An adaptive lighting method and system based on track path recognition

Abstract

The present invention is applicable to the field of track lighting technology, and in particular, relates to an adaptive lighting method and system based on track path recognition, the method comprising: establishing a data connection with an adaptive lighting device, receiving a real-time image from the adaptive lighting device; preprocessing the real-time image to obtain a preprocessed image, and detecting the track path in the preprocessed image; obtaining a lighting instruction, and selecting a corresponding path segment to be illuminated from the track path based on a lighting mode; constructing a three-dimensional coordinate system, calculating the lighting angle of each lamp head, generating a lighting adjustment plan, and a spacing adjustment mechanism controlling the lamp head according to the lighting adjustment plan. The present invention can automatically identify the track path by setting an adaptive lighting device, and dynamically illuminate the track path according to the lighting mode. It can not only perform directional lighting, but also adjust the lighting area according to the direction of the track path, thereby maximizing the lighting conditions and ensuring driving safety.

Description

Technical Field

[0001] The present invention belongs to the technical field of track lighting, and in particular relates to an adaptive lighting method and system based on track path recognition. Background Art

[0002] Rail transit usually refers to the operation of transportation vehicles using fixed tracks, mainly including trams, subways, light rails, intercity railways, etc. This method not only provides efficient and punctual services, but also effectively reduces urban traffic congestion and environmental pollution. It is an important part of the modern urban transportation system. By optimizing line design and improving service quality, rail transit plays an increasingly important role in promoting sustainable urban development.

[0003] The existing track lighting system has a fixed lighting direction. Therefore, when driving to a curve area or a track change area, it is difficult to illuminate the track path and abnormalities on the track path cannot be discovered in time. Summary of the invention

[0004] The purpose of the present invention is to provide an adaptive lighting method based on track path recognition, aiming to solve the problem that the existing track lighting system has a fixed lighting direction. Therefore, when driving into a curve area or a track change area, it is difficult to illuminate the track path and abnormalities on the track path cannot be discovered in time.

[0005] The present invention is implemented as follows: an adaptive lighting method based on track path recognition, the method comprising:

[0006] Establishing a data connection with the adaptive lighting device to receive real-time images from the adaptive lighting device, wherein the adaptive lighting device includes an image acquisition device and a housing, wherein a plurality of rubber rods are fixedly installed in the housing, and lamp caps are fixedly installed at the ends of the rubber rods, and the rubber rods are controlled by a spacing adjustment mechanism;

[0007] Preprocessing the real-time image to obtain a preprocessed image, and detecting the track path in the preprocessed image;

[0008] Obtain lighting instructions, select different lighting modes according to the lighting instructions, and select corresponding path segments to be illuminated from the track path based on the lighting modes;

[0009] A three-dimensional coordinate system is constructed, the lighting angle of each lamp head is calculated, and a lighting adjustment plan is generated. The spacing adjustment mechanism controls the lamp heads according to the lighting adjustment plan.

[0010] Preferably, the step of preprocessing the real-time image to obtain a preprocessed image and detecting the track path in the preprocessed image specifically includes:

[0011] Perform grayscale processing on the real-time image, convert it into a grayscale image, perform noise reduction on the grayscale image, and enhance the contrast;

[0012] Edge detection is performed using the Canny edge detection algorithm, and the grayscale image is converted into a line image using the Hough transform;

[0013] By performing feature matching, the track in the line image is identified and the track path is obtained.

[0014] Preferably, in the step of obtaining a lighting instruction, selecting different lighting modes according to the lighting instruction, and selecting a corresponding path segment to be illuminated from the track path based on the lighting mode,

[0015] Obtain lighting instructions, query a preset instruction library based on the lighting instructions, determine a lighting mode, and select a corresponding path segment to be illuminated, wherein the lighting mode includes at least a directional lighting mode, a follow-up lighting mode, and a patrol lighting mode;

[0016] When in directional lighting mode, the lighting direction of the lamp head remains unchanged and the lighting area is fixed;

[0017] When in follow lighting mode, the lighting area changes with the curvature of the track;

[0018] When in the patrol lighting mode, the lighting area is reciprocated along the extension direction of the track.

[0019] Preferably, the steps of constructing a three-dimensional coordinate system, calculating the lighting angle of each lamp head, generating a lighting adjustment scheme, and the spacing adjustment mechanism controlling the lamp head according to the lighting adjustment scheme specifically include:

[0020] Construct a three-dimensional coordinate system, take the location of the image acquisition device as the origin, and determine the coordinate values ​​of each point on the track according to the installation height of the image acquisition device;

[0021] According to the installation position of the lamp head and the coordinates of each point on the path segment to be illuminated, determine the lighting area of ​​each lamp head and calculate the lighting direction of the lamp head;

[0022] A lighting adjustment plan is generated based on the lighting direction of the lamp head, and the spacing adjustment mechanism controls the lamp head according to the lighting adjustment plan.

[0023] Preferably, the spacing adjustment mechanism includes a first mounting ring and a second mounting ring, the first mounting ring and the second mounting ring are rotatably mounted on the rubber rod, the first mounting rings in the same row are connected by a second spring, and the second mounting rings in the same column are connected by a first spring, the second electromagnet and the second fixed magnetic block are fixedly mounted on both sides of the first mounting ring, the first electromagnet and the first fixed magnetic block are fixedly mounted on both sides of the second mounting ring, a plurality of groups of electromagnetic strips are arranged on the inner wall of the outer shell, and a mounting ear plate is arranged on the outer shell.

[0024] Another object of the present invention is to provide an adaptive lighting system based on track path recognition, the system comprising:

[0025] A data connection module, used to establish a data connection with the adaptive lighting device and receive real-time images from the adaptive lighting device, wherein the adaptive lighting device includes an image acquisition device and a housing, wherein a plurality of rubber rods are fixedly installed in the housing, and lamp caps are fixedly installed at the ends of the rubber rods, and the rubber rods are controlled by a spacing adjustment mechanism;

[0026] A path recognition module is used to preprocess the real-time image to obtain a preprocessed image and detect the track path in the preprocessed image;

[0027] A lighting mode selection module is used to obtain lighting instructions, select different lighting modes according to the lighting instructions, and select a corresponding path segment to be illuminated from the track path based on the lighting mode;

[0028] The lighting control module is used to construct a three-dimensional coordinate system, calculate the lighting angle of each lamp head, and generate a lighting adjustment plan. The spacing adjustment mechanism controls the lamp heads according to the lighting adjustment plan.

[0029] Preferably, the path identification module includes:

[0030] A preprocessing unit, used for gray-scale processing of the real-time image, converting it into a gray-scale image, performing noise reduction processing on the gray-scale image, and enhancing contrast;

[0031] An image transformation unit, used for performing edge detection by using a Canny edge detection algorithm and converting a grayscale image into a line image by using a Hough transform;

[0032] The feature matching unit is used to identify the track in the line image by performing feature matching to obtain the track path.

[0033] Preferably, the lighting mode selection module is used to obtain lighting instructions, query a preset instruction library based on the lighting instructions, determine the lighting mode, and select the corresponding path segment to be illuminated, and the lighting mode at least includes a directional lighting mode, a follow-up lighting mode, and a patrol lighting mode;

[0034] When in directional lighting mode, the lighting direction of the lamp head remains unchanged and the lighting area is fixed;

[0035] When in follow lighting mode, the lighting area changes with the curvature of the track;

[0036] When in the patrol lighting mode, the lighting area is reciprocated along the extension direction of the track.

[0037] Preferably, the lighting control module includes:

[0038] A coordinate system construction unit is used to construct a three-dimensional coordinate system, taking the location of the image acquisition device as the origin, and determining the coordinate values ​​of each point on the track according to the installation height of the image acquisition device;

[0039] A lighting direction recognition unit is used to determine the lighting area of ​​each lamp head and calculate the lighting direction of the lamp head according to the installation position of the lamp head and the coordinates of each point on the path segment to be illuminated;

[0040] The device control unit is used to generate a lighting adjustment plan based on the lighting direction of the lamp head, and the spacing adjustment mechanism controls the lamp head according to the lighting adjustment plan.

[0041] Preferably, the spacing adjustment mechanism includes a first mounting ring and a second mounting ring, the first mounting ring and the second mounting ring are rotatably mounted on the rubber rod, the first mounting rings in the same row are connected by a second spring, and the second mounting rings in the same column are connected by a first spring, the second electromagnet and the second fixed magnetic block are fixedly mounted on both sides of the first mounting ring, the first electromagnet and the first fixed magnetic block are fixedly mounted on both sides of the second mounting ring, a plurality of groups of electromagnetic strips are arranged on the inner wall of the outer shell, and a mounting ear plate is arranged on the outer shell.

[0042] The present invention provides an adaptive lighting method based on track path recognition. By setting an adaptive lighting device, the track path can be automatically identified, and the track path can be dynamically illuminated according to the lighting mode. Not only directional lighting can be performed, but also the lighting area can be adjusted according to the direction of the track path, thereby maximizing the lighting conditions and ensuring driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A flowchart of an adaptive lighting method based on track path recognition provided by an embodiment of the present invention;

[0044] Figure 2 A flowchart of the steps of preprocessing a real-time image to obtain a preprocessed image and detecting a track path in the preprocessed image provided by an embodiment of the present invention;

[0045] Figure 3A flowchart of the steps of constructing a three-dimensional coordinate system, calculating the lighting angle of each lamp head, generating a lighting adjustment plan, and controlling the lamp head according to the lighting adjustment plan by the spacing adjustment mechanism provided in an embodiment of the present invention;

[0046] Figure 4 An architecture diagram of an adaptive lighting system based on track path recognition provided by an embodiment of the present invention;

[0047] Figure 5 An architecture diagram of a path identification module provided by an embodiment of the present invention;

[0048] Figure 6 An architectural diagram of a lighting control module provided by an embodiment of the present invention;

[0049] Figure 7 A schematic diagram of a first viewing angle of an adaptive lighting device provided by an embodiment of the present invention;

[0050] Figure 8 A schematic diagram of a second viewing angle of an adaptive lighting device provided by an embodiment of the present invention;

[0051] Fig. 9 for Figure 7 A partial enlarged view of point A in the middle.

[0052] Figure numerals: 1. housing; 2. mounting ear plate; 3. rubber rod; 4. lamp holder; 5. image acquisition device; 6. first mounting ring; 7. second mounting ring; 8. first electromagnet; 9. second electromagnet; 10. first spring; 11. second spring. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0054] like Figure 1 , Figure 7 , Figure 8 and Fig. 9 As shown, an adaptive lighting method based on track path recognition is provided by an embodiment of the present invention, and the method includes:

[0055] S100, establishing a data connection with an adaptive lighting device, and receiving a real-time image from the adaptive lighting device, wherein the adaptive lighting device comprises an image acquisition device 5 and a housing 1, wherein a plurality of rubber rods 3 are fixedly mounted in the housing 1, wherein lamp holders 4 are fixedly mounted at the ends of the rubber rods 3, and the rubber rods 3 are controlled by a spacing adjustment mechanism.

[0056] In this step, a data connection is established with the adaptive lighting device, which includes a wireless communication module. The wireless communication module is connected to the spacing adjustment mechanism and the lamp head 4. The wireless communication module is connected to the background control center for transmitting data. The lamp head 4 is used to generate light irradiation lines. One lamp head 4 can illuminate an area. The rubber rod 3 has a certain elasticity and can bend under the control of the spacing adjustment mechanism, thereby changing the lighting direction of the lamp head 4. During driving, image acquisition is continuously performed through the image acquisition device 5 to obtain real-time images, and the real-time images are uploaded through the wireless communication module.

[0057] S200, preprocessing the real-time image to obtain a preprocessed image, and detecting the track path in the preprocessed image.

[0058] In this step, the real-time image is preprocessed. The preprocessing can reduce the amount of data contained in the real-time image on the one hand, and reduce the difficulty of data processing on the other hand. The preprocessing step includes at least grayscale processing and Hough transform. The real-time image can be converted into a line image by Hough transform. Since the shape of the track is regular, the line image can reduce the difficulty of detecting the track, thereby extracting the track path.

[0059] S300, obtaining a lighting instruction, selecting different lighting modes according to the lighting instruction, and selecting a corresponding path segment to be illuminated from the track path based on the lighting mode.

[0060] In this step, a lighting instruction is obtained, a corresponding lighting method is determined according to the lighting instruction, a preset instruction library is queried based on the lighting instruction, a lighting mode is determined, and a corresponding path segment to be illuminated is selected, wherein the lighting mode includes at least a directional lighting mode, a follow lighting mode, and a patrol lighting mode; when in the directional lighting mode, the lighting direction of the lamp head 4 remains unchanged and the lighting area is fixed; when in the follow lighting mode, the lighting area changes with the bending direction of the track; when in the patrol lighting mode, the lighting area performs reciprocating lighting along the extension direction of the track. Under different lighting modes, different path segments to be illuminated need to be selected to illuminate the corresponding areas.

[0061] S400, constructing a three-dimensional coordinate system, calculating the lighting angle of each lamp head 4, generating a lighting adjustment plan, and the spacing adjustment mechanism controls the lamp heads 4 according to the lighting adjustment plan.

[0062] In this step, a three-dimensional coordinate system is constructed. The three-dimensional coordinate system is used to determine the position of each point on the track. In this three-dimensional coordinate system, the origin is the position of the image acquisition device 5, and then the coordinates of each point on the track path are determined. Since the installation position of the lamp head 4 is also fixed, the coordinates of the lamp head 4 are determined according to the relative position relationship between the lamp head 4 and the image acquisition device 5. The lighting position of the light generated by each lamp head 4 can be determined according to the orientation of the lamp head 4. By generating a lighting adjustment plan, the lamp head 4 is controlled to illuminate the path segment that needs to be illuminated.

[0063] like Figure 2 As shown, as a preferred embodiment of the present invention, the step of preprocessing the real-time image to obtain the preprocessed image and detecting the track path in the preprocessed image specifically includes:

[0064] S201, grayscale processing is performed on the real-time image to convert it into a grayscale image, noise reduction is performed on the grayscale image, and contrast is enhanced.

[0065] In this step, the real-time image is gray-scaled and converted from an image with three color channels of red, green, and blue (RGB) to an image with only one brightness channel. This is achieved by calculating the weighted average of the three color channel values ​​at each pixel. The formula is: Gray = 0.299 * R + 0.587 * G + 0.114 * B, where R, G, and B represent the intensity values ​​of red, green, and blue, respectively, and the coefficient is set according to the sensitivity of the human eye to different colors. After calculation, the original color image is converted into a grayscale image composed of different shades of gray, and further noise reduction and contrast enhancement are performed.

[0066] S202, edge detection is performed using a Canny edge detection algorithm, and the grayscale image is converted into a line image using a Hough transform.

[0067] In this step, edge detection is performed using the Canny edge detection algorithm. A Gaussian filter is applied to the input image to reduce noise. The size and direction of the image gradient are calculated to determine the maximum gradient change at each pixel and to find potential edges. The non-maximum suppression step removes those gradient values ​​that are not the local maximum to ensure accurate edge positioning. The double threshold method and edge connection are used to determine the final edge. Two high and low thresholds are set. Points above the high threshold are considered strong edge points, and points below the low threshold are discarded. Points between the two are retained only when there are strong edge points around them, and edge contours, i.e., line images, are obtained.

[0068] S203, identifying the track in the line image by performing feature matching to obtain the track path.

[0069] In this step, the track in the line image is identified by performing feature matching. The track is a continuous curve or straight line. Matching is performed based on a preset feature database to identify the track path in the image.

[0070] As a preferred embodiment of the present invention, in the step of obtaining a lighting instruction, selecting different lighting modes according to the lighting instruction, and selecting a corresponding path segment to be illuminated from the track path based on the lighting mode,

[0071] Obtain lighting instructions, query a preset instruction library based on the lighting instructions, determine a lighting mode, and select a corresponding path segment to be illuminated, wherein the lighting mode includes at least a directional lighting mode, a follow-up lighting mode, and a patrol lighting mode;

[0072] When in directional lighting mode, the lighting direction of the lamp head 4 remains unchanged and the lighting area is fixed;

[0073] When in follow lighting mode, the lighting area changes with the curvature of the track;

[0074] When in the patrol lighting mode, the lighting area is reciprocated along the extension direction of the track.

[0075] like Figure 3 , Figure 7 , Figure 8 and Fig. 9 As shown, as a preferred embodiment of the present invention, the steps of constructing a three-dimensional coordinate system, calculating the lighting angle of each lamp head 4, generating a lighting adjustment scheme, and the spacing adjustment mechanism controlling the lamp head 4 according to the lighting adjustment scheme specifically include:

[0076] S401, constructing a three-dimensional coordinate system, taking the location of the image acquisition device as the origin, and determining the coordinate value of each point on the track according to the installation height of the image acquisition device.

[0077] In this step, a three-dimensional coordinate system is constructed and the origin of the three-dimensional coordinate system is determined. Specifically, the location of the image acquisition device is taken as the origin. Since the rail vehicle travels on the track, the vertical distance between the image acquisition device and the track is fixed, and the track is parallel to the ground. Therefore, the coordinates of each point on the track can be determined according to the location of the track path in the picture, and the coordinate value of any point on the track can be obtained.

[0078] S402, determining the lighting area of ​​each lamp head according to the installation position of the lamp head 4 and the coordinates of each point on the path segment to be illuminated, and calculating the lighting direction of the lamp head 4.

[0079] In this step, the lighting area of ​​each lamp head is determined according to the installation position of the lamp head 4 and the coordinates of each point on the path segment to be illuminated. After the lighting area is determined, the lighting area is allocated and divided into multiple lighting sub-intervals. Each lamp head 4 corresponds to a lighting sub-interval. The starting position of the lamp head 4 is fixed, so the starting position of the lamp head 4 can be determined according to the position of the image acquisition device, and the position to be adjusted of the lamp head 4 is determined according to the lighting sub-interval, that is, when the lamp head 4 is in the position to be adjusted, the light emitted by the lamp head 4 will cover the corresponding lighting sub-interval.

[0080] S403, generating a lighting adjustment scheme based on the lighting direction of the lamp head 4, and the spacing adjustment mechanism controls the lamp head 4 according to the lighting adjustment scheme.

[0081] In this step, a lighting adjustment scheme is generated based on the lighting direction of the lamp holder 4, and the spacing adjustment mechanism controls the lamp holder 4 according to the lighting adjustment scheme. The spacing adjustment mechanism includes a first mounting ring 6 and a second mounting ring 7. The first mounting ring 6 and the second mounting ring 7 are rotatably mounted on the rubber rod 3. The first mounting rings 6 located in the same row are connected by a second spring 11, and the second mounting rings 7 located in the same column are connected by a first spring 10. The first mounting ring 6 is fixedly mounted with a second electromagnet 9 and a second fixed magnetic block on both sides, and the second mounting ring 7 is fixedly mounted with a first electromagnet 8 and a first fixed magnetic block on both sides. A fixed magnetic block, multiple groups of electromagnetic strips are arranged on the inner wall of the shell, and a mounting ear plate 2 is arranged on the shell 1. When the lamp head 4 needs to be adjusted, the electromagnetic strip contains multiple electromagnets arranged in parallel. The electromagnetic strips are divided into four groups, which are respectively located on the four inner walls of the shell 1. The inner wall close to the image acquisition device 5 is the upper side, and then four electromagnetic strips are fixed on the four inner walls of the upper, lower, left and right sides, respectively, which are defined as the upper electromagnetic strip, the lower electromagnetic strip, the left electromagnetic strip and the right electromagnetic strip, wherein the upper electromagnetic strip, the lower electromagnetic strip and all the second mounting rings 7 are located in the same plane, and the left electromagnetic strip, the right electromagnetic strip and all the first mounting rings 6 are located in the same plane. The first electromagnet 8 and the first fixed magnetic block are fixedly installed above and below the second mounting ring 7, respectively. The second electromagnet 9 and the second magnetic block are fixedly installed on the left and right sides of the first mounting ring 6, respectively. When it is necessary to control the lamp holder 4 to deflect in the up and down directions, such as deflecting downward, the upper electromagnetic strip is energized, which generates a magnetic field to repel the first electromagnet 8 adjacent to it. The first electromagnet 8 will move away from the upper electromagnetic strip, thereby driving the first lamp holder 4 to deflect downward, and the first electromagnet 8 on the second lamp holder 4 is also energized, thereby repelling the first fixed magnetic block on the first lamp holder 4, so that the second lamp holder 4 will also deflect. By changing the magnetic field strength of each first electromagnet 8, the distance between any adjacent lamp heads 4 in the same column of lamp heads 4 can be changed. Similarly, by controlling the magnetic field strength of the second electromagnet 9, the lamp head 4 can be controlled to deflect in the left and right directions, thereby realizing the control of the lamp head 4. In this process, in order to ensure that there is a one-to-one correspondence between the electromagnet and the magnetic block, a first spring 10 and a second spring 11 are provided to ensure that the second mounting ring 7 in the same column is always located on the same straight line, and the first mounting ring 6 in the same column is located on the same straight line. Then, by changing the irradiation position of the lamp head 4, a variety of lighting modes can be realized:

[0082] When in directional lighting mode, the lighting direction of the lamp head 4 remains unchanged and the lighting area is fixed;

[0083] In this lighting mode, the relative position between the lamp head 4 and the train is fixed, and the lighting direction is also determined and does not change with the curvature of the track.

[0084] When in follow lighting mode, the lighting area follows the curvature of the track.

[0085] In this lighting mode, by performing image recognition, the lamp head 4 is controlled to always illuminate the track, and the track length between the illuminated area and the train is always a preset value, and the illuminated area can bend with the bending of the track, ensuring driving safety.

[0086] When in the patrol lighting mode, the lighting area is reciprocated along the extension direction of the track.

[0087] In this lighting mode, the control part of the lamp head 4 moves back and forth along the track direction, thereby forming a mobile lighting area on the track. The mobile lighting area will perform reciprocating lighting along the track, increasing the lighting range and helping the driver to observe abnormalities in advance.

[0088] like Figure 4 As shown, an adaptive lighting system based on track path recognition is provided by an embodiment of the present invention, and the system includes:

[0089] The data connection module 100 is used to establish a data connection with the adaptive lighting device and receive real-time images from the adaptive lighting device. The adaptive lighting device includes an image acquisition device 5 and a shell 1. A plurality of rubber rods 3 are fixedly installed in the shell 1. A lamp holder 4 is fixedly installed at the end of the rubber rod 3. The rubber rod 3 is controlled by a spacing adjustment mechanism.

[0090] In this system, the data connection module 100 establishes a data connection with the adaptive lighting device, and the adaptive lighting device includes a wireless communication module. The wireless communication module is connected to the spacing adjustment mechanism and the lamp head 4. The wireless communication module is connected to the background control center for transmitting data. The lamp head 4 is used to generate light radiation. One lamp head 4 can illuminate an area. The rubber rod 3 has a certain elasticity and can bend under the control of the spacing adjustment mechanism, thereby changing the lighting direction of the lamp head 4. During driving, the image acquisition device 5 continuously acquires images to obtain real-time images, and the real-time images are uploaded through the wireless communication module.

[0091] The path recognition module 200 is used to preprocess the real-time image to obtain a preprocessed image and detect the track path in the preprocessed image.

[0092] In this system, the path recognition module 200 preprocesses the real-time image. The preprocessing can reduce the amount of data contained in the real-time image on the one hand, and reduce the difficulty of data processing on the other hand. The preprocessing steps at least include grayscale processing and Hough transform. The real-time image can be converted into a line image by performing Hough transform. Since the shape of the track is regular, the line image can reduce the difficulty of detecting the track, thereby extracting the track path therefrom.

[0093] The lighting mode selection module 300 is used to obtain lighting instructions, select different lighting modes according to the lighting instructions, and select corresponding path segments to be illuminated from the track path based on the lighting modes.

[0094] In the present system, the lighting mode selection module 300 obtains the lighting instruction, determines the corresponding lighting method according to the lighting instruction, queries the preset instruction library based on the lighting instruction, determines the lighting mode, and selects the corresponding path segment to be illuminated, wherein the lighting mode includes at least a directional lighting mode, a follow-up lighting mode and a patrol lighting mode; when in the directional lighting mode, the lighting direction of the lamp head 4 remains unchanged and the lighting area is fixed; when in the follow-up lighting mode, the lighting area changes with the bending direction of the track; when in the patrol lighting mode, the lighting area performs reciprocating lighting along the extension direction of the track. Under different lighting modes, different path segments to be illuminated need to be selected to illuminate the corresponding areas.

[0095] The lighting control module 400 is used to construct a three-dimensional coordinate system, calculate the lighting angle of each lamp head 4, and generate a lighting adjustment plan. The spacing adjustment mechanism controls the lamp heads 4 according to the lighting adjustment plan.

[0096] In this system, the lighting control module 400 constructs a three-dimensional coordinate system, which is used to determine the position of each point on the track. In this three-dimensional coordinate system, the origin is the position of the image acquisition device 5, and the coordinates of each point on the track path are further determined. Since the installation position of the lamp head 4 is also fixed, the coordinates of the lamp head 4 are determined according to the relative position relationship between the lamp head 4 and the image acquisition device 5. The lighting position of the light generated by each lamp head 4 can be determined according to the orientation of the lamp head 4. By generating a lighting adjustment plan, the lamp head 4 is controlled to illuminate the path segment that needs to be illuminated.

[0097] like Figure 5 As shown, the path identification module 200 provided in the embodiment of the present invention includes:

[0098] The preprocessing unit 201 is used to perform grayscale processing on the real-time image, convert it into a grayscale image, perform noise reduction processing on the grayscale image, and enhance the contrast.

[0099] In this module, the preprocessing unit 201 performs grayscale processing on the real-time image, converting the image with three color channels of red, green and blue (RGB) into an image with only one brightness channel, by calculating the weighted average of the three color channel values ​​at each pixel. The formula is: Gray = 0.299 * R + 0.587 * G + 0.114 * B, where R, G and B represent the intensity values ​​of red, green and blue, respectively, and the coefficient is set according to the sensitivity of the human eye to different colors. After calculation, the original color image is converted into a grayscale image composed of different shades of gray, and further noise reduction and contrast enhancement processing are performed.

[0100] The image transformation unit 202 is used to perform edge detection using the Canny edge detection algorithm and to transform the grayscale image into a line image using the Hough transform.

[0101] In this module, the image transformation unit 202 performs edge detection through the Canny edge detection algorithm, applies a Gaussian filter to the input image to reduce noise, calculates the size and direction of the image gradient, and is used to determine the maximum gradient change at each pixel point and find potential edges; removes those gradient values ​​that are not local maximums through the non-maximum suppression step to ensure accurate positioning of the edge, and uses the double threshold method and edge connection to determine the final edge, setting two high and low thresholds, and points above the high threshold are considered to be strong edge points, and points below the low threshold are discarded. Points between the two are retained only when there are strong edge points around them, and the edge contour, that is, the line image, is obtained.

[0102] The feature matching unit 203 is used to identify the track in the line image by performing feature matching to obtain the track path.

[0103] In this module, the feature matching unit 203 identifies the track in the line image by performing feature matching. The track is a continuous curve or straight line. Matching is performed according to a preset feature database to identify the track path in the picture.

[0104] As a preferred embodiment of the present invention, in the step of obtaining a lighting instruction, selecting different lighting modes according to the lighting instruction, and selecting a corresponding path segment to be illuminated from the track path based on the lighting mode,

[0105] Obtain lighting instructions, query a preset instruction library based on the lighting instructions, determine a lighting mode, and select a corresponding path segment to be illuminated, wherein the lighting mode includes at least a directional lighting mode, a follow-up lighting mode, and a patrol lighting mode;

[0106] When in directional lighting mode, the lighting direction of the lamp head 4 remains unchanged and the lighting area is fixed;

[0107] When in follow lighting mode, the lighting area changes with the curvature of the track;

[0108] When in the patrol lighting mode, the lighting area is reciprocated along the extension direction of the track.

[0109] like Figure 6 , Figure 7 , Figure 8 and Fig. 9 As shown, as a preferred embodiment of the present invention, the lighting control module 400 includes:

[0110] The coordinate system construction unit 401 is used to construct a three-dimensional coordinate system, taking the location of the image acquisition device as the origin, and determining the coordinate value of each point on the track according to the installation height of the image acquisition device.

[0111] In this module, the coordinate system construction unit 401 constructs a three-dimensional coordinate system and determines the origin of the three-dimensional coordinate system. Specifically, the position of the image acquisition device is taken as the origin. Since the rail vehicle travels on the track, the vertical distance between the image acquisition device and the track is fixed, and the track is parallel to the ground. Therefore, the coordinates of each point on the track can be determined according to the position of the track path in the picture, and the coordinate value of any point on the track can be obtained.

[0112] The lighting direction recognition unit 402 is used to determine the lighting area of ​​each lamp head and calculate the lighting direction of the lamp head 4 according to the installation position of the lamp head 4 and the coordinates of each point on the path segment to be illuminated.

[0113] In this module, the lighting direction identification unit 402 determines the lighting area of ​​each lamp head according to the installation position of the lamp head 4 and the coordinates of each point on the path segment to be illuminated. After determining the lighting area, the lighting area is allocated and divided into multiple lighting sub-intervals. Each lamp head 4 corresponds to a lighting sub-interval. The starting position of the lamp head 4 is fixed, so the starting position of the lamp head 4 can be determined according to the position of the image acquisition device, and the position to be adjusted of the lamp head 4 is determined according to the lighting sub-interval, that is, when the lamp head 4 is in the position to be adjusted, the light emitted by the lamp head 4 will cover the corresponding lighting sub-interval.

[0114] The device control unit 403 is used to generate a lighting adjustment plan based on the lighting direction of the lamp head 4, and the spacing adjustment mechanism controls the lamp head 4 according to the lighting adjustment plan.

[0115] In this module, the device control unit 403 generates a lighting adjustment scheme based on the lighting direction of the lamp head 4, and the spacing adjustment mechanism controls the lamp head 4 according to the lighting adjustment scheme. The spacing adjustment mechanism includes a first mounting ring 6 and a second mounting ring 7. The first mounting ring 6 and the second mounting ring 7 are rotatably mounted on the rubber rod 3. The first mounting rings 6 located in the same row are connected by a second spring 11, and the second mounting rings 7 located in the same column are connected by a first spring 10. The first mounting ring 6 is fixedly mounted with a second electromagnet 9 and a second fixed magnetic block on both sides, and the second mounting ring 7 is fixedly mounted with a first electromagnet 9 and a second fixed magnetic block on both sides. The magnet 8 and the first fixed magnetic block, multiple groups of electromagnetic strips are arranged on the inner wall of the shell, and the shell 1 is provided with a mounting ear plate 2. When the lamp head 4 needs to be adjusted, the electromagnetic strip contains multiple electromagnets arranged in parallel. The electromagnetic strips are divided into four groups, which are respectively located on the four inner walls of the shell 1. The inner wall close to the image acquisition device 5 is the upper side, and then four electromagnetic strips are fixed on the four inner walls of the upper, lower, left and right sides, respectively, which are defined as the upper electromagnetic strip, the lower electromagnetic strip, the left electromagnetic strip and the right electromagnetic strip, wherein the upper electromagnetic strip, the lower electromagnetic strip and all the second mounting rings 7 are located in the same plane, and the left electromagnetic strip, the right electromagnetic strip and all the first mounting rings 6 are located in In the same plane, the first electromagnet 8 and the first fixed magnetic block are fixedly installed above and below the second mounting ring 7, respectively, and the second electromagnet 9 and the second magnetic block are fixedly installed on the left and right sides of the first mounting ring 6, respectively. When it is necessary to control the lamp holder 4 to deflect in the up and down directions, such as deflecting downward, the upper electromagnetic strip is energized, which generates a magnetic field to repel the first electromagnet 8 adjacent to it, and the first electromagnet 8 will move away from the upper electromagnetic strip, thereby driving the first lamp holder 4 to deflect downward, and the first electromagnet 8 on the second lamp holder 4 is also energized, thereby repelling the first fixed magnetic block on the first lamp holder 4, so that the second lamp holder 4 will also be deflected. By changing the magnetic field strength of each first electromagnet 8, the distance between any adjacent lamp heads 4 in the same column of lamp heads 4 can be changed. Similarly, by controlling the magnetic field strength of the second electromagnet 9, the lamp head 4 can be controlled to deflect in the left and right directions, thereby realizing the control of the lamp head 4. In this process, in order to ensure that there is a one-to-one correspondence between the electromagnet and the magnetic block, a first spring 10 and a second spring 11 are provided to ensure that the second mounting ring 7 in the same column is always located on the same straight line, and the first mounting ring 6 in the same column is located on the same straight line. Then, by changing the irradiation position of the lamp head 4, a variety of lighting modes can be realized:

[0116] When in directional lighting mode, the lighting direction of the lamp head 4 remains unchanged and the lighting area is fixed;

[0117] In this lighting mode, the relative position between the lamp head 4 and the train is fixed, and the lighting direction is also determined and does not change with the curvature of the track.

[0118] When in follow lighting mode, the lighting area follows the curvature of the track.

[0119] In this lighting mode, by performing image recognition, the lamp head 4 is controlled to always illuminate the track, and the track length between the illuminated area and the train is always a preset value, and the illuminated area can bend with the bending of the track, ensuring driving safety.

[0120] When in the patrol lighting mode, the lighting area is reciprocated along the extension direction of the track.

[0121] In this lighting mode, the control part of the lamp head 4 moves back and forth along the track direction, thereby forming a mobile lighting area on the track. The mobile lighting area will perform reciprocating lighting along the track, increasing the lighting range and helping the driver to observe abnormalities in advance.

[0122] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An adaptive lighting method based on track path recognition, characterized in that: The method comprises: Establishing a data connection with the adaptive lighting device and receiving a real-time image from the adaptive lighting device, the adaptive lighting device comprising an image acquisition device (5) and a housing (1), a plurality of rubber rods (3) being fixedly mounted in the housing (1), a lamp holder (4) being fixedly mounted at the end of the rubber rods (3), and the rubber rods (3) being controlled by a spacing adjustment mechanism; Preprocessing the real-time image to obtain a preprocessed image, and detecting the track path in the preprocessed image; Obtain lighting instructions, select different lighting modes according to the lighting instructions, and select corresponding path segments to be illuminated from the track path based on the lighting modes; Constructing a three-dimensional coordinate system, calculating the lighting angle of each lamp head (4), generating a lighting adjustment plan, and the spacing adjustment mechanism controlling the lamp head (4) according to the lighting adjustment plan; The steps of constructing a three-dimensional coordinate system, calculating the lighting angle of each lamp head (4), generating a lighting adjustment scheme, and the spacing adjustment mechanism controlling the lamp head (4) according to the lighting adjustment scheme specifically include: Construct a three-dimensional coordinate system, take the location of the image acquisition device as the origin, and determine the coordinate values ​​of each point on the track according to the installation height of the image acquisition device; Determine the lighting area of ​​each lamp head according to the installation position of the lamp head (4) and the coordinates of each point on the path segment to be illuminated, and calculate the lighting direction of the lamp head (4); A lighting adjustment scheme is generated based on the lighting direction of the lamp head (4), and the spacing adjustment mechanism controls the lamp head (4) according to the lighting adjustment scheme; The spacing adjustment mechanism comprises a first mounting ring (6) and a second mounting ring (7), wherein the first mounting ring (6) and the second mounting ring (7) are rotatably mounted on a rubber rod (3), the first mounting rings (6) located in the same row are connected by a second spring (11), and the second mounting rings (7) located in the same column are connected by a first spring (10), the second electromagnet (9) and the second fixed magnetic block are fixedly mounted on both sides of the first mounting ring (6), and the first electromagnet (8) and the first fixed magnetic block are fixedly mounted on both sides of the second mounting ring (7), a plurality of groups of electromagnetic strips are arranged on the inner wall of the housing, and a mounting ear plate (2) is arranged on the housing (1).

2. The adaptive lighting method based on track path recognition according to claim 1, characterized in that: The step of preprocessing the real-time image to obtain a preprocessed image and detecting the track path in the preprocessed image specifically includes: Perform grayscale processing on the real-time image, convert it into a grayscale image, perform noise reduction on the grayscale image, and enhance the contrast; Edge detection is performed using the Canny edge detection algorithm, and the grayscale image is converted into a line image using the Hough transform; By performing feature matching, the track in the line image is identified and the track path is obtained.

3. The adaptive lighting method based on track path recognition according to claim 1, characterized in that: In the step of obtaining a lighting instruction, selecting different lighting modes according to the lighting instruction, and selecting a corresponding path segment to be illuminated from the track path based on the lighting mode, Obtain lighting instructions, query a preset instruction library based on the lighting instructions, determine a lighting mode, and select a corresponding path segment to be illuminated, wherein the lighting mode includes at least a directional lighting mode, a follow-up lighting mode, and a patrol lighting mode; When in directional lighting mode, the lighting direction of the lamp head (4) remains unchanged and the lighting area is fixed; When in follow lighting mode, the lighting area changes with the curvature of the track; When in the patrol lighting mode, the lighting area is reciprocated along the extension direction of the track.

4. An adaptive lighting system based on track path recognition, characterized in that: The system comprises: A data connection module, used for establishing a data connection with an adaptive lighting device and receiving a real-time image from the adaptive lighting device, wherein the adaptive lighting device comprises an image acquisition device (5) and a housing (1), wherein a plurality of rubber rods (3) are fixedly mounted in the housing (1), and lamp holders (4) are fixedly mounted at the ends of the rubber rods (3), and the rubber rods (3) are controlled by a spacing adjustment mechanism; A path recognition module is used to preprocess the real-time image to obtain a preprocessed image and detect the track path in the preprocessed image; A lighting mode selection module is used to obtain lighting instructions, select different lighting modes according to the lighting instructions, and select a corresponding path segment to be illuminated from the track path based on the lighting mode; A lighting control module, used to construct a three-dimensional coordinate system, calculate the lighting angle of each lamp head (4), generate a lighting adjustment plan, and the spacing adjustment mechanism controls the lamp head (4) according to the lighting adjustment plan; The lighting control module comprises: A coordinate system construction unit is used to construct a three-dimensional coordinate system, taking the location of the image acquisition device as the origin, and determining the coordinate values ​​of each point on the track according to the installation height of the image acquisition device; A lighting direction recognition unit, used to determine the lighting area of ​​each lamp head and calculate the lighting direction of the lamp head (4) based on the installation position of the lamp head (4) and the coordinates of each point on the path segment to be illuminated; An equipment control unit, used for generating a lighting adjustment scheme based on the lighting direction of the lamp head (4), and the spacing adjustment mechanism controls the lamp head (4) according to the lighting adjustment scheme; The spacing adjustment mechanism comprises a first mounting ring (6) and a second mounting ring (7), wherein the first mounting ring (6) and the second mounting ring (7) are rotatably mounted on a rubber rod (3), the first mounting rings (6) located in the same row are connected by a second spring (11), and the second mounting rings (7) located in the same column are connected by a first spring (10), the second electromagnet (9) and the second fixed magnetic block are fixedly mounted on both sides of the first mounting ring (6), and the first electromagnet (8) and the first fixed magnetic block are fixedly mounted on both sides of the second mounting ring (7), a plurality of groups of electromagnetic strips are arranged on the inner wall of the housing, and a mounting ear plate (2) is arranged on the housing (1).

5. The adaptive lighting system based on track path recognition according to claim 4, characterized in that: The path identification module comprises: A preprocessing unit, used for gray-scale processing of the real-time image, converting it into a gray-scale image, performing noise reduction processing on the gray-scale image, and enhancing contrast; An image transformation unit, used for performing edge detection by using a Canny edge detection algorithm and converting a grayscale image into a line image by using a Hough transform; The feature matching unit is used to identify the track in the line image by performing feature matching to obtain the track path.

6. The adaptive lighting system based on track path recognition according to claim 4, characterized in that: The lighting mode selection module is used to obtain lighting instructions, query a preset instruction library based on the lighting instructions, determine the lighting mode, and select the corresponding path segment to be illuminated, wherein the lighting mode includes at least a directional lighting mode, a follow-up lighting mode, and a patrol lighting mode; When in directional lighting mode, the lighting direction of the lamp head (4) remains unchanged and the lighting area is fixed; When in follow lighting mode, the lighting area changes with the curvature of the track; When in the patrol lighting mode, the lighting area is reciprocated along the extension direction of the track.

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