Automatic tracking lighting method, device, controller, system and crane

Abstract

This application provides a method, device, controller, system, and crane for automatic tracking lighting, applicable to the field of tracking lighting. The method comprises acquiring multiple scene images captured by a camera. If the multiple scene images include at least two target scene images, the motion state of the lighting target is determined based on the target scene images. The target scene image is a scene image including the lighting target. Based on the motion state of the lighting target, the lighting and camera movements are controlled to achieve tracking lighting of the lighting target. When this solution is applied to a crane, the lighting can automatically track the load and illuminate it, eliminating the need for the operator to distract the operator, effectively improving the safety of nighttime crane operation.

Description

Technical Field

[0001] The present application relates to the field of tracking lighting, and in particular to a method, device, controller, system and crane for automatic tracking lighting. Background Art

[0002] Sometimes, construction sites must operate at night to meet deadlines. During nighttime construction, site lighting is essential to ensure quality and avoid safety issues. Large construction equipment, such as cranes, requires lighting that tracks the hook, allowing operators to monitor the hook's descent and the load's movements.

[0003] Conventional crane operators typically manually control the direction of the searchlight, ensuring it tracks the hook and illuminates the load. However, this manual control of the boom searchlight requires the operator to focus on the control and the light doesn't track the load in real time, compromising crane operation safety at night. Summary of the Invention

[0004] In view of this, the embodiments of the present application are directed to providing a method, device, controller, system and crane for automatic tracking lighting, so as to solve the problem of low safety of crane operation at night in the prior art.

[0005] In one aspect, the present application provides a method for automatically tracking lighting, comprising:

[0006] Acquire multiple scene images captured by the camera;

[0007] If the multiple scene images include at least two target scene images, determining the motion state of the illumination target based on the target scene images; wherein the target scene images are scene images including the illumination target;

[0008] The movement of the lighting lamp and the camera is controlled based on the movement state of the lighting target to achieve tracking lighting of the lighting target.

[0009] Optionally, the method for automatically tracking lighting further includes:

[0010] If the multiple scene images include at most one target scene image, the camera movement is controlled based on a preset mode, and the process returns to the step of obtaining the multiple scene images captured by the camera.

[0011] Optionally, determining the motion state of the illumination target based on the target scene image includes:

[0012] If the multiple scene images are all the target scene images, and the target image is at a preset position in each of the target scene images, it is determined that the illumination target is in a stable state; wherein the target image is an image of the illumination target, and when the target image is at a preset position in any of the target scene images, the illumination lamp illuminates the illumination target;

[0013] If the target image is not located at the preset position in at least one of the target scene images, determining that the lighting target is in an adjustment state;

[0014] And, determining an adjustment direction and an adjustment speed of the lighting target based on the target scene image.

[0015] Optionally, controlling the movement of the lighting lamp and the camera based on the movement state of the lighting target includes:

[0016] If the lighting target is in a stable state, controlling the camera to maintain the current motion state;

[0017] If the lighting target is in an adjustment state, the motion state of the camera is adjusted based on the adjustment direction and adjustment speed of the lighting target.

[0018] Optionally, determining whether the target image is located at a preset position in the target scene image is performed by the following steps:

[0019] Inputting the target scene image into a pre-built target recognition model to determine a recognition result of the target scene image;

[0020] The recognition result includes: the target image is located at the preset position, or the target image is not located at the preset position.

[0021] Optionally, controlling the movement of the lighting lamp and the camera based on the movement state of the lighting target includes:

[0022] Controlling the lighting lamp and the camera to move synchronously based on the motion state of the lighting target;

[0023] Alternatively, the lighting lamp is controlled to follow the motion trajectory of the camera based on the motion state of the lighting target.

[0024] Another aspect of the present application provides a device for automatically tracking lighting, comprising:

[0025] An acquisition module is used to acquire multiple scene images captured by a camera;

[0026] a determination module configured to determine the motion state of the illumination target based on the target scene images if the plurality of scene images include at least two target scene images; wherein the target scene images are scene images including the illumination target;

[0027] The motion module is used to control the movement of the lighting lamp and the camera based on the motion state of the lighting target to achieve tracking lighting of the lighting target.

[0028] On the other hand, the present application provides a controller, comprising a memory, a processor, and a computer program stored in the memory and executed by the processor, wherein the processor implements the steps of the method for automatic tracking lighting as described in any one of the above items when executing the computer program.

[0029] On the other hand, the present application provides a system for automatically tracking lighting, comprising: a camera, a lighting lamp, a photosensitive switch, and the controller described above;

[0030] The controller is connected to the camera and the lighting lamp respectively;

[0031] The camera, lighting lamp and controller are all connected to the power module through the photosensitive switch.

[0032] On the other hand, the present application provides a crane provided with any of the above-mentioned automatic tracking lighting systems.

[0033] This application provides a method, device, controller, system, and crane for automatic tracking lighting. The method involves acquiring multiple scene images captured by a camera. If the multiple scene images include at least two target scene images, the motion state of the lighting target is determined based on the target scene images. The target scene image is a scene image that includes the lighting target. Based on the motion state of the lighting target, the lighting and camera movements are controlled to achieve tracking lighting of the lighting target. When this solution is applied to a crane, the lighting can automatically track the load and illuminate it, eliminating the need for the operator to distract the operator, effectively improving the safety of nighttime crane operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Shown is a schematic structural diagram of an automatic tracking lighting system provided in one embodiment of the present application.

[0035] Figure 2 Shown is a schematic structural diagram of an automatic tracking lighting system provided by another embodiment of the present application.

[0036] Figure 3 Shown is a flow chart of a method for automatic tracking lighting provided in one embodiment of the present application.

[0037] Figure 4 Shown is a schematic structural diagram of an automatic tracking lighting device provided in one embodiment of the present application.

[0038] Figure 5 Shown is a schematic structural diagram of a controller provided in one embodiment of the present application. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0040] Application Overview

[0041] During nighttime construction, companies need to illuminate the construction site, especially large construction equipment like cranes. This requires lights to track the hooks, allowing operators to keep an eye on the hooks and loads. Currently, operators typically manually control the direction of the boom searchlights. However, this manual control of the boom searchlight not only requires the operator to distract themselves, but also prevents the light from tracking the load in real time, compromising crane operation safety at night.

[0042] Exemplary Systems

[0043] Figure 1 The figure shows a schematic diagram of the structure of the automatic tracking lighting system provided by an embodiment of the present application. Figure 1 As shown, the automatic tracking lighting system of this embodiment includes: a camera 100, a lighting fixture 110, and a controller 120. The controller 120 is connected to the camera 100 and the lighting fixture 110, respectively. The camera 100 is used to capture scene images. The controller 120 can obtain and analyze the scene images captured by the camera 100 and, based on the analysis results, control the movement of the camera 100 and the lighting fixture 110 to achieve tracking lighting of the illumination target. For example, two lighting fixtures 110 can be provided, one mounted on either side of the camera 100, with the same spacing as the camera.

[0044] The camera 100 and the light 110 can be coaxially arranged, and under the control of the controller 120, the camera 100 and the light 110 can achieve synchronized movement. Alternatively, the camera 100 and the light 110 can be arranged non-coaxially, and under the control of the controller 120, the light 110 can follow the movement trajectory of the camera 100. If the camera 100 and the light 110 can achieve synchronized movement, the scene image captured by the camera 100 is always illuminated. In this case, the camera 100 can be a standard camera. To further improve the clarity of the scene image, the camera 100 can also be a high-definition night camera. If the light 110 follows the movement trajectory of the camera 100, the scene image captured by the camera 100 is not always illuminated. In this case, the camera 100 needs to use a high-definition night camera to ensure the clarity of the scene image.

[0045] The aforementioned motion includes movement, rotation, and other motion states. The controller 120 can control the camera 100 and the illuminator 110 to rotate at the installation location to achieve tracking illumination of the illumination target; or the controller 120 can control the camera 100 and the illuminator 110 to move along a preset track to achieve tracking illumination of the illumination target.

[0046] For example, if the automatic tracking lighting system of this embodiment is applied to the lighting of a crane, the automatic tracking lighting system can be installed on the mechanical arm of the crane, or the automatic tracking lighting system can be installed near the working position of the crane, so that during the entire operation of the crane, the lighting lamp 110 can illuminate the hook and the heavy object on the hook, and the camera 100 can capture the corresponding images of the hook and the heavy object on the hook.

[0047] The user can manually control the power supply of the automatic tracking lighting system to be on and off. In addition, the power supply of the automatic tracking lighting system can also be automatically controlled by a photosensitive switch. In another embodiment, Figure 2 As shown, the automatic tracking lighting system may further include a photosensitive switch 130. The camera 100, the lighting lamp 110 and the controller 120 in the above embodiment are all connected to the power module S via the photosensitive switch 130.

[0048] When ambient light is low, such as at night, the photosensitive switch 130 turns on, and the camera 100, the light 110, and the controller 120 all form a circuit with the power module S. The camera 100, the light 110, and the controller 120 begin operating, and the controller 120 controls the movement of the camera 100 and the light 110 to achieve tracking illumination of the illuminated target. If the automatic tracking illumination system of this embodiment is applied to crane lighting, the automatic tracking illumination system can automatically activate in low light conditions, achieving tracking illumination of the crane hook and the load on the hook.

[0049] When ambient light is strong, such as during the day, the photosensitive switch 130 is turned off, and the camera 100, the lighting 110, and the controller 120 cannot form a circuit with the power module S, and the camera 100, the lighting 110, and the controller 120 cannot operate. If the automatic tracking lighting system of this embodiment is applied to the lighting of a crane, in bright light conditions, the operator can keep an eye on the hook lowering and the load without lighting, and the automatic tracking lighting system can automatically stop working, saving energy.

[0050] It should be noted that the actual light intensity that affects whether the photosensitive switch 130 is turned on or off is related to the properties of the photosensitive switch 130 itself. A wide variety of photosensitive switches are available on the market, and those skilled in the art can select a photosensitive switch that meets their requirements. This embodiment does not limit this. To ensure proper operation of the photosensitive switch 130, it should be placed in an unobstructed location. For example, if the automatic tracking lighting system of this embodiment is used for crane lighting, the photosensitive switch 130 can be placed on the side of the crane's boom away from the ground, that is, on the top of the boom.

[0051] The power module S can be an external power source or a battery power source of the automatic tracking lighting system. If the automatic tracking lighting system of this embodiment is applied to the lighting of a crane, the power module S can also be the battery power source of the crane.

[0052] Exemplarily, the controller 120 can be divided into a visual processing controller and a mobile controller. The visual processing controller obtains the scene image and analyzes the scene image to obtain the analysis result. The mobile controller controls the movement of the camera 100 and the lighting lamp 110 according to the analysis result to achieve tracking lighting of the lighting target.

[0053] In another embodiment, the present application also provides a crane equipped with the automatic tracking lighting system of the above embodiment. The lighting can automatically track the hoisted object and illuminate it without the operator having to distract himself to control it, thereby effectively improving the safety of crane operation at night.

[0054] Specifically, the photosensitive switch in the automatic tracking lighting system can be set on the top of the crane's mechanical arm without any obstruction.

[0055] In an automatic tracking lighting system, the camera and light can also be mounted on the robot arm. If a controller is used to control the rotation of the camera and light within the mounting position, the camera and light can be mounted on the main arm of the robot arm, for example, 1 meter from the arm head. If a controller is used to control the movement of the camera and light along a pre-set track, a track for the camera and light to move up and down must be provided on the main arm of the robot arm.

[0056] In addition, the controller in the automatic tracking lighting system can be integrated into the crane main controller.

[0057] Exemplary Methods

[0058] Figure 3 FIG. 1 is a flow chart of a method for automatically tracking lighting provided by an embodiment of the present application. Figure 3 As shown, the automatic tracking lighting method of this embodiment may include the following steps:

[0059] S101: Acquire multiple scene images captured by a camera.

[0060] During camera operation, whether the camera is stationary or moving, it captures multiple scene images according to a preset pattern. For example, the camera may capture ten photos as scene images every one second, or it may capture a one-second video every one second and extract ten frames from that video as scene images.

[0061] Since the motion state of the lighting target to be followed has certain uncertainty, the scene image captured by the camera may contain the lighting target to be followed, or may not contain the lighting target to be followed.

[0062] S102: If the multiple scene images include at least two target scene images, determine the motion state of the illumination target based on the target scene images.

[0063] Detect multiple scene images captured by the camera to determine whether the scene images include an illumination target. In the embodiment of the present application, the scene images including the illumination target are determined as the target scene images.

[0064] Exemplarily, a feature recognition model can be pre-trained, and the scene image can be input into the feature recognition model to obtain the recognition result output by the feature recognition model, where the recognition result of the feature recognition model includes: the scene image includes a lighting target, or the scene image does not include a lighting target, so as to determine whether the scene image includes a lighting target based on the feature recognition model.

[0065] Exemplarily, the training process of the feature recognition model may include: obtaining a certain amount of scene images as training samples, using whether the scene images include lighting targets as labels, and repeatedly training a preset neural network, such as a convolutional neural network, until a feature recognition model with an accuracy rate that meets the requirements is obtained.

[0066] If it is determined that the multiple scene images include at least two target scene images, the motion state of the illumination target can be determined based on the position of the target image corresponding to the illumination target in the target scene image.

[0067] S103: Control the movement of the lighting lamp and the camera based on the movement state of the lighting target to achieve tracking lighting of the lighting target.

[0068] According to the motion state of the lighting target, the motion state of the lighting lamp and the camera can be further adjusted so that the lighting lamp and the camera can follow the lighting target and realize tracking lighting of the lighting target.

[0069] The automatic tracking lighting method provided in this application can achieve tracking lighting of the lighting target. Moreover, when this solution is applied to a crane, the lighting can automatically track the hoisted object and illuminate it, without the operator having to distract themselves, effectively improving the safety of crane operation at night.

[0070] In another embodiment, the automatic tracking lighting method of the above embodiment may further include the following steps:

[0071] If the multiple scene images include at most one target scene image, the camera movement is controlled based on a preset mode, and the process returns to the step of obtaining the multiple scene images captured by the camera.

[0072] Specifically, if it is determined that there is at most one target scene image among the multiple scene images, that is, only one scene image among the multiple scene images includes the lighting target, or none of the multiple scene images include the lighting target.

[0073] When the automatic tracking lighting system where the camera and the lighting are located is just started, the automatic tracking lighting system is in a state of searching for the lighting target, which may cause the multiple scene images captured by the camera to include at most one target scene image; or, when the automatic tracking lighting system is in a state of tracking the lighting target, the lighting target suddenly accelerates or decelerates, and the lighting target is lost, which may also cause the multiple scene images captured by the camera to include at most one target scene image.

[0074] In the above situation, if only one of the multiple scene images includes the lighting target, or if none of the multiple scene images include the lighting target, the motion state of the lighting target cannot be confirmed. The camera can be controlled to move according to a preset pattern to search for the lighting target, and multiple scene images are still collected during the movement, and the scene images are analyzed and identified. If it is detected that there is still at most one target scene image among the multiple scene images, the camera is continued to be controlled to move according to the preset pattern and multiple scene images are collected during the movement to continue searching for the lighting target. If it is detected that at least two target scene images are included among the multiple scene images, the motion state of the lighting target can be determined based on the at least two target scene images according to the description of S102 in the above embodiment, and the movement of the lighting lamp and the camera can be controlled according to the motion state of the lighting target to find the lighting target and achieve tracking illumination of the lighting target.

[0075] Exemplarily, the preset pattern is a pre-set camera motion trajectory, so that the camera can traverse all possible locations of the lighting target according to the motion trajectory and thus find the lighting target. For example, if the automatic tracking lighting system of this embodiment is applied to the lighting of a crane, and the lighting lamp and camera are installed on the crane's main arm, and the hook and load move upward or downward relative to the lighting lamp and camera, the pre-set camera motion trajectory can be set as moving or rotating the camera from top to bottom, or from bottom to top.

[0076] It should be noted that, in the above process of searching for the lighting target, the lighting lamp may move synchronously with the camera, or may move following the movement trajectory of the camera, which is not limited in this embodiment.

[0077] In the case where the motion state of the lighting target cannot be determined, this embodiment can search for the lighting target according to a preset mode, thereby effectively improving the efficiency of searching for the lighting target.

[0078] In another embodiment, the steps of the above embodiment, determining the motion state of the illumination target based on the target scene image, specifically include the following steps:

[0079] If multiple scene images are all target scene images, and the target image is at a preset position in each target scene image, it is determined that the lighting target is in a stable state; if the target image is not at the preset position in at least one target scene image, it is determined that the lighting target is in an adjustment state, and the adjustment direction and adjustment speed of the lighting target are determined based on the target scene image.

[0080] The above target image is an image corresponding to the lighting target.

[0081] When the target image is at the preset position of any target scene image, the lighting lamp illuminates the lighting target. The above-mentioned preset position can be set according to the position of the lighting lamp. Exemplarily, in the above embodiment, two lighting lamps are respectively installed on both sides of the camera, with the same distance as the camera. In order to achieve the effect that when the target image is at the preset position of any target scene image, the lighting lamp illuminates the lighting target, the preset position should be selected as the middle position of the target scene image; if a lighting lamp is set and installed on the lower side of the camera, in order to achieve the effect that when the target image is at the preset position of any target scene image, the lighting lamp illuminates the lighting target, excluding the influence of the photo mirror or video mirror on the scene image, the preset position should be selected as the lower side of the target scene image.

[0082] When it is detected that the multiple scene images captured by the camera are all target scene images, and the target image is at a preset position in each target scene image, it can be determined that the motion state of the lighting target has not changed at this time and is in a stable state, for example, it always remains stationary or moves at a constant speed. The camera can follow the lighting target and maintain synchronous movement according to the current motion state.

[0083] When it is detected that in the multiple scene images captured by the camera, the target image in at least one target scene image is not in the preset position, it means that the motion state of the lighting target has changed, and the camera cannot follow the lighting target and maintain synchronous movement according to the current motion state; or, in the process of the camera moving according to the preset mode to search for the lighting target, the multiple scene images captured include at least two target scene images, and the motion state of the lighting target can be determined, but the camera cannot follow the lighting target and maintain synchronous movement.

[0084] In this embodiment, when the target image is not at a preset position in at least one target scene image, the motion state of the illumination target is determined to be an adjustment state. In this adjustment state, the motion state of the illumination target can be determined, but the camera cannot follow and synchronize the motion of the illumination target. To adjust the camera's motion state, it is necessary to first determine the illumination target's adjustment direction and speed based on the target scene image, and then adjust the camera's motion state based on the illumination target's adjustment direction and speed.

[0085] In an embodiment of the present application, the motion state of the lighting target can be determined based on the position change of the target image in the target scene image, and the motion state of the camera and the lighting lamp can be determined on the premise of understanding the motion state of the lighting target to achieve tracking lighting of the lighting target.

[0086] Furthermore, the steps of the above embodiment for determining the adjustment direction and adjustment speed of the lighting target based on the target scene image specifically include the following steps:

[0087] Based on the position change of the target image in each target scene image, the adjustment direction and adjustment speed of the illumination target are determined.

[0088] Specifically, based on the position changes of any two target images in the target scene image and the scaling ratio of the scene image to the actual scene, the actual moving distance of the lighting target can be determined. Based on the interval time between the two target images, the time taken for the lighting target to move this distance can be determined. The ratio of the distance moved by the lighting target to the time taken for the lighting target to move this distance is calculated, which is the adjustment speed of the lighting target.

[0089] Furthermore, the adjustment direction of the illumination target can be determined according to the position change of any two target images in the target scene image.

[0090] In another embodiment, the steps of the above embodiment control the movement of the lighting lamp and the camera based on the movement state of the illumination target, which can be specifically implemented by the following steps:

[0091] If the lighting target is in a stable state, the camera is controlled to maintain the current motion state; if the lighting target is in an adjustment state, the camera's motion state is adjusted based on the adjustment direction and adjustment speed of the lighting target.

[0092] Specifically, if the lighting target is stable and the camera can follow and synchronize with the lighting target based on its current motion state, then the camera can be controlled to maintain its current motion state. For example, if the lighting target is stationary, the camera can maintain its current stationary state; if the lighting target is moving at a constant speed, the camera can also maintain its current constant speed.

[0093] When controlling the movement of the camera, the light can be controlled to move synchronously with the camera, or the light can be controlled to follow the camera's motion trajectory. It should be noted that if the light is controlled to follow the camera's motion trajectory, the distance between the light and the camera should be minimized during the stage corresponding to the lighting target being in a stable state, so that the light can illuminate the corresponding lighting target. For example, if the motion state of the light and the camera is moving, the distance difference between the light and the camera should be minimized during the process of controlling the light to follow; if the motion state of the light and the camera is rotating, the angle difference between the light and the camera should be minimized during the process of controlling the light to follow.

[0094] If the lighting target is in an adjustment state, the camera's motion can be adjusted based on the lighting target's adjustment direction and speed. Specifically, the relative speed and direction of the lighting target relative to the camera can be determined based on the lighting target's adjustment direction and speed, and the camera can then be controlled to move in that relative direction at that speed. During camera motion control, the lighting can be controlled to move synchronously with the camera, or to follow the camera's motion trajectory.

[0095] It should be noted that, whether controlling the camera to maintain its current motion state or adjusting the camera's motion state based on the adjustment direction and speed of the lighting target, multiple scene images captured by the camera are still obtained and then analyzed. If the multiple scene images include at most one target scene image, the camera's motion is controlled based on a preset mode. If the multiple scene images are all target scene images, and the target image is at a preset position in each target scene image, the camera is controlled to maintain its current motion state. If the target image is not at the preset position in at least one target scene image, the adjustment direction and speed of the lighting target are determined, and the camera's motion state is adjusted based on the adjustment direction and speed of the lighting target. During the process of controlling the camera's motion, the lighting can be controlled to move synchronously with the camera, or to follow the camera's motion trajectory. This process repeats, dynamically adjusting the motion states of the lighting and camera to achieve tracking illumination of the lighting target.

[0096] In another embodiment, whether the target image is located at a preset position in the target scene image is determined by the following steps:

[0097] The target scene image is input into a pre-built target recognition model to determine the recognition result of the target scene image.

[0098] In this embodiment, a target recognition model may be pre-trained, and a target scene image may be input into the target recognition model to obtain a recognition result output by the target recognition model, wherein the recognition result includes: whether the target image is at a preset position, or whether the target image is not at the preset position. This facilitates determining whether the target image is at the preset position in the target scene image based on the target recognition model.

[0099] The training process of the target recognition model may include: obtaining a certain amount of target scene images as training samples, using whether the scene image includes a preset position in the target scene image as a label, and repeatedly training a preset neural network, such as a convolutional neural network, until a target recognition model with an accuracy rate that meets the requirements is obtained.

[0100] In the embodiments of the present application, it is possible to determine whether a target image is located at a preset position in a target scene image based on a neural network model, which can effectively improve recognition accuracy and recognition speed.

[0101] In another embodiment, the steps of the above embodiment, controlling the movement of the lighting lamp and the camera based on the movement state of the illumination target, can be specifically implemented by the following steps:

[0102] The lighting lamp and the camera are controlled to move synchronously based on the motion state of the lighting target; or, the lighting lamp is controlled to move along the motion trajectory of the camera based on the motion state of the lighting target.

[0103] Specifically, in the process of adjusting the motion states of the lighting lamp and the camera based on the motion state of the lighting target, the lighting lamp and the camera may be controlled to move synchronously, or the lighting lamp may be controlled to move along the motion trajectory of the camera.

[0104] It should be noted that when controlling the lights to follow the camera's trajectory during the target search phase, illumination cannot be performed due to uncertainty about the target's location. Therefore, the distance between the lights and the camera's trajectory can be set. For example, the camera can be controlled first, and once the target is found, the lights can be controlled to follow the camera's trajectory to ultimately illuminate the target.

[0105] When the lighting target is stable, if the light is controlled to follow the camera's motion trajectory, the distance between the light and the camera should be minimized to ensure that the light can illuminate the target. For example, if the light and camera are moving, the distance between them should be minimized when the light is controlled to follow the camera; if the light and camera are rotating, the angle between them should be minimized when the light is controlled to follow the camera.

[0106] In another embodiment, the steps in the above embodiment to obtain the scene image captured by the camera can be specifically implemented by the following steps:

[0107] Acquire a scene video captured by a camera according to a first preset period; extract a target video frame in the scene video to obtain a scene image; or acquire an image captured by the camera according to a second preset period to obtain a scene image.

[0108] Specifically, a scene video captured by a camera can be acquired according to a first preset period, and target video frames from the scene video can be extracted, with the target video frames being used as scene images. The first preset period can be set based on actual circumstances, such as, for example, one second, and is not limited in this embodiment. For example, a one-second scene video captured by the camera can be acquired every second, and ten frames from the video frames can be extracted as scene images.

[0109] Alternatively, images captured by the cameras may be acquired at a second preset period and used as the scene image. The second preset period may also be set based on actual circumstances, such as to one second, and is not limited in this embodiment. For example, images captured by ten cameras may be acquired at one-second intervals as the scene image.

[0110] Exemplary devices

[0111] Corresponding to the above-mentioned method for automatic tracking lighting, the embodiment of the present application also discloses a device for automatic tracking lighting, see Figure 4 As shown, the device includes:

[0112] An acquisition module 200 is used to acquire multiple scene images captured by a camera;

[0113] A determination module 210 is configured to determine the motion state of the illumination target based on the target scene images if the plurality of scene images include at least two target scene images; wherein the target scene images are scene images including the illumination target;

[0114] The motion module 220 is used to control the motion of the lighting lamp and the camera based on the motion state of the lighting target to achieve tracking lighting of the lighting target.

[0115] In the device of this embodiment, acquisition module 200 acquires multiple scene images captured by a camera. If the multiple scene images include at least two target scene images, determination module 210 determines the motion state of the illumination target based on the target scene images, where the target scene image is a scene image that includes the illumination target. Motion module 220 controls the movement of the illumination lamp and camera based on the motion state of the illumination target to achieve tracking illumination of the illumination target. When this solution is applied to a crane, the illumination lamp can automatically track and illuminate the load without the operator having to distract themselves, effectively improving the safety of nighttime crane operation.

[0116] In another embodiment, the motion module 220 is further configured to control the camera motion based on a preset mode if the multiple scene images include at most one target scene image, and return to the step of obtaining the multiple scene images captured by the camera.

[0117] In another embodiment, the determination module 210 includes:

[0118] a first determining unit configured to determine that the illumination target is in a stable state if all of the multiple scene images are target scene images and the target image is located at a preset position in each target scene image; wherein the target image is an image of the illumination target, and when the target image is located at the preset position in any target scene image, the illumination lamp illuminates the illumination target;

[0119] The second determining unit is configured to determine that the lighting target is in an adjustment state if the target image is not in a preset position in at least one target scene image; and determine an adjustment direction and an adjustment speed of the lighting target based on the target scene image.

[0120] Furthermore, when the second determining unit determines the adjustment direction and adjustment speed of the illumination target based on the target scene image, it is specifically configured to:

[0121] Based on the position change of the target image in each target scene image, the adjustment direction and adjustment speed of the illumination target are determined.

[0122] In another embodiment, the motion module 220 includes:

[0123] The first motion unit is configured to control the camera to maintain a current motion state if the illumination target is in a stable state;

[0124] The second motion unit is configured to adjust the motion state of the camera based on the adjustment direction and adjustment speed of the lighting target if the lighting target is in the adjustment state.

[0125] In another embodiment, the determining module 210 further includes:

[0126] The third determination unit inputs the target scene image into a pre-built target recognition model to determine a recognition result of the target scene image; wherein the recognition result includes: the target image is at a preset position, or the target image is not at the preset position.

[0127] In another embodiment, when the acquisition module 200 acquires multiple scene images captured by a camera, it is specifically used to:

[0128] Acquire a scene video captured by a camera according to a first preset period; extract a target video frame in the scene video to obtain a scene image; or acquire an image captured by the camera according to a second preset period to obtain a scene image.

[0129] The automatic tracking lighting device provided in this embodiment and the automatic tracking lighting method provided in the embodiments of this application are based on the same application concept. They can implement the automatic tracking lighting method provided in any embodiment of this application and possess the corresponding functional modules and beneficial effects of the automatic tracking lighting method. For technical details not fully described in this embodiment, please refer to the automatic tracking lighting method provided in the embodiments of this application and will not be further elaborated here.

[0130] Exemplary Controller

[0131] Corresponding to the above-mentioned automatic tracking lighting method, the embodiment of the present application also discloses a controller, see Figure 5 As shown, the controller includes: one or more memories 300 , one or more processors 310 , and computer programs stored in the memories 300 and executed by the processors 310 .

[0132] The processor 310 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the controller to perform desired functions.

[0133] The memory 300 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 310 may execute the program instructions to implement the above-described methods for automatically tracking lighting according to various embodiments of the present application and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0134] In one example, the controller may further include an input device 320 and an output device 330 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0135] The input device 320 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0136] The output device 330 may be a device that outputs various information to the outside, such as a display, a speaker, a printer, a communication network and its connected remote output device, etc.

[0137] Of course, to simplify, Figure 5 Only some of the components in the controller related to the present application are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the controller may further include any other appropriate components according to specific application conditions.

[0138] Exemplary computer program products and computer-readable storage media

[0139] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps in the method of automatically tracking lighting according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0140] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0141] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by the processor, the processor 11 executes the steps of the method for automatically tracking lighting according to various embodiments of the present application described in the above “Exemplary Method” section of this specification.

[0142] The computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0143] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0144] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0145] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0146] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0147] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only used to more clearly illustrate the technical solutions and cannot be used to limit the scope of protection of the present application.

[0148] The above description has been provided for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for automatic tracking lighting, characterized in that: include: Acquire multiple scene images captured by the camera; If the multiple scene images include at least two target scene images, determining the motion state of the illumination target based on the target scene images; wherein the target scene images are scene images including the illumination target; Controlling the movement of the lighting lamp and the camera based on the motion state of the lighting target to achieve tracking lighting of the lighting target, wherein the lighting lamp and the camera are installed on a mechanical arm of a crane, and the movement includes movement and rotation; The determining the motion state of the illumination target based on the target scene image includes: If the multiple scene images are all the target scene images, and the target image is at a preset position in each of the target scene images, it is determined that the illumination target is in a stable state; wherein the target image is an image of the illumination target, and when the target image is at a preset position in any of the target scene images, the illumination lamp illuminates the illumination target; If the target image is not located at the preset position in at least one of the target scene images, determining that the lighting target is in an adjustment state; and, determining an adjustment direction and an adjustment speed of the illumination target based on the target scene image; The controlling of the movement of the lighting lamp and the camera based on the movement state of the lighting target includes: Controlling the lighting lamp and the camera to move synchronously based on the motion state of the lighting target; Alternatively, the lighting lamp is controlled to follow the motion trajectory of the camera based on the motion state of the lighting target.

2. The method according to claim 1, characterized in that Also includes: If the multiple scene images include at most one target scene image, the camera movement is controlled based on a preset mode, and the process returns to the step of obtaining the multiple scene images captured by the camera.

3. The method according to claim 1, characterized in that The controlling of the movement of the lighting lamp and the camera based on the movement state of the lighting target includes: If the lighting target is in a stable state, controlling the camera to maintain the current motion state; If the lighting target is in an adjustment state, the motion state of the camera is adjusted based on the adjustment direction and adjustment speed of the lighting target.

4. The method according to claim 1, wherein Determine whether the target image is at a preset position in the target scene image by the following steps: Inputting the target scene image into a pre-built target recognition model to determine a recognition result of the target scene image; The recognition result includes: the target image is located at the preset position, or the target image is not located at the preset position.

5. An automatic tracking lighting device, characterized in that: include: An acquisition module is used to acquire multiple scene images captured by a camera; a determination module configured to determine the motion state of the illumination target based on the target scene images if the plurality of scene images include at least two target scene images; wherein the target scene images are scene images including the illumination target; A motion module, configured to control the movement of the lighting lamp and the camera based on the motion state of the lighting target, so as to achieve tracking lighting of the lighting target; The determining module includes: a first determining unit configured to determine that the illumination target is in a stable state if all of the multiple scene images are the target scene images and the target image is located at a preset position in each of the target scene images; wherein the target image is an image of the illumination target, and when the target image is located at the preset position in any of the target scene images, the illumination lamp illuminates the illumination target; a second determining unit, configured to determine that the lighting target is in an adjustment state if the target image is not located at the preset position in at least one of the target scene images; and determine an adjustment direction and an adjustment speed of the lighting target based on the target scene image; The controlling of the movement of the lighting lamp and the camera based on the movement state of the lighting target includes: Controlling the lighting lamp and the camera to move synchronously based on the motion state of the lighting target; Alternatively, the lighting lamp is controlled to follow the motion trajectory of the camera based on the motion state of the lighting target.

6. A controller comprising a memory, a processor, and a computer program stored in the memory and executed by the processor, wherein: When the processor executes the computer program, the steps of the method for automatic tracking lighting according to any one of claims 1 to 4 are implemented.

7. A system for automatic tracking lighting, characterized in that: include: A camera, a lighting lamp, a photosensitive switch, and the controller according to claim 6; The controller is connected to the camera and the lighting lamp respectively; The camera, lighting lamp and controller are all connected to the power module through the photosensitive switch.

8. A crane, characterized in that: A system is provided with the automatic tracking lighting according to claim 7.

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