first transformation relationship according to the first coordinate transformation relationship and the second coordinate transformation relationship.

7. The lighting system according to claim 6, wherein, the intermediate module is an image acquisition device, and the image acquisition device is connected to the processor; the processor is further configured to control the lighting lamp to illuminate a marker; the image acquisition device is configured to perform image acquisition on the marker to obtain an acquired image, and send the acquired image to the processor, where the acquired image includes the marker and a projection generated by illuminating the marker; the processor is configured to determine marker data and projection data according to the received acquired image, and determine the second coordinate transformation relationship according to the marker data and the projection data.

8. The lighting system according to any one of claims 4-7, wherein, at least one of the jitter detection module and the intermediate module is disposed in the lighting lamp.

9. The lighting system according to any one of claims 1-8, wherein, the processor is configured to determine a lighting compensation parameter according to a second transformation relationship between the lighting lamp and a projection plane where the initial lighting pattern is located, and a posture change amount of the lighting lamp, and determine the lighting adjustment strategy according to the lighting compensation parameter, where the lighting compensation parameter is used to correct a change in the lighting pattern formed by the lighting lamp predicted by the processor when the posture changes.

10. The lighting system according to any one of claims 1-9, wherein, the processor is disposed in the lighting lamp.

11. A lighting method, wherein, the method is applied to a lighting system, the lighting system includes a lighting lamp and a processor, the processor is connected to the lighting lamp, and the method includes: controlling, by the processor, the lighting lamp to perform lighting to obtain an initial lighting pattern that meets the initial pattern display requirement; when the lighting lamp undergoes a posture change, determining, by the processor, a lighting adjustment strategy based on the posture change amount of the lighting lamp, or determining a lighting adjustment strategy based on a received target pattern display requirement and the posture change amount of the lighting lamp; adjusting, by the processor, the lighting of the lighting lamp according to the lighting adjustment strategy to obtain a target lighting pattern corresponding to the initial lighting pattern, and the time when the initial lighting pattern is obtained is earlier than the time when the target lighting pattern is obtained.

12. The method according to claim 11, wherein, the lighting lamp includes a plurality of light sources, and the controlling, by the processor, the lighting lamp to perform lighting to obtain an initial lighting pattern that meets the initial pattern display requirement includes: controlling, by the processor, at least one of the plurality of light sources to perform lighting to obtain the initial lighting pattern; The step of adjusting the illumination of the lighting lamp according to the illumination adjustment strategy by the processor to obtain a target illumination pattern corresponding to the initial illumination pattern includes: Adjusting at least one of the number or brightness of the light sources participating in illumination among the plurality of light sources by the processor according to the illumination adjustment strategy to obtain the target illumination pattern.

13. The method according to claim 11 or 12, wherein, the illumination system is applied to an electronic device, and the processor is connected to at least one of a locator and an auxiliary system included in the electronic device, and the auxiliary system is used to assist the movement of the electronic device; before determining the illumination adjustment strategy based on the attitude change amount of the lighting lamp, further includes: acquiring, by the processor, at least one of first operation data of the locator and second operation data of the auxiliary system, and determining the attitude change amount of the lighting lamp according to at least one of the first operation data and the second operation data.

14. The method according to claim 11 or 12, wherein, the illumination system further includes a jitter detection module, and the jitter detection module is connected to the processor; before determining the illumination adjustment strategy based on the attitude change amount of the lighting lamp, further includes: measuring, by the jitter detection module, a movement parameter of the jitter detection module, and sending the movement parameter to the processor; determining, by the processor, the attitude change amount of the jitter detection module according to the movement parameter, and converting the attitude change amount of the jitter detection module according to a first transformation relationship between the jitter detection module and the lighting lamp to obtain the attitude change amount of the lighting lamp.

15. The method according to claim 14, wherein, the step of determining, by the processor, the attitude change amount of the jitter detection module according to the movement parameter includes: determining, by the processor, a first attitude of the jitter detection module according to the movement parameter of the jitter detection module, and determining the attitude change amount of the jitter detection module according to the historical attitude and the first attitude of the jitter detection module, where the historical attitude is determined according to historical parameters of the jitter detection module, and the historical parameters are measured when the attitude of the jitter detection module does not change.

16. The method according to claim 14 or 15, wherein, the illumination system is applied to an electronic device, and the electronic device further includes an intermediate module, and the intermediate module is respectively associated with the attitudes of the lighting lamp and the jitter detection module; before converting the attitude change amount of the jitter detection module according to the first transformation relationship between the jitter detection module and the lighting lamp, further includes: acquiring, by the processor, a first coordinate transformation relationship between the jitter detection module and the intermediate module, acquiring a second coordinate transformation relationship between the intermediate module and the lighting lamp, and determining the first transformation relationship according to the first coordinate transformation relationship and the second coordinate transformation relationship.

17. The method according to claim 16, wherein, The intermediate module is an image acquisition device, and the image acquisition device is connected to the processor; The obtaining of the second coordinate transformation relationship between the intermediate module and the lighting lamp includes: Controlling, by the processor, the lighting lamp to illuminate a marker; Performing, by the image acquisition device, image acquisition on the marker to obtain an acquired image, and sending the acquired image to the processor, where the acquired image includes the marker and a projection generated by illuminating the marker; Determining, by the processor, marker data and projection data according to the received acquired image, and determining the second coordinate transformation relationship according to the marker data and the projection data.

18. The method according to any one of claims 14-17, wherein, At least one of the jitter detection module and the intermediate module is disposed in the lighting lamp.

19. The method according to any one of claims 11-18, wherein, The determining of the lighting adjustment strategy based on the attitude change amount of the lighting lamp includes: Determining, by the processor, a lighting compensation parameter according to the second transformation relationship between the lighting lamp and the projection plane where the initial lighting pattern is located, and the attitude change amount of the lighting lamp, and determining the lighting adjustment strategy according to the lighting compensation parameter, where the lighting compensation parameter is used to correct the change of the lighting pattern formed by the lighting lamp predicted by the processor when the attitude changes.

20. The method according to any one of claims 11-19, wherein, The processor is disposed in the lighting lamp.

21. An electronic device, wherein, A lighting system is installed on the electronic device, and the lighting system is used to execute the lighting method according to any one of claims 11-20.

22. The electronic device according to claim 21, wherein, The electronic device includes a vehicle, a drone or a robot.

Images