Lighting Control System

Abstract

To provide an illumination control system which improves visibility for a user.SOLUTION: An illumination control system comprises: a movable illumination device which irradiates an irradiated surface located at a destination of an eye line of a user with first image light indicating a symbol, a character or a pattern; and a control section. The illumination control system acquires a first image, which is formed from the first image light and background light in a state where the first image light is radiated, and a second image which is formed from the background light in a state where the first image light is not radiated. The control section performs image processing so as to form, between a first image region corresponding to the first image light and a second image region formed around the first image region, a separate region which separates the regions so as to overlap a part of the first image region and the second image region, and irradiates the irradiated surface with the first image light in such a manner that light intensity of the first image region becomes greater than light intensity of the second image region while excluding the separate region from computation.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a lighting control system. [Background technology]

[0002] In recent years, with the spread of mobile robots, it has become important to use mobile robots to call the attention of users in spaces where mobile robots and people (users) coexist. For example, when using a lighting device mounted on a mobile robot to call the attention of a user, there is a problem that the contrast of the light irradiated by the lighting device decreases due to the influence of external light. Therefore, a method has been proposed in which the brightness or contrast of an image projected on an irradiated surface by a video projection means mounted on the robot is adjusted (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-313291 A (paragraph 0011, FIG. 1) Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional technology does not take into account the position of the user's line of sight when the user observes the light that is projected obliquely onto the irradiated surface from the image projection means mounted on the mobile robot, which makes it difficult to illuminate the light in a way that improves visibility for the user.

[0005] An object of the present disclosure is to solve the above-mentioned problems and to provide a lighting control system that improves visibility for the user. [Means for solving the problem]

[0006] A lighting control system according to an embodiment of the present disclosure includes: A movable lighting device that is movable and that irradiates a first image light indicating a symbol, a character, or a pattern onto an irradiated surface that is a direction of a user's line of sight; A control unit is provided, a first image formed by the first image light and background light in a state where the first image light is irradiated; A second image formed by the background light in a state where the first image light is not irradiated. Get the control unit performs image processing so as to form a separation region between a first image region corresponding to the first image light and a second image region formed around the first image region, the separation region overlapping a part of the first image region and the second image region; The separation region is excluded from the calculation, and the first image light is irradiated onto the illuminated surface such that the light intensity of the first image region is greater than the light intensity of the second image region. Effect of the Invention

[0007] According to the present disclosure, it is possible to provide a lighting control system that improves visibility for a user. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram illustrating a schematic configuration of a lighting control system according to a first embodiment. [Diagram 2] FIG. 1 is a diagram illustrating an example of the operation of a lighting control system. [Diagram 3] FIG. 2 illustrates an example of a hardware configuration of a main control unit. [Figure 4] FIG. 13 is a diagram illustrating another example of the hardware configuration of the main control unit. [Diagram 5] FIG. 1 is a cross-sectional view illustrating a schematic configuration of a lighting device. [Figure 6] FIG. 2 is a front view illustrating a schematic structure of an image light forming unit. [Figure 7] 4 is a diagram showing the incident angle of incident light from the lighting device and the exit angle of exiting light. FIG. [Figure 8]FIG. 11 is a diagram showing an example of the operation of the lighting control system in the third embodiment. [Figure 9] 10 is a flowchart illustrating an example of a method for generating mask data. [Figure 10] FIG. 1 is a diagram showing one step of a masking process. [Figure 11] 11A to 11C are diagrams illustrating other steps of the mask treatment. [Figure 12] 11A to 11C are diagrams illustrating other steps of the mask treatment. [Figure 13] 11A to 11C are diagrams illustrating other steps of the mask treatment. [Figure 14] 11A to 11C are diagrams illustrating other steps of the mask treatment. [Figure 15] FIG. 13 is a diagram showing an image obtained by mask processing. [Figure 16] 13 is a flowchart showing an example of a process for controlling image light in the third embodiment. [Figure 17] FIG. 11 is a diagram illustrating an example of a movable range map. [Figure 18] FIG. 2 is a diagram showing an example of a floor surface map. [Figure 19] FIG. 13 is a diagram illustrating an example of an illumination map. [Figure 20] FIG. 13 is a diagram illustrating an example of an external light map. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] <Setting coordinates> In this embodiment, for ease of explanation, XYZ coordinates are used in the figures shown below. The +Y direction indicates the height direction, and the Z axis direction indicates the direction in which, for example, a mobile robot or a user advances. Clockwise rotation around the X axis is indicated by +RX, clockwise rotation around the Y axis is indicated by +RY, and clockwise rotation around the Z axis is indicated by +RZ.

[0010] Embodiment 1 FIG. 1 is a block diagram illustrating a schematic configuration of a lighting control system 100 according to the first embodiment. FIG. 2 is a diagram showing an example of the operation of the lighting control system 100. The lighting control system 100 includes a storage unit 10a, an identification unit 10b, an estimation unit 10c, a control unit 10d, and a lighting device 10e. The lighting control system 100 is mounted on, for example, a mobile robot 11. The lighting control system 100 may further include an imaging device 41a.

[0011] <Storage unit 10a> The storage unit 10a is, for example, a volatile memory or a non-volatile memory, and may be configured with both a volatile memory and a non-volatile memory.

[0012] 2, a lighting device 10e and an imaging device 41a (also referred to as a first imaging device) are mounted on the mobile robot 11, and data captured by the imaging device 41a is stored in the storage unit 10a. As a result, a database is constructed in the storage unit 10a.

[0013] The storage unit 10a prestores optical characteristics of image light incident from various illuminated surfaces 51, which are acquired by the imaging device 41b. The imaging device 41b acquires data such as the amount of light (specifically, light intensity) and color (specifically, wavelength) of the image light reflected by the illuminated surface 51 and incident on the imaging device 41b.

[0014] Data acquired by an imaging device 41b (also referred to as a second imaging device) different from the imaging device 41a mounted on the mobile robot 11 may be stored in the storage unit 10a. The imaging device 41b is provided at a position corresponding to the eye height of the user 21 who is positioned opposite the mobile robot 11, for example.

[0015] <Specific part 10b> The determination unit 10b determines characteristics of the irradiated surface 51 illuminated by the lighting device 10e. For example, the determination unit 10b determines the characteristics of the irradiated surface 51 by using an image of the irradiated surface 51 acquired by the imaging device 41a mounted on the mobile robot 11.

[0016] The identification unit 10b may identify the characteristics of the irradiated surface 51 using position information indicating the position of the irradiated surface 51, may identify the characteristics of the irradiated surface 51 using information input to the identification unit 10b from outside the lighting control system 100, or may identify the characteristics of the irradiated surface 51 using data calculated based on data on a plurality of irradiated surfaces 51.

[0017] <Estimation part 10c> The estimation unit 10c estimates the position of the eyes of the user 21. The position of the eyes of the user 21 is, for example, the distance from the floor to the eyes of the user 21. The position of the eyes of the user 21 may be estimated using an image acquired by an imaging device 41a mounted on the mobile robot 11. In this case, the image acquired by the imaging device 41a is sent to the estimation unit 10c, and the estimation unit 10c estimates the position of the eyes of the user 21.

[0018] The eye position of the user 21 may be estimated using an image captured by another imaging device installed indoors where the user 21 is present.

[0019] The estimation unit 10c may estimate the light intensity and wavelength of the image light reflected by the irradiated surface 51 at the position of the eyes of the user 21. The estimation unit 10c may estimate the light intensity and wavelength at the position of the eyes of the user 21 based on the emission angle of the image light emitted from the illumination device 10e, the height of the illumination device 10e, the light intensity of the image light, the wavelength of the image light, and characteristics of the irradiated surface 51.

[0020] Furthermore, a distance measuring device mounted on the mobile robot 11 may be used to measure the distance from the mobile robot 11 to the user 21, and the position of the eyes of the user 21 and the reflection angle of the image light reflected by the irradiated surface 51 may be estimated, thereby estimating the light intensity and wavelength at the position of the eyes of the user 21. According to this method, the light intensity and wavelength at the position of the eyes of the user 21 can be estimated with high accuracy.

[0021] <Control unit 10d> The control unit 10d controls the light intensity or wavelength of the image light 61 emitted from the illumination device 10e based on the characteristics of the illuminated surface 51 and the result estimated by the estimation unit 10c.

[0022] The control unit 10d may control the light intensity or wavelength of the image light 61 emitted from the illumination device 10e based on data on the image light 61 and data on the background light (external light).

[0023] The control unit 10d may stop the irradiation of the image light from the illumination device 10e when it detects a user (also referred to as a second user) different from the user 21 (also referred to as a first user). For example, when it detects that another user approaches the mobile robot 11 from a direction unrelated to the direction of the mobile robot 11 and the user 21, for example, the ±X axis direction in FIG. 2, the control unit 10d may turn off the irradiation of the image light to the irradiated surface 51. This makes it possible to prevent a user other than the user 21, who is the display target of the image light, from recognizing the image light. To detect the other user, an indoor imaging device may be used, or a human sensor may be installed on the mobile robot 11.

[0024] By identifying the optical characteristics of the irradiated surface 51 using the identification unit 10b, even if it is detected that another user approaches the mobile robot 11 from the ±X directions, if the estimation unit 10c can estimate that the reflected light of the image light 61 in the ±X directions is not recognizable by the other user (second user), the lighting device 10e may be kept on.

[0025] FIG. 3 is a diagram showing an example of a hardware configuration of the main control unit 42. As shown in FIG. FIG. 4 is a diagram showing another example of the hardware configuration of the main control unit 42. In FIG.

[0026] The identification unit 10b, the estimation unit 10c, and the control unit 10d are configured, for example, by a main control unit 42. In this case, the main control unit 42 is configured, for example, by at least one processor 42a and at least one memory 42b. The storage unit 10a shown in FIG. 1 may be the memory 42b. The processor 42a is, for example, a CPU (Central Processing Unit) that executes a program stored in the memory 42b. In this case, the functions of the identification unit 10b, the estimation unit 10c, and the control unit 10d are realized by software, firmware, or a combination of software and firmware. The software and firmware can be stored in the memory 42b as a program. With this configuration, a program for realizing the function of the main control unit 42 is executed by a computer.

[0027] The memory 42b is a computer-readable recording medium, and is, for example, a volatile memory such as a random access memory (RAM) and a read only memory (ROM), a nonvolatile memory, or a combination of a volatile memory and a nonvolatile memory.

[0028] The main control unit 42 may have a plurality of processors 42a and a plurality of memories 42b. In this case, the functions of the identification unit 10b, the estimation unit 10c, and the control unit 10d are realized by the plurality of processors 42a and the plurality of memories 42b.

[0029] The main control unit 42 may be configured with a processing circuit 42c as dedicated hardware such as a single circuit or a composite circuit. The processing circuit 42c is, for example, a system LSI. In this case, the functions of the identification unit 10b, the estimation unit 10c, and the control unit 10d are realized by the processing circuit 42c.

[0030] <Lighting device 10e> FIG. 5 is a cross-sectional view that illustrates a schematic configuration of the lighting device 10e. The illumination device 10e includes an illumination optical system 31b. The illumination device 10e may be, for example, a projection display device capable of displaying moving images, such as a projector. The illumination optical system 31b is capable of realizing compactness and energy saving.

[0031] <Illumination optical system 31b> The illumination optical system 31b includes a light source 1, an image light formation section 3, and a projection optical section 4.

[0032] <Light source 1> The light source 1 is a solid-state light source that emits light L1. The light source 1 is, for example, an LED (light-emitting diode). The light L1 emitted from the light-emitting surface of the light source 1 is incident on the image light forming unit 3 as diffused light. Note that the light L1 emitted from the light-emitting surface of the light source 1 may be directional light whose divergence angle in the ±RX directions is less than ±60 degrees (1 / 2 beam angle: 120 degrees).

[0033] The light source 1 may be, for example, a light source that emits light that is a mixture of the laser light that has passed through a phosphor applied to a flat surface and the excited fluorescent light by irradiating the phosphor with an excitation laser light having a central wavelength of 448 nm.

[0034] The light source 1 may be a light source that emits only fluorescent light.

[0035] The light source 1 may be composed of only a laser diode. In this case, the size of the light emitting surface of the light source 1 is small. Therefore, a rectangular rod lens or light pipe that increases the size of the light emitting surface may be disposed between the light source 1 and the image light forming unit 3.

[0036] Similarly, when the area of ​​the laser light incident on the phosphor is narrow, a rod lens or a light pipe may be disposed between the light source 1 and the image light forming unit 3 .

[0037] Even in the case of an LED light source, in order to form an image light shape and uniformize the light intensity, a rod lens or a light pipe may be disposed between the light source 1 and the image light forming unit 3. In that case, it is preferable that the size of the exit surface of the rod lens or the light pipe is larger than the image light forming areas 3a2, 3b2, and 3c2 shown in FIG.

[0038] <Image light forming unit 3> FIG. 6 is a front view that illustrates a schematic structure of the image light forming unit 3. As shown in FIG. The image light forming section 3 is disposed between the light source 1 and the projection optical section 4. The image light forming section 3 changes the light L1 emitted from the light source 1 into image light and emits it toward the projection optical section 4. The image light forming section 3 is rotatably supported. The image light forming section 3 rotates, for example, by a rotational driving force transmitted from a rotation drive section (for example, a motor). The image light forming section 3 rotates, for example, in the +RZ direction. The image light forming section 3 may also rotate in the -RZ direction.

[0039] 6 shows the structure of the image light formation unit 3 when viewed in the +Z axis direction. The rotation center axis Ra of the image light formation unit 3 is not coaxial with the optical axis C1.

[0040] As shown in Fig. 6, the imaging light forming unit 3 has a plurality of segments (segment 3a, segment 3b, and segment 3c in Fig. 6) divided in the +RZ direction. In the example shown in Fig. 6, the imaging light forming unit 3 is divided into three segments.

[0041] The three segments 3a, 3b, and 3c include image light forming regions 3a2, 3b2, and 3c2, respectively. The image light forming unit 3 can form image light that forms one type of image among a plurality of types of images (three types in the example shown in FIG. 6) in association with a rotational operation.

[0042] Specifically, light L1 that passes through segments 3a, 3b, and 3c that overlap with optical axis C1 is converted into image light 61. Image light forming unit 3 has light-shielding regions 3a1, 3b1, and 3c1, and light L1 that reaches light-shielding regions 3a1, 3b1, and 3c1 does not travel in the +Z direction.

[0043] When any of the image light forming areas 3a2, 3b2, or 3c2 faces the optical axis C1, the light L1 passes through the corresponding image light forming area 3a2, 3b2, or 3c2, travels in the +Z direction, and reaches the projection optical unit 4.

[0044] In order to make the illumination device 10e compact, it is preferable to configure the projection optical unit 4 with a small number of optical elements (projection lenses), and considering the imaging performance of the projection optical unit 4 on the illuminated surface 51, the image formed by the image light 61 is preferably a simple pattern such as characters or symbols, but the image formed by the image light 61 is not limited to characters or symbols. Note that Fig. 6 shows a configuration in which the projection optical unit 4 has one optical element.

[0045] The image light forming regions 3a2, 3b2, and 3c2 may have a shape that corrects distortion (for example, keystone distortion) that occurs during oblique projection.

[0046] Each of the central angles β1, β2, and β3 shown in Fig. 6 is, for example, 120 degrees. The central angles can be changed according to the number of segments. As long as it is possible to detect the timing at which the image light formation areas 3a2, 3b2, and 3c2 pass the optical axis C1, the central angles β1, β2, and β3 may be different angles. The rotation angle step may be determined in advance.

[0047] <Projection optical section 4> The projection optical unit 4 is, for example, an optical element such as a projection lens. The projection optical unit 4 irradiates the image light emitted from the image light forming unit 3 in an oblique direction onto the illuminated surface 51. The projection optical unit 4 forms, for example, a projection pattern of the image light 61 formed by the image light forming unit 3. The projection optical unit 4 has a function of forming an image of the image light 61 formed by the image light forming unit 3 on the illuminated surface 51.

[0048] The projection optical unit 4 may project a blurred projection pattern onto the illuminated surface 51. The projection optical unit 4 may be configured by a reflecting mirror or a combination of a reflecting mirror and a lens.

[0049] <Database> The optical data, which associates the characteristics of the irradiated surface 51, a specific position, and the light intensity and wavelength of the image light reflected by the irradiated surface 51 detected at the specific position, is stored in the storage unit 10a. In this way, a database is constructed in the storage unit 10a.

[0050] In FIG. 2, when the emission conditions of the illumination device 10e to the illuminated surface 51 (e.g., the incident angle of the image light 61, the irradiation distance, the installation height, etc.) are fixed, the light intensity and wavelength acquired by the imaging device 41a and the imaging device 41b may be stored in the memory unit 10a as optical data.

[0051] The height of the imaging device 41b in the Y-axis direction may be changed and height direction data acquired by the imaging device 41b may be stored in the storage unit 10a. This makes it possible to take into account the height of the user 21 and the distance between the mobile robot 11 and the user 21. In this manner, the light intensity and wavelength acquired by the pair of imaging devices 41a, 41b may be stored in the storage unit 10a.

[0052] The optical data may be created by appropriately changing conditions such as the emission conditions (incident angle, irradiation distance, installation height, etc.) of the illumination device 10e onto the illuminated surface 51 and the arrangement conditions of the imaging devices 41a and 41b.

[0053] FIG. 7 is a diagram showing the incident angle αi of the incident light Li (that is, the image light 61) from the illumination device 10e and the exit angle αo of the exit light Lo. As shown in FIG. 7, in order to create a database taking into consideration the emission conditions (incident angle, irradiation distance, installation height, etc.) of the lighting device 10e mounted on the mobile robot 11 and the eye position of the user 21, for example, the light intensity and reflectance for wavelength for each emission angle αo (-80 degrees to 80 degrees) of the emitted light Lo relative to the incident light Li for each incident angle αi (-80 degrees to -5 degrees) may be acquired as optical data.

[0054] When acquiring the characteristics of the irradiated surface 51, the incident light Li does not necessarily have to be light from the lighting device 10e. When identifying the characteristics of the irradiated surface 51 based on data acquired by the imaging device 41a mounted on the mobile robot 11, it is desirable to acquire data of the emission angle αo (-80 degrees to 0 degrees), for example.

[0055] The characteristic of the irradiated surface 51 is, for example, reflectance, scattering degree, glossiness, or color. The material of the irradiated surface 51 may be a tile or a cloth. When the material of the irradiated surface 51 is known, the characteristic of the irradiated surface 51 can be easily specified by storing a plurality of known materials in the memory unit 10a. In other words, calculation processing based on the data acquired by the imaging device 41a is not required, and the characteristic of the irradiated surface 51 can be easily specified.

[0056] By acquiring data of a reference surface (for example, a completely scattering white surface), it is possible to eliminate the influence of the light source color of the incident light Li (white is 3000K, 5000K, etc., depending on the light source).

[0057] The light intensity of each wavelength of the reflected light is obtained by multiplying the light intensity of each wavelength of the light source 1 by the reflectance of each wavelength of the irradiated surface 51. The light obtained by multiplying the spectral distribution (light intensity of each wavelength) of the light source 1 by the reflectance of each wavelength of the irradiated surface 51 enters the eye of the user 21. Therefore, by normalizing the light intensity of each wavelength using the data of the reference surface, it is possible to calculate the relative reflectance of each wavelength of the irradiated surface 51. Here, if the reference surface has a reflectance of 100%, it is possible to calculate the absolute reflectance of each wavelength of the irradiated surface 51. In other words, by storing the data of the reference surface of the lighting device 10e in the storage unit 10a, it is possible to convert a database created with a different light source color into a database of the lighting device 10e. In other words, it is possible to calculate a correction coefficient of the reflectance of each wavelength by normalizing the data of the reference surface of the lighting device 10e by the data of the reference surface of a different light source color.

[0058] <Advantages of the First Embodiment> According to the first embodiment, the control unit 10d controls the light intensity or wavelength of the image light 61 emitted from the lighting device 10e based on the characteristics of the illuminated surface 51 and the result estimated by the estimation unit 10c. This makes it possible to provide the lighting control system 100 that improves visibility for the user.

[0059] Embodiment 2 In the second embodiment, the data stored in the storage unit 10a and the control unit 10d are different from those in the first embodiment. The other configurations in the second embodiment are the same as those in the first embodiment.

[0060] <Database> In addition to the data described in the first embodiment, the storage unit 10a may store information about the shape of the image light formed by symbols, characters, or simple patterns (including data such as mask data for each pattern).

[0061] <Mask data creation> FIG. 8 is a diagram showing an example of the operation of lighting control system 100 in the second embodiment. FIG. 9 is a flowchart showing an example of a method for generating mask data. In the second embodiment, for example, mask data of the image light 61 irradiated from the lighting device 10e is generated when the lighting device 10e is started up.

[0062] In step S21, the imaging device 41a captures an image of background light (specifically, external light) on the illuminated surface 51 while the illumination device 10e is not emitting light.

[0063] In step S22, the illumination device 10e illuminates the illuminated surface 51 with image light 61, and the imaging device 41a acquires an image (an image combining background light and the image light 61) projected onto the illuminated surface 51 by the illumination device 10e. That is, the imaging device 41a acquires an image formed on the illuminated surface 51 by the image light 61. In this case, the image formed on the illuminated surface 51 by the image light 61 is, for example, an image showing a symbol, a character, or a pattern.

[0064] In step S23, the control unit 10 acquires images captured by the imaging device 41a (an image of the background light and an image combining the background light and the image light 61), and performs image processing such as difference calculation, binarization, and boundary extraction (e.g., mask processing).

[0065] In step S24, mask data (image area, background area, boundary area) for each pattern is stored in the storage unit 10a. The patterns are, for example, the image light formation areas 3a2, 3b2, and 3c2 shown in FIG.

[0066] An example of the mask process will be described. 10 to 15 are diagrams showing the steps of the masking process. When the difference calculation is performed, the illumination device 10e irradiates the illuminated surface 51 with image light 61, and the imaging device 41a captures an image 61A (FIG. 10).

[0067] Next, in a state in which the illumination device 10e does not emit image light 61, the imaging device 41a captures an image 61B formed by background light (specifically, external light) of the illuminated surface 51 (FIG. 11). As shown in FIG. 12, a difference image 61C is calculated by taking the difference between the image 61A and the image 61B.

[0068] After binarizing the difference image 61C as shown in Fig. 13, the area between the image area 61D (also referred to as the first image area) and the background area 61E (also referred to as the second image area) is extracted as shown in Fig. 14, and divided into three areas, the image area 61D, the background area 61E, and the separation area 61F (also referred to as the boundary area), as shown in Fig. 15. With the above processing, the mask processing is completed. In addition, when masking, binarization is not essential, and weighting may be applied to the boundary region in stages. In other words, the masking method is not limited as long as the image region 61D, the background region 61E, and the separation region 61F are divided into three regions. Although the area is divided into three regions in order to perform control with high accuracy, if the accuracy is acceptable, it is also possible to divide only the image area and the background area, i.e., to divide into two areas. This has the advantage of making control easier.

[0069] <Control unit 10d> In the second embodiment, the control unit 10d performs mask processing using images acquired in advance (for example, an image 61A including a pattern and an image 61B formed by background light), and controls the light intensity of the light emitted from the illumination device 10e using data obtained by the mask processing. Specifically, the control unit 10d compares the light intensity of a first image region formed by the image region 61D with the light intensity of a background region 61E that forms a second image region different from the first image region around the first image region, and controls the light intensity of the image light 61 irradiated from the illumination device 10e so that the light intensity of the image region 61D is greater than the light intensity of the background region 61E.

[0070] FIG. 16 is a flowchart showing an example of the process performed by the control unit 10d in the second embodiment. The process shown in FIG. 16 is performed, for example, while the mobile robot 11 is moving. In step S25, the control unit 10d acquires the image formed on the irradiation surface 51.

[0071] In step S26, the control unit 10d separates the acquired image into three regions, an image region 61D, a background region 61E, and a separation region 61F, using mask data corresponding to the pattern of the image light 61. The separation region 61F is provided to avoid the effects of the imaging performance of the image region 61D and image blurring caused by vibration of the illumination device 10e. This makes it possible to clearly separate the image region 61D and the background region 61E.

[0072] In step S27, the control unit 10d calculates the light intensity of the image region 61D and the light intensity of the background region 61E using the data of the image region 61D, the data of the background region 61E, and the data acquired by the imaging device 41a.

[0073] In step S28, the control unit 10d controls the illumination device 10e so that the light intensity of the image region 61D forming the first image region is greater than the light intensity of the background region 61E forming the second image region. For example, the control unit 10d controls the light intensity of the image light 61 irradiated from the illumination device 10e so that the relationship between the light intensity of the image region 61D and the light intensity of the background region 61E approaches a preset target value. When the target value is set to a value at which the light intensity of the image region 61D is twice or more than the light intensity of the background region 61E, the control unit 10d controls the light intensity of the image light 61 so that the light intensity of the image region 61D is twice or more than the light intensity of the background region 61E.

[0074] The processes from step S25 to step S28 may be repeated.

[0075] It is preferable that the area of ​​the background region 61E is 0.5 times or more larger than the area of ​​the image region 61D illuminated on the illuminated surface 51. This makes it possible to narrow the calculation region and increase the calculation speed. As a result, the contrast can be increased and the image light 61 can be emphasized.

[0076] As described above, according to the second embodiment, the control unit 10d compares the light intensity of the first image area formed by the image area 61D with the light intensity of the background area 61E that forms a second image area different from the first image area around the first image area, and controls the light intensity of the image light 61 irradiated from the illumination device 10e so that the light intensity of the image area 61D is greater than the light intensity of the background area 61E.

[0077] For example, by separating the image area 61D, the background area 61E, and the separation area 61F into three areas and excluding the separation area 61F from the calculation, it becomes possible to calculate the contrast ratio with high accuracy. As a result, the image light 61 can be emphasized, and the visibility of the first image for the user 21 can be improved. In addition, it is possible to obtain an effect of suppressing a decrease in the accuracy of the calculated contrast ratio due to the influence of the imaging performance of the image area 61D, image blur due to vibration of the illumination device 10e, and the like.

[0078] It is preferable that the control unit 10d controls the illumination device 10e so that the light intensity of the image region 61D forming the first image region is greater than the light intensity of the background region 61E forming the second image region, thereby making it possible to further improve the visibility of the first image region for the user 21.

[0079] For example, it is preferable that the control unit 10d controls the light intensity of the image light 61 so that the light intensity of the image region 61D is at least twice as high as the light intensity of the background region 61E. This can further improve the visibility of the first image region for the user 21.

[0080] In this embodiment, in order to increase the control speed, masking is performed using images acquired in advance (e.g., image 61A including a pattern and image 61B formed by background light), but image processing may also be performed in real time. For example, an imaging device 41a mounted on the mobile robot 11 or an imaging device installed on a ceiling or wall surface of a room where the mobile robot 11 moves may acquire a first image area when image light is irradiated, and acquire a second image area formed around the first image area when image light is not irradiated, and the control unit 10d may perform image processing so that a separation area is formed between the first image area and the second image area, separating the first image area from the second image area. This makes it possible to calculate the contrast ratio with high accuracy. This separation function is not limited to the configuration shown in Fig. 1. It may be applied to a system that does not include a storage unit, a characteristic unit, and an estimation unit, and may be applied to a system that does not use oblique projection. There are no particular limitations on the system to which it is applied, and it may be used for purposes that allow for highly accurate calculation of contrast ratios. In that case, the imaging device is not limited to the above, and it is sufficient if it is possible to input an image of the target area to the system.

[0081] Embodiment 3 In the third embodiment, the data stored in the storage unit 10a is different from that in the first embodiment. Other configurations in the third embodiment are the same as those in the first embodiment.

[0082] The storage unit 10a has an indoor information database relating to information about the indoor area where the mobile robot 11 moves. The indoor information database is composed of, for example, a movable range map 81, a floor surface map 82, an illumination map 83, and an external light map 84. The control unit 10d appropriately controls the image light (specifically, the light intensity and wavelength of the reflected light on the irradiated surface 51 at the eye position of the user 21) using the indoor information database.

[0083] FIG. 16 is a flowchart showing an example of a process for controlling image light in the third embodiment. <Movement range map 81> FIG. 17 is a diagram showing an example of the movable range map 81. As shown in FIG. The movable range map 81 is data showing the movable range of the mobile robot 11. Specifically, the movable range map 81 is data showing the movable range of the mobile robot 11, taking into consideration indoor conditions such as the indoor floor surface, obstacles, etc. The movable range map 81 is classified into a movable area 81a and an unmovable area 81b, and is composed of data showing these areas.

[0084] <Floor Map 82> FIG. 18 is a diagram showing an example of the floor surface map 82. As shown in FIG. The floor surface map 82 is data indicating the optical characteristics of the floor surface corresponding to the movable area 81a or the type of material of the floor surface (i.e., the irradiated surface 51) corresponding to the movable area 81a. Therefore, the floor surface map 82 is associated with the movable range map 81.

[0085] In the example shown in FIG. 18, data "C1" indicates a carpet (first carpet), data "C2" indicates another carpet (a second carpet different from the first carpet), and data "PT" indicates a P tile. The optical characteristics of these data "C1", "C2", and "PT" are stored in advance in the storage unit 10a. The optical characteristics of these data "C1", "C2", and "PT" are identified by the identification unit 10b, for example, based on the position information or the movement path information of the mobile robot 11. The movement path information of the mobile robot 11 is, for example, information indicating a movement path determined to travel through a specific place during a specific time period, and is stored in advance in the storage unit 10a. Note that the movement path information of the mobile robot 11 may be information indicating a movement path arbitrarily set before operation.

[0086] <Lighting Map 83> FIG. 19 is a diagram showing an example of the illumination map 83. As shown in FIG. The illumination map 83 is data indicating the positions (e.g., the position of the ceiling) of the lighting fixtures corresponding to the movable area 81a. Therefore, the illumination map 83 is associated with the movable range map 81. For example, the illumination map 83 indicating the type of lighting fixture for each movable area 81a is stored in the storage unit 10a.

[0087] In the example shown in Fig. 19, data "FL" indicates a fluorescent lamp (daylight white), and data "DL" indicates a downlight (warm white). Data such as the type of lighting fixture and the light source color, such as the data "FL" and "DL", are stored in advance in the storage unit 10a.

[0088] The light intensity at the eye position of the user 21 may be estimated using the illuminance on the floor surface, the positions of the lighting fixtures, and the characteristics of the irradiated surface 51, which are stored in advance in the storage unit 10a. This eliminates the need to estimate the influence of background light using the imaging device 41a mounted on the mobile robot 11 or the imaging device 41b installed indoors.

[0089] In the case of color, similarly to the light intensity, the color distribution of the reflected light on the floor surface corresponding to the movable range map 81 may be stored in the storage unit 10a from a plurality of viewpoints. For example, the color distribution of the reflected light may be stored in the storage unit 10a taking into consideration the eye position and the line of sight of the user 21.

[0090] The chromaticity or color information of the floor surface (i.e., the illuminated surface 51) may be stored in advance in the memory unit 10a, and the color at the eye position of the user 21 may be estimated using the positions of the lighting fixtures in the illumination map 83, the light source colors, and the characteristics of the illuminated surface 51.

[0091] <External Light Map 84> FIG. 20 is a diagram showing an example of the external light map 84. As shown in FIG. The external light map 84 is data showing the intensity distribution of reflected light in the movable area 81a into which external light enters. Therefore, the external light map 84 is associated with the movable range map 81. The intensity distribution of reflected light corresponds to an estimated value of the solar altitude according to conditions such as weather information and season in the area into which external light enters. The intensity distribution of reflected light may be stored in the storage unit 10a, for example, taking into consideration the eye position and line of sight of the user 21.

[0092] The light intensity at the eye position of the user 21 may be estimated using the illuminance on the floor surface, the incident angle of external light, and the characteristics of the illuminated surface 51 that are stored in advance in the storage unit 10a.

[0093] In the case of color, similarly to the light intensity, the color distribution of the reflected light on the floor surface corresponding to the movable range map 81 may be stored in the storage unit 10a from a plurality of viewpoints. For example, the color distribution of the reflected light may be stored in the storage unit 10a taking into consideration the eye position and the line of sight of the user 21.

[0094] The chromaticity or color information of the floor surface (i.e., the illuminated surface 51) may be stored in advance in the memory unit 10a, and the color at the eye position of the user 21 may be estimated using the positions of the lighting fixtures in the illumination map 83, the light source colors, and the characteristics of the illuminated surface 51.

[0095] In the example shown in Fig. 20, the light intensity of the area indicated by data "N1" and the light intensity of the area indicated by data "N2" when external light enters the house from the upper side (e.g., the north side) of Fig. 20 are stored in advance in the storage unit 10a. The open / closed state of the blinds may be stored in advance in the storage unit 10a. This makes it possible to estimate the influence of external light using the open / closed information of the blinds.

[0096] As described above, according to the third embodiment, the movable range map 81, the floor surface map 82, the illumination map 83, and the external light map 84 are stored in advance in the storage unit 10a. Therefore, by using these data, it is possible to specify the characteristics of the irradiated surface 51 and estimate the light intensity and wavelength at the eye position of the user 21 based on information such as the position and movement path of the mobile robot 11. That is, without using the imaging device 41a, for example, by estimating the eye position of the user 21 using an image acquired by another imaging device installed indoors where the user 21 exists, it is possible to appropriately control the light intensity and wavelength of the image light (i.e., the reflected light on the irradiated surface 51 at the eye position of the user 21). As a result, it is possible to improve visibility for the user 21.

[0097] When the mobile robot 11 is traveling in the movable area 81a of the movable range map 81, the characteristics of the background light and the illuminated surface 51 acquired by the imaging device 41a may be stored in the storage unit 10a.

[0098] The data stored in the storage unit 10a may be data generated using artificial intelligence.

[0099] The features of each of the embodiments described above can be combined with each other. [Explanation of symbols]

[0100] 1 light source, 3 image light formation unit, 4 projection optical unit, 10a memory unit, 10b identification unit, 10c estimation unit, 10d control unit, 10e lighting device, 11 mobile robot, 21 user, 31b lighting optical system, 41a, 41b imaging device, 42 main control unit, 42a processor, 42b memory, 51 irradiated surface, 100 lighting control system.

Claims

[Claim 1] A movable lighting device that is movable and that irradiates a first image light indicating a symbol, a character, or a pattern onto an illuminated surface that is a direction of a user's line of sight; A control unit is provided, a first image formed by the first image light and background light in a state where the first image light is irradiated; A second image formed by the background light in a state where the first image light is not irradiated. Get the control unit performs image processing so as to form a separation region between a first image region corresponding to the first image light and a second image region formed around the first image region, the separation region overlapping a part of the first image region and the second image region; A lighting control system that excludes the separated area from the calculation and irradiates the first image light onto an illuminated surface so that the light intensity of the first image area is greater than the light intensity of the second image area.

Images