Intelligent auxiliary lighting method and movable platform

Abstract

The embodiment of the present application provides a kind of intelligent auxiliary lighting system, method, device and movable platform, the light source control device is set in movable platform, movable platform includes light source, light source is used to provide illumination, light source control device includes memory and processor;Memory is used to store program code;Processor, call program code, when program code is executed, it is used to perform the following operations: obtain the distance information of the object of the surrounding environment where movable platform is located;According to distance information control light source is opened and / or according to distance information control light source brightness;Wherein, according to distance information control light source brightness includes: according to the shortest distance in distance information control light source brightness, or according to the distance of target object in the surrounding environment where movable platform is located control light source brightness;Operation further includes: according to the orientation information of the object corresponding to the shortest distance or the orientation information of target object adjusts the illumination direction of light source.

Description

[0001] This application is a divisional application. The parent application number is 201980033457.3, the application date is September 24, 2019, and the title is "Intelligent Auxiliary Lighting System, Method, Apparatus and Mobile Platform". Technical Field

[0002] This invention relates to the field of lighting technology, and specifically to an intelligent auxiliary lighting system, method, device, and mobile platform. Background Technology

[0003] The issue of drones flying at night has attracted widespread attention. Current drone technology only offers a single lighting solution; for example, users control the drone's lighting equipment to turn it on and off via physical buttons on the remote control, and the brightness of the lighting equipment cannot be flexibly adjusted automatically. Therefore, an intelligent lighting solution is needed to ensure drones can fly safely at night.

[0004] The information disclosed in the background section is only for enhancing the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The present invention provides an intelligent auxiliary lighting system, method, device and mobile platform, thereby overcoming at least to some extent one or more problems caused by the limitations and defects of related technologies.

[0006] Other features and advantages of the invention will become apparent from the following detailed description, or may be learned in part by practice of the invention.

[0007] According to a first aspect of the present invention, an intelligent auxiliary lighting system is disclosed, the intelligent auxiliary lighting system being disposed on a mobile platform, comprising:

[0008] A ranging device is used to obtain distance information of objects in the surrounding environment where the mobile platform is located;

[0009] Auxiliary lighting systems, including:

[0010] A light source, used to provide illumination;

[0011] A light source control device is used to control the activation of the light source and / or control the brightness of the light source based on the distance information.

[0012] According to a second aspect of the present invention, an intelligent assisted lighting method is disclosed, the method being applied to a mobile platform, the mobile platform including a light source for providing illumination, the light source being used to provide illumination, the method comprising:

[0013] Obtain distance information of objects in the surrounding environment of the mobile platform;

[0014] The light source is turned on and / or its brightness is controlled according to the distance information.

[0015] According to a third aspect of the present invention, a light source control device is disclosed, the light source control device being disposed on a movable platform, the movable platform including a light source for providing illumination, the light source control device including a memory and a processor;

[0016] The memory is used to store program code;

[0017] The processor calls the program code, which, when executed, performs the following operations:

[0018] Obtain distance information of objects in the surrounding environment of the mobile platform;

[0019] The light source is turned on and / or its brightness is controlled according to the distance information.

[0020] According to a fourth aspect of the present invention, a mobile platform is disclosed, including the intelligent auxiliary lighting system described in the first aspect.

[0021] According to some exemplary embodiments of the present invention, by using distance information obtained by a ranging device to control the light source, energy loss can be reduced, lighting efficiency can be improved, overexposure can be avoided, and the safety of the mobile platform in low-light environments can be improved.

[0022] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A block diagram of an intelligent auxiliary lighting system according to an exemplary embodiment of the present invention is shown.

[0025] Figure 2 The graph shows how light intensity changes with distance.

[0026] Figure 3 A flowchart illustrating an intelligent auxiliary lighting method according to an exemplary embodiment of the present invention is shown.

[0027] Figure 4 A block diagram of a light source control device according to an exemplary embodiment of the present invention is shown.

[0028] Figure 5 A block diagram of a movable platform according to an exemplary embodiment of the present invention is shown. Detailed Implementation

[0029] The technical solutions in the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0030] The issue of drone nighttime flight has garnered widespread attention. The dimness of the image transmission makes it difficult for drone operators to judge obstacles ahead. In addition, the performance of drone binocular vision sensors is generally poor in low-light environments. By adding an intelligent auxiliary lighting system, operators can see obstacles in the direction of the drone's movement, while also improving the performance of the binocular vision sensor at night, thereby enhancing the safety of the drone.

[0031] Based on this, the present invention proposes an intelligent auxiliary lighting system, method, device, and mobile platform. It utilizes a ranging device to acquire distance information of objects in the surrounding environment of the mobile platform, and controls the light source based on the obtained distance information. It should be noted that the intelligent auxiliary lighting system, method, and device of the present invention are not limited to mobile platforms such as drones, but can also be applied to other unmanned mobile carriers such as unmanned vehicles, handheld shooting devices, and robots. Furthermore, they can even be applied to non-mobile carriers, such as intelligent traffic monitoring systems (e.g., traffic violation photography) or security monitoring systems under low-light and nighttime conditions.

[0032] This invention provides an intelligent auxiliary lighting system, method, device, and mobile platform. The intelligent auxiliary lighting system is installed on the mobile platform and includes: a ranging device for acquiring distance information of objects in the surrounding environment where the mobile platform is located; and an auxiliary lighting system including: a light source for providing illumination; and a light source control device for controlling the activation of the light source and / or controlling the brightness of the light source based on the distance information.

[0033] This invention combines a ranging device and an auxiliary lighting system to improve the safety of mobile platforms in low-light environments. At the same time, by using the distance information obtained by the ranging device to control the light source, energy loss can be reduced, lighting efficiency can be improved, and overexposure can be avoided.

[0034] The following is combined with Figure 1-5 The present invention provides a detailed description of the intelligent auxiliary lighting system, method, apparatus, and mobile platform, wherein... Figure 1 A block diagram of an intelligent auxiliary lighting system according to an exemplary embodiment of the present invention is shown; Figure 2 The graph shows how light intensity changes with distance; Figure 3 A flowchart illustrating an intelligent auxiliary lighting method according to an exemplary embodiment of the present invention is shown; Figure 4 A block diagram of a light source control device according to an exemplary embodiment of the present invention is shown; Figure 5 A block diagram of a movable platform according to an exemplary embodiment of the present invention is shown.

[0035] Figure 1 A block diagram of an intelligent auxiliary lighting system according to an exemplary embodiment of the present invention is shown. The intelligent auxiliary lighting system is disposed on a movable platform (not shown), but the invention is not limited thereto, and it can also be disposed on a non-movable platform / carrier. Figure 1 As shown, the intelligent auxiliary lighting system 100 includes: a ranging device 1, used to acquire distance information of objects in the surrounding environment where the mobile platform is located; and an auxiliary lighting system 2, including: a light source 21, used to provide illumination, wherein when the intelligent auxiliary lighting system is applied to the mobile platform / carrier, the lighting direction can be the direction of movement of the mobile carrier, and when applied to a non-mobile carrier, the lighting direction can be the direction that needs to be monitored, but the present invention is not limited to this, and can also be any other direction that needs illumination; and a light source control device 22, used to control the turning on of the light source 21 according to the distance information and / or control the brightness of the light source 21 according to the distance information. The ranging device and the auxiliary lighting system are connected and communicate through some means, such as a serial port. The intelligent auxiliary lighting system of the present invention, combining the ranging device and the auxiliary lighting system, improves the safety of the mobile platform in low-light environments; at the same time, by utilizing the distance information acquired by the ranging device, energy loss can be reduced, lighting efficiency improved, and overexposure avoided.

[0036] Ranging devices can be binocular vision sensors, time-of-flight (TOF) sensors, lidar, millimeter-wave radar, ultrasonic radar, or infrared sensors, etc. Among them, binocular vision sensors are based on the principle of parallax and utilize imaging equipment to acquire two images of the object from different positions. By calculating the positional deviation between corresponding points in the images, the three-dimensional geometric information of the object is obtained. A binocular vision sensor includes at least two camera modules and chips for image processing and depth calculation; this module is used to calculate the distance to objects in front. TOF sensors continuously send light pulses to the target and then use the sensor to receive the light reflected from the object, obtaining the distance to the target by detecting the time of flight of the light pulses.

[0037] According to an exemplary embodiment of the present invention, controlling the light source based on distance information includes: controlling the light source to turn on based on the distance information.

[0038] According to an exemplary embodiment of the present invention, controlling the activation of a light source based on distance information includes: activating the light source when the distance information meets a preset condition, wherein the preset condition includes: the shortest distance in the distance information is less than a predetermined distance threshold; that is, the light source is activated when the ranging device detects that the shortest distance in the distance information is less than the predetermined distance threshold. For example, the light source is activated when the ranging device detects that the distance to the nearest obstacle in the surrounding environment is less than a certain distance threshold.

[0039] According to an exemplary embodiment of the present invention, the predetermined distance threshold is set based on the speed of the movable platform. Optionally, the distance threshold is proportional to the speed of the movable platform; the higher the speed of the movable platform, the larger the distance threshold. Specifically, the movable platform stores a correspondence between its speed and the distance threshold. The light source control device can acquire the speed of the movable platform and determine the distance threshold based on that speed. Since a higher speed of the movable platform results in a longer braking distance and a greater risk of collision with obstacles, setting the distance threshold to be proportional to the speed of the movable platform can further improve the safety of the movable platform.

[0040] According to an exemplary embodiment of the present invention, the light source control device is further configured to: acquire an image captured by an imaging device on a movable platform; and turn on the light source when the average brightness of the image is less than a predetermined brightness threshold.

[0041] In this example embodiment, the conditions for turning on the light source here are not mutually exclusive with the aforementioned conditions for turning on the light source; that is, the light source can be turned on as long as either condition is met, so as to maximize the safety of the mobile platform at night. However, the present invention is not limited to this. It can also be set so that both conditions are met before the light source is turned on, that is, the light source is turned on only when the shortest distance in the distance information is less than a predetermined distance threshold and the average brightness of the image is less than a predetermined brightness threshold, so as to save energy consumption and improve lighting efficiency while ensuring the safety of the mobile platform at night.

[0042] Optionally, the imaging device can be a depth camera, a visible light camera, an infrared camera, a thermal imaging camera, etc. When the imaging device is a depth camera, the depth camera and the aforementioned ranging device can be the same device or different devices. For example, both the depth camera and the ranging device can be binocular vision sensors, or the depth camera can be a binocular vision sensor and the ranging device can be a TOF sensor. It should be noted that those skilled in the art can configure the device according to actual needs and are not limited to the above embodiments.

[0043] For example, when the image is an 8-bit grayscale image, it can display 256 grayscale levels, and the desired brightness of the image corresponds to a grayscale level between 100 and 200. At night, when the exposure time and exposure gain are adjusted to their maximum levels, the average brightness corresponds to a grayscale level around 50. Based on this condition, the auxiliary lighting system can be triggered to turn on; that is, when the image is an 8-bit grayscale image, the predetermined brightness threshold is the brightness value corresponding to a grayscale level of 50. However, the present invention is not limited to this, and those skilled in the art can set other predetermined brightness thresholds according to actual needs.

[0044] According to an exemplary embodiment of the present invention, the light source control device is further configured to: acquire an image captured by a shooting device on a mobile platform, and activate the light source when a target object appears in the image. The target object may include a face or a human body. For example, it is possible to first identify whether a target object appears in the image. This can be achieved by image segmentation to obtain the features of each segmented image region, and then determining whether it is a target object based on these features. These features include, but are not limited to, shape features. Optionally, the target object may also be a person's limbs or other body parts, or it may be a building, etc. In this embodiment of the present invention, activating the light source when a target object is identified in the image can save energy consumption, improve lighting efficiency, and enhance the quality of nighttime shooting by the shooting device on the mobile platform.

[0045] Current common auxiliary lighting solutions do not offer flexible brightness adjustment for the light source. This can lead to wasted power and reduced efficiency in some applications. For example, when objects are close by, a strong light source is unnecessary, and the light intensity should be reduced. This is especially important when there are people in front of the light source, as excessive brightness can damage their vision. Furthermore, to achieve longer illumination distances, higher-power LEDs are typically chosen. These LEDs have a large current draw (potentially exceeding 1 ampere), resulting in higher heat generation. However, LED efficiency is often affected by temperature; prolonged use can cause overheating and reduced efficiency.

[0046] Therefore, in order to reduce energy loss, improve lighting efficiency, avoid overexposure, and achieve a more human-centered design, the intelligent auxiliary lighting system of this invention adjusts the brightness of the light source through a light source control device after the auxiliary lighting system is turned on.

[0047] According to an exemplary embodiment of the present invention, controlling the light source based on distance information includes: controlling the brightness of the light source based on the distance information.

[0048] According to an exemplary embodiment of the present invention, controlling the brightness of a light source based on distance information includes: controlling the brightness of the light source based on the shortest distance in the distance information.

[0049] According to an exemplary embodiment of the present invention, controlling the brightness of the light source based on distance information includes: controlling the brightness of the light source based on the distance of the target object in the surrounding environment of the mobile platform.

[0050] According to an exemplary embodiment of the present invention, controlling the brightness of a light source based on distance information includes: adjusting the brightness of the light source so that the brightness of the object corresponding to the shortest distance in the image or the brightness of the target object in the image is within a predetermined range, wherein the image is an image captured by an imaging device on the movable platform. This ensures reliable and effective illumination while reducing energy loss and improving lighting efficiency.

[0051] Optionally, the imaging device can be a depth camera, a visible light camera, an infrared camera, a thermal imaging camera, etc. When the imaging device is a depth camera, the depth camera and the aforementioned ranging device can be the same device or different devices. For example, both the depth camera and the ranging device can be binocular vision sensors, or the depth camera can be a binocular vision sensor and the ranging device can be a TOF sensor. It should be noted that those skilled in the art can configure the device according to actual needs and are not limited to the above embodiments.

[0052] For example, when the image is an 8-bit grayscale image, it can display 256 grayscale levels, and the desired brightness of the image corresponds to a grayscale level between 100 and 200. Based on this condition, when the image is an 8-bit grayscale image, the predetermined range is the range of brightness values ​​corresponding to grayscale levels of 100-200. However, the present invention is not limited to this, and those skilled in the art can set other ranges according to actual needs.

[0053] According to an exemplary embodiment of the present invention, the light source control device is further configured to adjust the illumination direction of the light source based on the orientation information of the object corresponding to the shortest distance or the orientation information of the target object. That is, the orientation of the light source is adjustable, specifically adjusted according to the orientation of the object corresponding to the shortest distance or the target object, so that the illumination direction is directed towards the object or target object corresponding to the shortest distance. For example, in a scenario where a drone is following a person at night, the light source can always be pointed in the direction of the person. As another example, in a scenario where a drone is circling a point of interest, the light source direction is always pointed in the direction of the point of interest, which can be selected by the user through a user interface.

[0054] Optionally, the illumination direction of the light source can be adjusted by adjusting the attitude of the movable platform or by adjusting the attitude of the light source. For example, when the relative attitude of the light source and the drone is immutable, that is, when the light source is fixedly mounted on the drone, the illumination direction of the light source can be adjusted by adjusting the attitude of the drone; when the light source is mounted on the drone via a gimbal or other device, the attitude of the light source can be adjusted by adjusting the attitude of the gimbal to adjust the illumination direction of the light source.

[0055] Optionally, there can be multiple light sources, allowing the illumination direction to be adjusted by regulating the brightness of each individual light source. For example, in an array of light sources arranged at equal intervals, the illumination direction can be adjusted by changing the brightness of each light source when the location information of the object or target corresponding to the shortest distance is obtained.

[0056] According to an exemplary embodiment of the present invention, controlling the brightness of a light source based on distance information includes: controlling the brightness of the light source by adjusting the duty cycle of a conduction current or a PWM signal based on the shortest distance in the distance information or the distance of a target object in the surrounding environment of the mobile platform.

[0057] According to an exemplary embodiment of the present invention, the conducting current is proportional to the square of the shortest distance or the square of the distance to the target object, or the conducting current is proportional to a polynomial composed of the square of the shortest distance or a polynomial composed of the square of the distance to the target object.

[0058] The specific methods for controlling the brightness of the light source are explained in detail below.

[0059] Generally, the luminous intensity of light-emitting devices such as LEDs can be adjusted by controlling the conduction current. Typically, the luminous intensity of an LED is directly proportional to its forward conduction current. Another method is to use a PWM signal to adjust the duty cycle, thereby controlling the brightness; the duty cycle and brightness are directly proportional.

[0060] The following is an example of a specific embodiment:

[0061] After the light source control device obtains the depth map from the depth camera, it calculates the shortest distance in the depth image, denoted as d0. For example... Figure 2 As shown, light intensity decreases inversely with the square of the distance. Assuming we use current adjustment to control brightness, to compensate for the decrease in light intensity, we can set the current value to increase with the square of the distance, i.e.:

[0062] I0=Ir+A*d02

[0063] Where A is the proportionality coefficient, which is selected according to the actual situation, and Ir is the reference current, that is, the current when d0=0.

[0064] According to an exemplary embodiment of the present invention, adjusting the brightness of the light source by adjusting the conduction current includes: setting the conduction current to be proportional to the first, third, or fourth power of the shortest distance, or setting the conduction current to be proportional to a polynomial composed of the first, third, and fourth powers of the shortest distance.

[0065] According to an exemplary embodiment of the present invention, the light source control device is further configured to: acquire the movement speed of the movable platform; and control the brightness of the light source based on the movement speed of the movable platform. Optionally, the greater the speed of the movable platform, the greater the brightness of the light source.

[0066] Optionally, the light source control device can control the brightness of the light source based on the distance information of objects in the surrounding environment of the movable platform. Optionally, the light source control device can control the brightness of the light source based on the movement speed of the movable platform. Optionally, the light source control device can control the brightness of the light source based on both the distance information of the surrounding environment of the movable platform and the movement speed of the movable platform.

[0067] Optionally, the movable platform stores a correspondence between the distance information of objects in the surrounding environment and the brightness of a light source. The light source control device can acquire the distance information of objects in the surrounding environment and determine the brightness of the light source based on this distance information. Optionally, the movable platform stores a correspondence between the speed of the movable platform and the brightness of a light source. The light source control device can acquire the speed of the movable platform and determine the brightness of the light source based on this speed. Optionally, the movable platform stores both the distance information of the surrounding environment and the correspondence between the movement speed of the movable platform and the brightness of a light source. The light source control device can acquire both the distance information of the surrounding environment and the movement speed of the movable platform and determine the brightness of the light source based on these distance information and movement speed.

[0068] Since the higher the speed of the mobile platform, the longer the braking distance, and the greater the risk of collision with obstacles, the brightness of the light source can be set to be proportional to the speed of the mobile platform, or the brightness of the light source can be set to be proportional to a polynomial composed of the shortest distance in the distance information and the speed of the mobile platform. This can further improve the safety of the mobile platform.

[0069] According to an exemplary embodiment of the present invention, the light source may be a visible light or infrared light source system.

[0070] According to an exemplary embodiment of the present invention, the light source includes a light-emitting device and a driving circuit, wherein the light-emitting device may be an LED, a laser diode, or a halogen lamp.

[0071] According to an exemplary embodiment of the present invention, the light source further includes a condenser lens.

[0072] According to an exemplary embodiment of the present invention, the illumination direction of the light source is the movement direction of the movable platform, which may be a drone, an unmanned vehicle, a handheld shooting device, or a robot, but is not limited thereto.

[0073] The following is combined with Figure 3The present invention provides a specific description of an intelligent auxiliary lighting method, wherein the method is applied to a mobile platform, the mobile platform including a light source for providing illumination, wherein... Figure 3 A flowchart illustrating an intelligent assisted lighting method according to an exemplary embodiment of the present invention is shown. The intelligent assisted lighting method includes:

[0074] In S31, distance information of objects in the surrounding environment of the mobile platform is obtained.

[0075] The ranging device can be a binocular vision sensor, a TOF sensor, a lidar, a millimeter-wave radar, an ultrasonic radar, or an infrared sensor, etc.

[0076] In S32, the light source is turned on and / or the brightness of the light source is controlled according to the distance information.

[0077] According to an exemplary embodiment of the present invention, controlling the light source based on distance information includes: controlling the light source to turn on based on the distance information.

[0078] According to an exemplary embodiment of the present invention, controlling the activation of a light source based on distance information includes: activating the light source when the distance information meets a preset condition, wherein the preset condition includes: the shortest distance in the distance information is less than a predetermined distance threshold; that is, the light source is activated when the ranging device detects that the shortest distance in the distance information is less than the predetermined distance threshold. For example, the light source is activated when the ranging device detects that the distance to the nearest obstacle in the surrounding environment is less than a certain distance threshold.

[0079] According to an exemplary embodiment of the present invention, the predetermined distance threshold is set based on the speed of the movable platform. Optionally, the distance threshold is proportional to the speed of the movable platform; the higher the speed of the movable platform, the larger the distance threshold. Specifically, the movable platform stores a correspondence between its speed and the distance threshold. The light source control device can acquire the speed of the movable platform and determine the distance threshold based on that speed. Since a higher speed of the movable platform results in a longer braking distance and a greater risk of collision with obstacles, setting the distance threshold to be proportional to the speed of the movable platform can further improve the safety of the movable platform.

[0080] According to an exemplary embodiment of the present invention, the intelligent auxiliary lighting method further includes: acquiring an image captured by a shooting device on a mobile platform; and turning on the light source when the average brightness of the image is less than a predetermined brightness threshold.

[0081] In this example embodiment, the conditions for turning on the light source here are not mutually exclusive with the aforementioned conditions for turning on the light source; that is, the light source can be turned on as long as either condition is met, so as to maximize the safety of the mobile platform at night. However, the present invention is not limited to this. It can also be set so that both conditions are met before the light source is turned on, that is, the light source is turned on only when the shortest distance in the distance information is less than a predetermined distance threshold and the average brightness of the image is less than a predetermined brightness threshold, so as to save energy consumption and improve lighting efficiency while ensuring the safety of the mobile platform at night.

[0082] Optionally, the imaging device can be a depth camera, a visible light camera, an infrared camera, a thermal imaging camera, etc. When the imaging device is a depth camera, the depth camera and the aforementioned ranging device can be the same device or different devices. For example, both the depth camera and the ranging device can be binocular vision sensors, or the depth camera can be a binocular vision sensor and the ranging device can be a TOF sensor. It should be noted that those skilled in the art can configure the device according to actual needs and are not limited to the above embodiments.

[0083] For example, when the image is an 8-bit grayscale image, it can display 256 grayscale levels, and the desired brightness of the image corresponds to a grayscale level between 100 and 200. At night, when the exposure time and exposure gain are adjusted to their maximum levels, the average brightness corresponds to a grayscale level around 50. Based on this condition, the auxiliary lighting system can be triggered to turn on; that is, when the image is an 8-bit grayscale image, the predetermined brightness threshold is the brightness value corresponding to a grayscale level of 50. However, the present invention is not limited to this, and those skilled in the art can set other predetermined brightness thresholds according to actual needs.

[0084] According to an exemplary embodiment of the present invention, the intelligent assisted lighting method further includes: acquiring an image captured by a shooting device on a mobile platform; and turning on the light source when a target object appears in the image. The target object may include a face or a human body. For example, it is possible to first identify whether a target object appears in the image. This can be achieved by image segmentation to obtain features of each segmented image region, and determining whether it is a target object based on these features. These features include, but are not limited to, shape features. Optionally, the target object may also be a person's limbs or other body parts, or a building, etc. In this embodiment of the invention, turning on the light source when a target object is identified in the image can save energy consumption, improve lighting efficiency, and improve the quality of nighttime shooting by the shooting device on the mobile platform.

[0085] Current common auxiliary lighting solutions do not offer flexible brightness adjustment for the light source. This can lead to wasted power and reduced efficiency in some applications. For example, when objects are close by, a strong light source is unnecessary, and the light intensity should be reduced. This is especially important when there are people in front of the light source, as excessive brightness can damage their vision. Furthermore, to achieve longer illumination distances, higher-power LEDs are typically chosen. These LEDs have a large current draw (potentially exceeding 1 ampere), resulting in higher heat generation. However, LED efficiency is often affected by temperature; prolonged use can cause overheating and reduced efficiency.

[0086] Therefore, in order to reduce energy loss, improve lighting efficiency, avoid overexposure, and achieve a more human-centered design, the intelligent auxiliary lighting method of this invention adjusts the brightness of the light source through a light source control device after the auxiliary lighting system is turned on.

[0087] According to an exemplary embodiment of the present invention, controlling the light source based on distance information includes: controlling the brightness of the light source based on the distance information.

[0088] According to an exemplary embodiment of the present invention, controlling the brightness of a light source based on distance information includes: controlling the brightness of the light source based on the shortest distance in the distance information.

[0089] According to an exemplary embodiment of the present invention, controlling the brightness of the light source based on distance information includes: controlling the brightness of the light source based on the distance of the target object in the surrounding environment of the mobile platform.

[0090] According to an exemplary embodiment of the present invention, controlling the brightness of a light source based on distance information includes: adjusting the brightness of the light source so that the brightness of the object corresponding to the shortest distance in the image or the brightness of the target object in the image is within a predetermined range, wherein the image is an image captured by an imaging device on the movable platform. This ensures reliable and effective illumination while reducing energy loss and improving lighting efficiency.

[0091] Optionally, the imaging device can be a depth camera, a visible light camera, an infrared camera, a thermal imaging camera, etc. When the imaging device is a depth camera, the depth camera and the aforementioned ranging device can be the same device or different devices. For example, both the depth camera and the ranging device can be binocular vision sensors, or the depth camera can be a binocular vision sensor and the ranging device can be a TOF sensor. It should be noted that those skilled in the art can configure the device according to actual needs and are not limited to the above embodiments.

[0092] For example, when the image is an 8-bit grayscale image, it can display 256 grayscale levels, and the desired brightness of the image corresponds to a grayscale level between 100 and 200. Based on this condition, when the image is an 8-bit grayscale image, the predetermined range is the range of brightness values ​​corresponding to grayscale levels of 100-200. However, the present invention is not limited to this, and those skilled in the art can set other ranges according to actual needs.

[0093] According to an exemplary embodiment of the present invention, the intelligent assisted lighting method further includes: adjusting the illumination direction of the light source based on the orientation information of the object corresponding to the shortest distance or the orientation information of the target object. That is, the orientation of the light source is adjustable, specifically adjusted according to the orientation of the object corresponding to the shortest distance or the target object, so that the illumination direction is directed towards the object or target object. For example, in a scenario where a drone is following a person at night, the light source can always be pointed in the direction of the person. Or, in a scenario where a drone is circling a point of interest, the light source direction can always be pointed in the direction of the point of interest, which can be selected by the user through a user interface.

[0094] Optionally, the illumination direction of the light source can be adjusted by adjusting the attitude of the movable platform or by adjusting the attitude of the light source. For example, when the relative attitude of the light source and the drone is immutable, that is, when the light source is fixedly mounted on the drone, the illumination direction of the light source can be adjusted by adjusting the attitude of the drone; when the light source is mounted on the drone via a gimbal or other device, the attitude of the light source can be adjusted by adjusting the attitude of the gimbal to adjust the illumination direction of the light source.

[0095] Optionally, multiple light sources can be used, allowing the illumination direction to be adjusted by regulating the brightness of each individual light source. For example, light sources can be arranged at equal intervals to form a light source array. When the location information of the object or target corresponding to the shortest distance is obtained, the brightness of each light source can be adjusted to regulate the illumination direction.

[0096] According to an exemplary embodiment of the present invention, controlling the brightness of a light source based on distance information includes: controlling the brightness of the light source by adjusting the duty cycle of a conduction current or a PWM signal based on the shortest distance in the distance information or the distance of a target object in the surrounding environment of the mobile platform.

[0097] According to an exemplary embodiment of the present invention, the conducting current is proportional to the square of the shortest distance or the square of the distance to the target object, or the conducting current is proportional to a polynomial composed of the square of the shortest distance or a polynomial composed of the square of the distance to the target object.

[0098] The specific methods for controlling the brightness of the light source are explained in detail below.

[0099] Generally, the luminous intensity of light-emitting devices such as LEDs can be adjusted by controlling the conduction current. Typically, the luminous intensity of an LED is directly proportional to its forward conduction current. Another method is to use a PWM signal to adjust the duty cycle, thereby controlling the brightness; the duty cycle and brightness are directly proportional.

[0100] The following is an example of a specific embodiment:

[0101] After obtaining the depth map from the depth camera, the shortest distance in the depth image is calculated and denoted as d0. For example... Figure 2 As shown, light intensity decreases inversely with the square of the distance. Assuming we use current adjustment to control brightness, to compensate for the decrease in light intensity, we can set the current value to increase with the square of the distance, i.e.:

[0102] I0=Ir+A*d02

[0103] Where A is the proportionality coefficient, which is selected according to the actual situation, and Ir is the reference current, that is, the current when d0=0.

[0104] According to an exemplary embodiment of the present invention, adjusting the brightness of the light source by adjusting the conduction current includes: setting the conduction current to be proportional to the first, third, or fourth power of the shortest distance, or setting the conduction current to be proportional to a polynomial composed of the first, third, and fourth powers of the shortest distance.

[0105] According to an exemplary embodiment of the present invention, the intelligent assisted lighting method further includes: acquiring the movement speed of a movable platform; and controlling the brightness of a light source based on the movement speed of the movable platform. Optionally, the greater the speed of the movable platform, the greater the brightness of the light source.

[0106] Optionally, the brightness of the light source can be controlled based on the distance information of objects in the surrounding environment of the movable platform. Optionally, the light source control device can control the brightness of the light source based on the movement speed of the movable platform. Optionally, the light source control device can control the brightness of the light source based on both the distance information of the surrounding environment of the movable platform and the movement speed of the movable platform.

[0107] Optionally, the movable platform stores a correspondence between the distance information of objects in the surrounding environment and the brightness of a light source. The light source control device can acquire the distance information of objects in the surrounding environment and determine the brightness of the light source based on this distance information. Optionally, the movable platform stores a correspondence between the speed of the movable platform and the brightness of a light source. The light source control device can acquire the speed of the movable platform and determine the brightness of the light source based on this speed. Optionally, the movable platform stores both the distance information of the surrounding environment and the correspondence between the movement speed of the movable platform and the brightness of a light source. The light source control device can acquire both the distance information of the surrounding environment and the movement speed of the movable platform and determine the brightness of the light source based on these distance information and movement speed.

[0108] Since the higher the speed of the mobile platform, the longer the braking distance, and the greater the risk of collision with obstacles, the brightness of the light source can be set to be proportional to the speed of the mobile platform, or the brightness of the light source can be set to be proportional to a polynomial composed of the shortest distance in the distance information and the speed of the mobile platform. This can further improve the safety of the mobile platform.

[0109] According to an exemplary embodiment of the present invention, the light source may be a visible light or infrared light source system.

[0110] According to an exemplary embodiment of the present invention, the light source includes a light-emitting device and a driving circuit, wherein the light-emitting device may be an LED, a laser diode, or a halogen lamp.

[0111] According to an exemplary embodiment of the present invention, the light source further includes a condenser lens.

[0112] According to an exemplary embodiment of the present invention, the illumination direction of the light source is the movement direction of the movable platform, which may be a drone, an unmanned vehicle, a handheld shooting device, or a robot, but is not limited thereto.

[0113] As can be seen from the above, the intelligent auxiliary lighting method of the present invention controls the activation of the light source based on distance information, thereby improving the safety of the mobile platform in low-light environments; at the same time, controlling the brightness of the light source based on distance information can reduce energy loss, improve lighting efficiency, and avoid overexposure.

[0114] Figure 4 A block diagram of a light source control device according to an exemplary embodiment of the present invention is shown. The light source control device is disposed on a movable platform, the movable platform including a light source for providing illumination. Figure 4 As shown, the light source control device 400 includes a processor 410 and a memory 420.

[0115] The memory 420 may include volatile memory; the memory 801 may also include non-volatile memory; the memory 420 may also include a combination of the above types of memory. The processor 410 may be a central processing unit (CPU). The processor 410 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

[0116] According to an exemplary embodiment of the present invention, the light source control device further includes a data interface 430, which is used to transmit data information.

[0117] The memory 420 is used to store program code; the processor 410 calls the program code, and when the program code is executed, it is used to perform the following operations: obtain distance information of objects in the surrounding environment where the movable platform is located; control the turning on of the light source and / or control the brightness of the light source according to the distance information.

[0118] Furthermore, when the processor 410 controls the light source to be turned on based on the distance information, it is specifically used to: turn on the light source when the distance information meets a preset condition.

[0119] Furthermore, the preset condition includes: the shortest distance in the distance information is less than a predetermined distance threshold.

[0120] Furthermore, the predetermined distance threshold is set based on the speed of the mobile platform, and the operation further includes: obtaining the speed of the mobile platform.

[0121] Furthermore, the operation also includes: acquiring an image captured by the imaging device on the movable platform; and turning on the light source when the average brightness of the image is less than a predetermined brightness threshold.

[0122] Furthermore, the operation also includes: acquiring an image captured by the shooting device on the mobile platform; and turning on the light source when a target object appears in the image.

[0123] Furthermore, the target object includes a human face or a human body.

[0124] Furthermore, when the processor 410 controls the brightness of the light source based on the distance information, it is specifically used to: control the brightness of the light source based on the shortest distance in the distance information.

[0125] Furthermore, when the processor 410 controls the brightness of the light source based on the distance information, it is specifically used to: control the brightness of the light source based on the distance of the target object in the surrounding environment of the mobile platform.

[0126] Furthermore, when the processor 410 controls the brightness of the light source based on the distance information, it is specifically used to: adjust the brightness of the light source so that the brightness of the object corresponding to the shortest distance in the image or the brightness of the target object in the image is within a predetermined range, wherein the image is an image captured by the shooting device on the movable platform.

[0127] Furthermore, the operation also includes: adjusting the illumination direction of the light source according to the orientation information of the object corresponding to the shortest distance or the orientation information of the target object.

[0128] Furthermore, when the processor 410 adjusts the illumination direction of the light source, it is specifically used to: adjust the illumination direction of the light source by adjusting the posture of the movable platform or by adjusting the posture of the light source.

[0129] Furthermore, the number of light sources is multiple, and when the processor adjusts the illumination direction of the light sources, it is specifically used to: adjust the illumination direction of the light sources by adjusting the brightness of each of the multiple light sources.

[0130] Furthermore, when the processor 410 controls the brightness of the light source based on the distance information, it is specifically used to: control the brightness of the light source by adjusting the duty cycle of the conduction current or the PWM signal based on the shortest distance in the distance information or the distance of the target object in the surrounding environment of the mobile platform.

[0131] Furthermore, the conducting current is proportional to the square of the shortest distance or the square of the distance to the target object, or the conducting current is proportional to a polynomial composed of the square of the shortest distance or the square of the distance to the target object.

[0132] Furthermore, the operation also includes: acquiring the movement speed of the movable platform; and controlling the brightness of the light source according to the movement speed of the movable platform.

[0133] Furthermore, the ranging device is a binocular vision sensor, a TOF sensor, a lidar, a millimeter-wave radar, an ultrasonic sensor, or an infrared sensor.

[0134] Furthermore, the illumination direction of the light source is the movement direction of the mobile platform, which can be a drone, an unmanned vehicle, a handheld shooting device, or a robot.

[0135] The light source control device provided in this embodiment of the invention controls the light source by using distance information obtained by a ranging device, which can reduce energy loss, improve lighting efficiency, avoid overexposure, and improve the safety of the mobile platform in low-light environments.

[0136] Figure 5 A block diagram of a movable platform according to an exemplary embodiment of the present invention is shown. Figure 5 As shown, the mobile platform 500 includes any of the aforementioned intelligent auxiliary lighting systems 100.

[0137] The mobile platforms provided in this invention include, but are not limited to, drones, unmanned vehicles, handheld shooting devices, and robots.

[0138] From the above detailed description, those skilled in the art will readily understand that the intelligent auxiliary lighting method, apparatus, system, and mobile platform according to embodiments of the present invention have one or more of the following advantages.

[0139] According to some exemplary embodiments of the present invention, the safety of a mobile platform in low-light environments is improved by combining a ranging device and an auxiliary lighting system.

[0140] According to some exemplary embodiments of the present invention, by using distance information obtained by a ranging device to control the light source, energy loss can be reduced, lighting efficiency can be improved, and overexposure can be avoided.

[0141] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0142] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A mobile platform, characterized in that, The device includes a light source and a light source control device, wherein the light source is used to provide illumination and the light source control device includes a memory and a processor. The memory is used to store program code; The processor calls the program code, which, when executed, performs the following operations: Obtain distance information of objects in the surrounding environment of the mobile platform; The light source is turned on and / or its brightness is controlled according to the distance information. as well as Adjusting the illumination direction of the light source based on the orientation information of the object or target object corresponding to the shortest distance includes: The number of light sources is multiple. Based on the obtained orientation information of the object corresponding to the shortest distance or the orientation information of the target object, adjust the brightness of each of the light sources to adjust the illumination direction of the light sources, and / or When the light source is mounted on the movable platform via a gimbal, the attitude of the gimbal is adjusted to adjust the attitude of the light source, thereby adjusting the illumination direction of the light source; wherein, the target object includes a human face or human body.

2. A mobile platform, characterized in that, The device includes a light source and a light source control device, wherein the light source is used to provide illumination and the light source control device includes a memory and a processor. The memory is used to store program code; The processor calls the program code, which, when executed, performs the following operations: Obtain distance information of objects in the surrounding environment of the mobile platform; The brightness of the light source is adjusted according to the distance information so that the brightness of the object closest to the movable platform in the image captured by the movable platform, or the brightness of the target object in the image captured by the movable platform, is within a predetermined range; the image captured by the movable platform is an image captured by the shooting device on the movable platform; as well as Adjusting the illumination direction of the light source based on the orientation information of the object or target object corresponding to the shortest distance includes: The number of light sources is multiple. Based on the obtained orientation information of the object corresponding to the shortest distance or the orientation information of the target object, adjust the brightness of each of the light sources to adjust the illumination direction of the light sources, and / or When the light source is mounted on the movable platform via a gimbal, the attitude of the gimbal is adjusted to adjust the attitude of the light source, thereby adjusting the illumination direction of the light source; wherein, the target object includes a human face or human body.

3. The mobile platform according to claim 1 or 2, characterized in that, When the processor controls the light source to be turned on based on the distance information, it is specifically used for: When the distance information meets the preset conditions, the light source is turned on.

4. The mobile platform according to claim 3, characterized in that, The preset conditions include: the shortest distance in the distance information is less than a predetermined distance threshold.

5. The mobile platform according to claim 4, characterized in that, The predetermined distance threshold is set based on the speed of the mobile platform, and the operation further includes: Obtain the speed of the mobile platform.

6. The mobile platform according to claim 1, characterized in that, The operation also includes: The light source is turned on when the average brightness of the image captured on the mobile platform is less than a predetermined brightness threshold, or when the target object appears in the image captured on the mobile platform. Alternatively, when the processor controls the brightness of the light source based on the distance information, it is specifically used for: The brightness of the light source is adjusted so that the brightness of the object closest to the movable platform or the target object in the image captured by the movable platform is within a predetermined range.

7. The mobile platform according to claim 1 or 2, characterized in that, When the processor controls the brightness of the light source based on the distance information, it is specifically used for: The brightness of the light source is controlled by adjusting the duty cycle of the conduction current or the PWM signal based on the shortest distance in the distance information or the distance of the target object in the surrounding environment of the mobile platform.

8. The mobile platform according to claim 1 or 2, characterized in that, The operation also includes: Obtain the movement speed of the movable platform; The brightness of the light source is controlled according to the movement speed of the movable platform.

9. The mobile platform according to claim 1 or 2, characterized in that, The movable platform is equipped with a ranging device, which is configured to acquire the distance information. The ranging device is a binocular vision sensor, a TOF sensor, a lidar, a millimeter-wave radar, an ultrasonic sensor, or an infrared sensor. Alternatively, the illumination direction of the light source is the movement direction of the mobile platform, which can be a drone, unmanned vehicle, handheld shooting device, or robot.

10. A smart assisted lighting method, characterized in that, The method is applied to a mobile platform, the mobile platform including a light source for providing illumination, the method comprising: Obtain distance information of objects in the surrounding environment of the mobile platform; Controlling the activation of the light source and / or controlling the brightness of the light source based on the distance information; and Adjusting the illumination direction of the light source based on the orientation information of the object or target object corresponding to the shortest distance includes: The number of light sources is multiple. Based on the obtained orientation information of the object corresponding to the shortest distance or the orientation information of the target object, the brightness of each light source is adjusted to regulate the illumination direction of the light source, and / or When the light source is mounted on the movable platform via a gimbal, the attitude of the gimbal is adjusted to adjust the attitude of the light source, thereby adjusting the illumination direction of the light source; wherein, the target object includes a human face or human body.

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