Tracking illumination method and device, equipment, storage medium and program product

Abstract

The invention relates to a tracking lighting method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring a to-be-recognized image; identifying a target tracking object from the to-be-identified image, and detecting first position information of the target tracking object in a current time step; acquiring an actual value of ambient light intensity; and performing tracking illumination on the target tracking object based on the first position information and the actual ambient light intensity value. By adopting the method, the illumination efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of power equipment inspection, and in particular to a tracking lighting method, device, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] With the development of drone technology, drone technology has been widely used in the field of power equipment inspection technology. At night, in mountainous areas and other places where there is a serious lack of light, if there is a fault such as a power distribution line tripping, using a drone lighting system equipped with a searchlight to conduct nighttime inspections of power equipment can effectively improve the efficiency, safety and accuracy of power equipment inspections.

[0003] In traditional technology, in order to ensure that the fault point can be captured during long-distance inspection, a higher lighting brightness is usually set.

[0004] However, higher lighting brightness consumes more electricity. In the process of controlling the movement of the drone and collecting fault images from different angles, a large amount of electricity is wasted, resulting in low lighting efficiency of the drone lighting system. Summary of the invention

[0005] Based on this, it is necessary to provide a tracking lighting method, device, computer equipment, computer-readable storage medium and computer program product that can improve lighting efficiency in response to the above-mentioned technical problems.

[0006] In a first aspect, the present application provides a tracking lighting method, comprising:

[0007] Obtain an image to be recognized;

[0008] Identify the target tracking object from the image to be identified, and detect the first position information of the target tracking object at the current time step;

[0009] Get the actual value of ambient light intensity;

[0010] Based on the first position information and the actual value of the ambient light intensity, tracking illumination is performed on the target tracking object.

[0011] In one embodiment, tracking illumination is performed on a target tracking object based on the first position information and the actual value of the ambient light intensity, including:

[0012] Obtain the first motion state information of the target tracking object at the current time step;

[0013] Based on the first position information and the first motion state information, predicting the second position information of the target tracking object at the next time step;

[0014] Based on the second position information and the actual value of the ambient light intensity, tracking illumination is performed on the target tracking object.

[0015] In one embodiment, tracking illumination is performed on the target tracking object based on the second position information and the actual value of the ambient light intensity, including:

[0016] Based on the second position information, determine the target searchlight direction of the searchlight, and based on the second position information and the actual value of the ambient light intensity, determine the searchlight intensity target value of the searchlight, the target searchlight direction and the searchlight intensity target value are used to determine the target searchlight area of ​​the searchlight, and the position of the target tracking object at the next time step is within the target searchlight area;

[0017] Control the searchlight to track and illuminate the target object based on the target searchlight direction and the target searchlight intensity.

[0018] In one of the embodiments, the second position information includes relative distance information, and the relative distance information is used to represent the interval distance between the target tracking object and the tracking lighting device at the next time step;

[0019] Determining a searchlight intensity target value of the searchlight based on the second position information and the actual value of the ambient light intensity includes:

[0020] Based on the relative distance information, the searchlight intensity base value under the preset ambient light intensity base value is detected, and the searchlight intensity base value is positively correlated with the interval distance;

[0021] Based on the difference between the ambient light intensity base value and the ambient light intensity actual value, the detection illumination base value is gain-adjusted to obtain the detection illumination target value, which is negatively correlated with the ambient light intensity actual value.

[0022] In one embodiment, obtaining first motion state information of the target tracking object at the current time step includes:

[0023] Obtain the second motion state information of the target tracking object at the previous time step;

[0024] The first motion state information of the target tracking object at the current time step is detected based on the second motion state information and the first position information through the Kalman filter.

[0025] In one embodiment, the method is applied to a tracking lighting device, the tracking lighting device includes a searchlight; the method further includes:

[0026] Get the current power value and current moving speed value of the tracking lighting device;

[0027] When it is detected that the current power value is less than the preset power threshold and the current moving speed value is less than at least one of the preset moving speed threshold, the output power value of the searchlight is reduced and adjusted, and the output power value is positively correlated with the searchlight's searchlight brightness.

[0028] In a second aspect, the present application further provides a tracking lighting device, comprising:

[0029] A first acquisition module, used to acquire an image to be identified;

[0030] A recognition module, used to recognize a target tracking object from an image to be recognized, and detect first position information of the target tracking object at a current time step;

[0031] The second acquisition module is used to obtain the actual value of the ambient light intensity;

[0032] The lighting module is used to perform tracking lighting on the target tracking object based on the first position information and the actual value of the ambient light intensity.

[0033] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0034] Obtain an image to be recognized;

[0035] Identify the target tracking object from the image to be identified, and detect the first position information of the target tracking object at the current time step;

[0036] Get the actual value of ambient light intensity;

[0037] Based on the first position information and the actual value of the ambient light intensity, tracking illumination is performed on the target tracking object.

[0038] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the following steps are implemented:

[0039] Obtain an image to be recognized;

[0040] Identify the target tracking object from the image to be identified, and detect the first position information of the target tracking object at the current time step;

[0041] Get the actual value of ambient light intensity;

[0042] Based on the first position information and the actual value of the ambient light intensity, tracking illumination is performed on the target tracking object.

[0043] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0044] Obtain an image to be recognized;

[0045] Identify the target tracking object from the image to be identified, and detect the first position information of the target tracking object at the current time step;

[0046] Get the actual value of ambient light intensity;

[0047] Based on the first position information and the actual value of the ambient light intensity, tracking illumination is performed on the target tracking object.

[0048] The above-mentioned tracking lighting method, device, computer equipment, computer-readable storage medium and computer program product first obtain an image to be identified, then identify the target tracking object from the image to be identified, and detect the first position information of the target tracking object at the current time step, thereby realizing the positioning of the target tracking object, and then obtaining the actual value of the ambient light intensity, and performing tracking lighting on the target tracking object based on the first position information and the actual value of the ambient light intensity, thereby realizing the tracking lighting of the target tracking object. By tracking the position of the target tracking object, it is possible to ensure that the target tracking object is in a relatively optimal lighting environment throughout the process, thereby improving the effectiveness of the lighting, and thus improving the lighting efficiency; in combination with the actual value of the ambient light intensity, the detection illumination can be dynamically adjusted to adapt to the actual value of the ambient light intensity, thereby reducing unnecessary power waste while ensuring that the target tracking object is in a relatively optimal lighting environment, thereby improving the lighting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 A schematic diagram of a flow chart of a method for tracking lighting in one embodiment;

[0051] Figure 2 is a schematic structural diagram of a tracking lighting device in one embodiment;

[0052] Figure 3 A schematic flow chart of a method for tracking lighting in another embodiment;

[0053] Figure 4 A structural block diagram of a tracking lighting device in one embodiment;

[0054] Figure 5 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application 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 application and are not used to limit the present application.

[0056] At night, there is a serious lack of lighting in mountainous areas. After the distribution line trips due to a fault, drones are needed to conduct nighttime inspections of power equipment. The drone lighting system of "drone + searchlight" can provide additional lighting. Since it is necessary to aim at different power equipment to observe the damage, the traditional searchlight system has great limitations in brightness control and target lighting. It is impossible to adjust the lighting effect in real time according to the changes in ambient light and target position. In order to ensure that the fault point can be captured during long-distance inspections, it is often necessary to set a higher lighting brightness. However, after determining the fault point, in the process of approaching the fault point and collecting specific fault images of the fault point, a higher lighting brightness will cause unnecessary waste, and in the process of close-range positioning and image acquisition, a higher lighting brightness may cause reflections, overexposure, etc., reducing the image acquisition effect. Therefore, the traditional method not only leads to power waste and low lighting efficiency, but also increases the danger of nighttime inspections.

[0057] In an exemplary embodiment, Figure 1 As shown, a tracking lighting method is provided. This embodiment uses the method applied to a terminal as an example, wherein the terminal may be, but is not limited to, a tracking lighting device, various personal computers, laptops, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart vehicle-mounted devices, projection devices, etc. Figure 2, the tracking lighting device 20 at least includes a drone 21 and a searchlight 22, the arrow indicates the fixed position of the searchlight 22, and the tracking lighting device can also be equipped with an image acquisition device, etc. The drone is used to drive the searchlight and image acquisition device carried thereon to move. It can be understood that in the process of the drone driving the searchlight and image acquisition device to move, the searchlight direction and the acquisition direction of the image acquisition device can change with the movement of the drone, and the specific parameters such as the searchlight intensity and searchlight direction of the searchlight can also be independently adjusted and controlled, and the specific parameters such as the acquisition direction and magnification of the image acquisition device can also be independently adjusted and controlled. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. It can be understood that the tracking lighting method of this embodiment needs to be implemented by controlling the tracking lighting device, but the processor can be set on the tracking lighting device, and can also be set on a terminal or server that can communicate with the tracking lighting device.

[0058] In this embodiment, the method includes the following steps S10-S40. Among them:

[0059] Step S10, obtaining an image to be recognized.

[0060] Among them, the image to be identified refers to the image collected by the image acquisition device during the inspection process of the power equipment. The image acquisition device can be set on the tracking lighting device, or it can be set at other locations where the inspection area can be photographed, such as at least one of other drones and power equipment in the inspection area.

[0061] For example, during the inspection of power equipment, one or more image acquisition devices may be used to continuously acquire images of the inspection area, and each image acquisition may obtain an image to be identified.

[0062] Step S20: identifying the target tracking object from the image to be identified, and detecting the first position information of the target tracking object at the current time step.

[0063] Among them, the target tracking object refers to the target that needs to be tracked for the current tracking lighting task, including at least one of the faulty power equipment, the location of the faulty power equipment, the power equipment that has not failed but needs to be checked for other reasons, and the location of the power equipment that has not failed but needs to be checked for other reasons.

[0064] The first position information is used to characterize the position of the target tracking object at the current time step, including at least one of the position coordinates of the target tracking object at the current time step, the direction of the target tracking object relative to the tracking lighting device at the current time step, and the distance between the target tracking object and the tracking lighting device at the current time step.

[0065] Exemplarily, after acquiring one or more images to be identified each time, image recognition can be performed on each image to be identified, and image recognition can be used to determine whether there is a target tracking object in the image to be identified. When the target tracking object is identified from the image to be identified, the target tracking object can be located to determine the first position information of the target tracking object at the current time step.

[0066] As an example, when the target tracking object is not identified from the image to be identified, the step of obtaining the image to be identified can be returned to re-acquire other images to be identified. The images to be identified in which the target tracking object is not identified can be deleted or saved as tracking records.

[0067] As an example, a method for locating a target tracking object includes: combining image recognition technology and a geographic information system to extract features from the image to be identified, and then performing geographic registration on the extracted features to determine the first position information of the target tracking object at the current time step.

[0068] As an example, the method of positioning the target tracking object includes: at least one of radar positioning, lidar positioning, wireless signal positioning and multi-sensor fusion positioning.

[0069] Step S30, obtaining the actual value of the ambient light intensity.

[0070] Among them, the actual value of the ambient light intensity refers to the measured value of the light intensity of the environment in which the tracking lighting device is currently located. The purpose of using a searchlight to fill in the light is to be able to capture a clearer image to be identified in a dark environment or a low-light environment. However, under different light conditions, the required light intensity to be supplemented is different. If the fill in light is too strong, it will not only waste electricity and shorten the battery life of the tracking lighting device, but may also cause overexposure and other phenomena, resulting in poor image acquisition effects. Therefore, when performing tracking lighting, this embodiment combines the position of the target tracking object and the actual value of the ambient light intensity to perform tracking lighting on the target tracking object, which can overcome the above-mentioned defects, effectively reduce power waste, extend the battery life of the tracking lighting device, and improve image acquisition effects.

[0071] For example, after the target tracking object is identified from the image to be identified, the actual value of the ambient light intensity of the environment in which the tracking lighting device is currently located is detected by the ambient light intensity sensor. The ambient light intensity sensor can be set on the tracking lighting device, or can be set at other locations where the ambient light intensity of the inspection area can be collected, such as at least one of other drones and power equipment in the inspection area.

[0072] Step S40: performing tracking illumination on the target tracking object based on the first position information and the actual value of the ambient light intensity.

[0073] Tracking lighting refers to adjusting the searchlight parameters of the searchlight on the tracking lighting device so that the searchlight's searchlight area covers the location of the target tracking object. The searchlight parameters include at least one of the searchlight intensity and the searchlight direction.

[0074] As an example, the searchlight intensity is positively correlated with the spacing distance between the target tracking object and the tracking device. For example, when the target tracking object is far away from the tracking lighting device, a higher searchlight intensity can be used so that the light emitted by the searchlight can still illuminate the distant target tracking object after attenuation; as the distance between the target tracking object and the tracking lighting device gradually decreases, the searchlight intensity of the searchlight can be gradually reduced. In this way, it can avoid wasting electricity and avoid the searchlight intensity at the target tracking object being too high after the distance between the target tracking object and the tracking lighting device is shortened, thereby affecting the image acquisition effect.

[0075] As an example, the searchlight direction can be the direction of the target tracking object. For example, at time t-1, the target tracking object is located in the north direction of the tracking lighting device, and the searchlight direction of the searchlight is also adjusted to the north direction. As the tracking lighting device moves, at time t, the target tracking object is located 30° north-east of the tracking lighting device, and the direction of the searchlight can also be rotated 30° from the north direction to the east direction.

[0076] Exemplarily, according to the first position information and the actual value of the ambient light intensity, the parameter values ​​of one or more searchlight parameters of the searchlight on the tracking lighting device are determined, and the searchlight parameters of the tracking lighting device are set based on the determined parameter values, so that the searchlight's searchlight area covers the current position of the target tracking object or its position in the future, or covers both the current position and the position in the future.

[0077] In the above tracking lighting method, the image to be identified is first obtained, and then the target tracking object is identified from the image to be identified, and the first position information of the target tracking object at the current time step is detected, so as to realize the positioning of the target tracking object, and then the actual value of the ambient light intensity is obtained, and the target tracking object is tracked and illuminated based on the first position information and the actual value of the ambient light intensity, so as to realize the tracking lighting of the target tracking object. By tracking the position of the target tracking object, it can be ensured that the target tracking object is in a better lighting environment throughout the process, so as to improve the effectiveness of the lighting, thereby improving the lighting efficiency; combined with the actual value of the ambient light intensity, the detection illumination can be adapted to the actual value of the ambient light intensity and dynamically adjusted, so as to reduce unnecessary power waste while ensuring that the target tracking object is in a better lighting environment, thereby improving the lighting efficiency.

[0078] In an exemplary embodiment, Figure 3 As shown, based on the first position information and the actual value of the ambient light intensity, tracking illumination is performed on the target tracking object, including steps S41 to S43. Among them:

[0079] Step S41, obtaining the first motion state information of the target tracking object at the current time step.

[0080] Among them, the first motion state information is used to characterize the motion state of the target tracking object at the current time step with the tracking lighting device as the reference object, including at least one of the position, speed, acceleration, angular velocity and angular acceleration of the target tracking object at the current time step.

[0081] Exemplarily, the motion state of the tracking lighting device at the current time step can be detected by a sensor carried by the tracking lighting device, or a control instruction of the tracking lighting device at the current time step can be obtained from a control terminal of the tracking lighting device, and the motion state of the tracking lighting device at the current time step can be extracted from the control instruction; the motion state of the tracking lighting device is then converted into the motion state of the target tracking object, and the first motion state information of the target tracking object at the current time step is obtained.

[0082] Step S42: predicting second position information of the target tracking object at a next time step based on the first position information and the first motion state information.

[0083] Among them, the second position information is used to characterize the position of the target tracking object at the next time step, including at least one of the position coordinates of the target tracking object at the next time step, the direction of the target tracking object relative to the tracking lighting device at the next time step, and the distance between the target tracking object and the tracking lighting device at the next time step.

[0084] Exemplarily, based on the first position information, the position of the target tracking object at the current time step can be determined, and based on the first motion state information, the motion state of the target tracking object at the current time step can be determined. The motion state can characterize the motion trend of the target tracking object. Therefore, based on the first position information and the first motion state information, the motion trajectory of the target tracking object in the future period of time can be predicted more accurately, thereby determining the position of the target tracking object at the next time step and obtaining the second position information.

[0085] As an example, the first motion state information includes position, velocity and acceleration. The following formula can be used to predict the position x of the target tracking object at the next time step t+1: t+1 :

[0086]

[0087] Among them, x t is the position of the target tracking object at the current time step t, v t is the speed of the target tracking object at the current time step t, a t is the acceleration of the target tracking object at the current time step t, and Δt is the time interval between the current time step t and the next time step t+1.

[0088] Step S43: performing tracking illumination on the target tracking object based on the second position information and the actual value of the ambient light intensity.

[0089] Exemplarily, based on the second position information and the actual value of the ambient light intensity, the parameter values ​​of one or more searchlight parameters of the searchlight on the tracking lighting device are determined, and the searchlight parameters of the tracking lighting device are set based on the determined parameter values ​​so that the searchlight's searchlight area covers the position of the target tracking object in the next time step.

[0090] In this embodiment, the motion trend of the target tracking object is determined by the motion state, so as to accurately predict the position of the target tracking object in the next time step, so that the searchlight parameters can be adjusted before or synchronously with the movement of the target tracking object, thereby improving the synchronization of tracking lighting, reducing delays, and reducing the probability that the target tracking object is located outside the searchlight area due to delays.

[0091] In an exemplary embodiment, based on the second position information and the actual value of the ambient light intensity, tracking illumination is performed on the target tracking object, including steps S431 to S432. In which:

[0092] Step S431, based on the second position information, determine the target searchlight direction of the searchlight, and based on the second position information and the actual value of the ambient light intensity, determine the target searchlight intensity value of the searchlight. The target searchlight direction and the target searchlight intensity value are used to determine the target searchlight area of ​​the searchlight. The position of the target tracking object at the next time step is within the target searchlight area.

[0093] The searchlight direction of the searchlight refers to the direction of the light emitted by the searchlight. As an example, the light emitted by the searchlight is usually emitted at a certain angle. In this case, the searchlight direction may refer to the direction of the angle bisector of the emission angle. After determining the searchlight direction and the searchlight intensity of the searchlight, the searchlight area of ​​the searchlight may be determined. The target searchlight area determined based on the target searchlight direction and the searchlight intensity target value should cover the position of the target tracking object at the next time step. That is, after adjusting the searchlight direction of the searchlight to the target searchlight direction and adjusting the searchlight intensity of the searchlight to the searchlight intensity target value, at the next time step, the target tracking object will be in the target searchlight area formed by the searchlight.

[0094] Exemplarily, the relative position relationship between the target tracking object and the tracking lighting device is determined based on the second position information, and based on the relative position relationship between the target tracking object and the tracking lighting device, the direction pointed from the tracking lighting device to the target tracking object is determined as the target searchlight direction of the searchlight; the interval distance between the target tracking object and the tracking lighting device is determined based on the second position information, and based on the interval distance between the target tracking object and the tracking lighting device and the actual value of the ambient light intensity, a searchlight intensity target value that can enable the target tracking object to be illuminated by the searchlight is determined, wherein the searchlight intensity target value is positively correlated with the interval distance, and the searchlight intensity target value is negatively correlated with the actual value of the ambient light intensity.

[0095] As an example, the method of determining the target value of the detection illumination intensity includes: inputting the interval distance between the target tracking object and the tracking lighting device and the actual value of the ambient light intensity into a preset detection illumination intensity algorithm, and outputting the detection illumination intensity target value; or, obtaining a large amount of data in advance through actual measurement or simulation, and constructing a correspondence table between different interval distances, different ambient light intensities and the detection illumination intensity target values ​​through data analysis and processing. In the actual tracking lighting process, the correspondence table can be queried based on the actual value of the interval distance and the ambient light intensity to obtain the corresponding detection illumination intensity target value.

[0096] As an example, based on the second position information, the method of determining the target search direction of the searchlight includes: calculating the search direction offset based on the second position information and the first position information, and determining the target search direction based on the first position information and the search direction offset. The search direction offset θ(t) at time t can be calculated using the following formula:

[0097]

[0098] Among them, y t+1 is the y-axis coordinate of the target tracking object at time t+1; t is the y-axis coordinate of the target tracking object at time t; t+1 is the x-axis coordinate of the target tracking object at time t+1; t+1 is the x-axis coordinate of the target tracking object at time t.

[0099] Step S432: Control the searchlight to perform tracking illumination on the target tracking object based on the target searchlight direction and the target searchlight intensity value.

[0100] Exemplarily, the searchlight's search direction is set to the target search direction, and the searchlight's searchlight intensity is set to the searchlight intensity target value, so that the searchlight illuminates based on the target search direction and the searchlight intensity target value to form a target searchlight area, and the target searchlight area covers the position of the target tracking object in the next time step.

[0101] In this embodiment, by performing tracking lighting from two aspects of direction and brightness, the effectiveness of lighting can be improved on the basis of ensuring that the target tracking object is in a better lighting environment during the entire process, thereby improving the lighting efficiency.

[0102] In an exemplary embodiment, the second position information includes relative distance information, and the relative distance information is used to characterize the interval distance between the target tracking object and the tracking lighting device at the next time step; based on the second position information and the actual value of the ambient light intensity, determining the searchlight intensity target value of the searchlight includes steps S4311 to S4312. Wherein:

[0103] Step S4311: Based on the relative distance information, the searchlight intensity base value under the preset ambient light intensity base value is detected, and the searchlight intensity base value is positively correlated with the interval distance.

[0104] Among them, the basic value of the detection brightness is the detection brightness value that can ensure that the target tracking object is in the searchlight area under the preset ambient light intensity basic value. It can be understood that the lower the actual value of the ambient light intensity, the higher the detection brightness is required to ensure that the target tracking object is in the searchlight area. If the actual value of the ambient light intensity is lower than the preset ambient light intensity basic value, the detection brightness needs to be higher than the detection brightness basic value to ensure that the target tracking object is in the searchlight area. If the actual value of the ambient light intensity is higher than the preset ambient light intensity basic value, the detection brightness is relatively reduced. Using a detection brightness lower than the detection brightness basic value can also ensure that the target tracking object is in the searchlight area, and can also save electricity and extend the battery life of the tracking lighting device.

[0105] As an example, a relationship between the interval distance and the searchlight intensity under a preset ambient light intensity base value can be pre-constructed to obtain a searchlight intensity algorithm, in which the searchlight intensity base value is positively correlated with the interval distance; in the process of tracking lighting, after obtaining the relative distance information, the interval distance can be input into the searchlight intensity algorithm to output the searchlight intensity base value under the preset ambient light intensity base value.

[0106] As an example, a correspondence table between the interval distance and the searchlight intensity under a preset ambient light intensity basic value can be pre-constructed, in which the searchlight intensity basic value is positively correlated with the interval distance; in the process of tracking lighting, after obtaining the relative distance information, the correspondence table can be queried based on the interval distance to obtain the searchlight intensity basic value under the preset ambient light intensity basic value.

[0107] Step S4312: Based on the difference between the ambient light intensity base value and the ambient light intensity actual value, the detection illumination base value is gain-adjusted to obtain the detection illumination target value, and the detection illumination target value is negatively correlated with the ambient light intensity actual value.

[0108] Exemplarily, the difference between the ambient light intensity base value and the ambient light intensity actual value is calculated, and the difference value may be a difference value, a ratio value, etc. Based on the difference value, the search light intensity base value is gain-adjusted to obtain the search light intensity target value, and the search light intensity target value is negatively correlated with the ambient light intensity actual value. If the ambient light intensity actual value is lower than the ambient light intensity base value, the search light intensity base value is gain-adjusted to increase the value, and the search light intensity target value obtained is higher than the search light intensity base value, thereby ensuring that the target tracking object is within the searchlight area; if the ambient light intensity actual value is higher than the ambient light intensity base value, the search light intensity base value is gain-adjusted to decrease the value, and the search light intensity target value obtained is lower than the search light intensity base value, thereby saving power and extending the battery life of the tracking lighting device on the basis of ensuring that the target tracking object is within the searchlight area.

[0109] As an example, based on the difference between the ambient light intensity base value and the ambient light intensity actual value, the method of performing gain adjustment on the detection illumination base value includes: calculating the gain value according to the difference between the ambient light intensity base value and the ambient light intensity actual value, and determining the sum of the detection illumination base value and the gain value as the detection illumination target value.

[0110] As an example, the gain value L2(t) at time t may be calculated using the following formula:

[0111]

[0112] Among them, Lmax The upper limit of the preset brightness range of the searchlight; I desired is the basic value of ambient light intensity; E(t) is the actual value of ambient light intensity at time t.

[0113] In this embodiment, by first determining the basic value of the detection illumination under the basic value of the ambient light intensity, and then adjusting the gain of the basic value of the detection illumination based on the actual value of the ambient light intensity in actual conditions, on the one hand, the time and resources for constructing the correlation between the interval distance and the detection illumination can be reduced, and data storage can be reduced; on the other hand, the data query process is simplified, thereby improving the efficiency of determining the target value of the detection illumination.

[0114] In an exemplary embodiment, obtaining the first motion state information of the target tracking object at the current time step includes steps S41 to S42. Among them:

[0115] Step S41, obtaining the second motion state information of the target tracking object in the previous time step.

[0116] Among them, the second motion state information is used to characterize the motion state of the target tracking object in the previous time step with the tracking lighting device as the reference object, including at least one of the position, speed, acceleration, angular velocity and angular acceleration of the target tracking object in the previous time step.

[0117] Exemplarily, after determining the second motion state information of the target tracking object at the previous time step, the second motion state information may be stored and then used for detecting and correcting the motion state information at the current time step.

[0118] Step S42: Detecting the first motion state information of the target tracking object at the current time step based on the second motion state information and the first position information through a Kalman filter.

[0119] Exemplarily, the second motion state information and the first position information are input into a preset Kalman filter. Through the Kalman filter, the first motion state information of the target tracking object at the current time step is predicted based on the second motion state information, and the predicted first motion state information is corrected based on the first position information. Through continuous prediction and updating, the Kalman filter finally outputs the optimal estimate of the first motion state information.

[0120] In this embodiment, the first motion state information of the target tracking object at the current time step is predicted and corrected by the Kalman filter, so as to improve the accuracy of the first motion state information and thus improve the prediction accuracy of the second position information of the target tracking object at the next time step.

[0121] In an exemplary embodiment, the method is applied to a tracking lighting device, and the tracking lighting device includes a searchlight; the method further includes steps S601 to S602. Among them:

[0122] Step S601, obtaining the current power value and current moving speed value of the tracking lighting device.

[0123] Exemplarily, in the process of tracking lighting devices to conduct power equipment inspections, the power of the tracking lighting devices can be continuously monitored through a preset battery power monitoring device. Simultaneously, the moving speed of the tracking lighting devices can also be continuously monitored through a speed sensor or by performing state prediction through a Kalman filter.

[0124] Step S602, when it is detected that the current power value is less than the preset power threshold and the current moving speed value is less than at least one of the preset moving speed threshold, the output power value of the searchlight is reduced and adjusted, and the output power value is positively correlated with the searchlight's searchlight brightness.

[0125] Exemplarily, after the current power value and the current moving speed value are obtained each time, the current power value is compared with the preset power threshold, and the current moving speed value is compared with the preset moving speed threshold. If it is detected that the current power value is less than the preset power threshold, or the current moving speed value is less than the preset moving speed threshold, or the current power value is less than the preset power threshold and the current moving speed value is less than the preset moving speed threshold, it means that the power of the tracking lighting device is low or it is not in the inspection task. If the power is low, it is necessary to interrupt the inspection task, and give priority to ensuring that the tracking lighting device can return to the safe area smoothly, so the output power value of the searchlight can be reduced; if the moving speed is low, it means that the tracking lighting device may be in a resting state or not in the inspection task, so the output power value of the searchlight can be reduced to avoid unnecessary power waste. Since the reduction of the output power value will lead to a decrease in the searchlight's searchlight brightness, the adjustment range of the reduction adjustment can be determined according to actual needs on the basis of ensuring flight safety, and this embodiment does not limit this. If it is detected that the current power value is greater than or equal to the preset power threshold, or the current moving speed value is greater than or equal to the preset moving speed threshold, it means that the current power is sufficient and is in the inspection task. Therefore, no operation is required, and the current power value and current moving speed value of the tracking lighting device can be continuously monitored.

[0126] As an example, the following formula can be used to calculate the output power value P after the adjustment at time t: save (t):

[0127]

[0128] Among them, P normal (t) is the output power value before reducing the adjustment; η reduce is the power reduction coefficient, B(t) is the power consumption of the tracking lighting device at time t, and B threshold is the preset power threshold, and V(t) is the moving speed of the tracking lighting device at time t.

[0129] In this embodiment, by monitoring the power and moving speed of the tracking lighting device, the power consumption of the tracking lighting device when the power is low or stationary can be reduced, thereby improving the endurance of the tracking lighting device.

[0130] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0131] Based on the same inventive concept, the embodiment of the present application also provides a tracking lighting device for implementing the tracking lighting method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more tracking lighting device embodiments provided below can refer to the limitations of the tracking lighting method above, and will not be repeated here.

[0132] In an exemplary embodiment, Figure 4 As shown, a tracking lighting device is provided, including: a first acquisition module 402, an identification module 404, a second acquisition module 406 and a lighting module 408, wherein:

[0133] A first acquisition module 402, used to acquire an image to be recognized;

[0134] The recognition module 404 is used to recognize the target tracking object from the image to be recognized, and detect the first position information of the target tracking object at the current time step;

[0135] The second acquisition module 406 is used to obtain the actual value of the ambient light intensity;

[0136] The lighting module 408 is used to perform tracking lighting on the target tracking object based on the first position information and the actual value of the ambient light intensity.

[0137] In an exemplary embodiment, the device is applied to a tracking lighting device; the lighting module 408 is further used for:

[0138] Obtain the first motion state information of the target tracking object at the current time step;

[0139] Based on the first position information and the first motion state information, predicting the second position information of the target tracking object at the next time step;

[0140] Based on the second position information and the actual value of the ambient light intensity, tracking illumination is performed on the target tracking object.

[0141] In an exemplary embodiment, the tracking lighting device includes a searchlight; the lighting module 408 is further configured to:

[0142] Based on the second position information, determine the target searchlight direction of the searchlight, and based on the second position information and the actual value of the ambient light intensity, determine the searchlight intensity target value of the searchlight, the target searchlight direction and the searchlight intensity target value are used to determine the target searchlight area of ​​the searchlight, and the position of the target tracking object at the next time step is within the target searchlight area;

[0143] Control the searchlight to track and illuminate the target object based on the target searchlight direction and the target searchlight intensity.

[0144] In an exemplary embodiment, the second position information includes relative distance information, and the relative distance information is used to represent the interval distance between the target tracking object and the tracking lighting device at the next time step; the lighting module 408 is further used to:

[0145] Based on the relative distance information, the searchlight intensity base value under the preset ambient light intensity base value is detected, and the searchlight intensity base value is positively correlated with the interval distance;

[0146] Based on the difference between the ambient light intensity base value and the ambient light intensity actual value, the detection illumination base value is gain-adjusted to obtain the detection illumination target value, which is negatively correlated with the ambient light intensity actual value.

[0147] In an exemplary embodiment, the lighting module 408 is further configured to:

[0148] Obtain the second motion state information of the target tracking object at the previous time step;

[0149] The first motion state information of the target tracking object at the current time step is detected based on the second motion state information and the first position information through the Kalman filter.

[0150] In an exemplary embodiment, the device is applied to a tracking lighting device, the tracking lighting device includes a searchlight; the tracking lighting device also includes an energy-saving module, the energy-saving module is used to:

[0151] Get the current power value and current moving speed value of the tracking lighting device;

[0152] When it is detected that the current power value is less than the preset power threshold and the current moving speed value is less than at least one of the preset moving speed threshold, the output power value of the searchlight is reduced and adjusted, and the output power value is positively correlated with the searchlight's searchlight brightness.

[0153] Each module in the above tracking lighting device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0154] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 5 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a tracking lighting method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0155] Those skilled in the art will understand that Figure 5The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0156] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0157] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0158] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0159] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0160] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0161] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0162] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A tracking lighting method, characterized in that: The method comprises: Obtain an image to be recognized; Identify the target tracking object from the image to be identified, and detect the first position information of the target tracking object at the current time step; Get the actual value of ambient light intensity; Based on the first position information and the actual value of the ambient light intensity, tracking illumination is performed on the target tracking object.

2. The method according to claim 1, characterized in that The tracking illumination of the target tracking object based on the first position information and the actual value of the ambient light intensity includes: Acquire the first motion state information of the target tracking object at the current time step; Predicting second position information of the target tracking object at a next time step based on the first position information and the first motion state information; Based on the second position information and the actual value of the ambient light intensity, tracking illumination is performed on the target tracking object.

3. The method according to claim 2, characterized in that The tracking illumination of the target tracking object based on the second position information and the actual value of the ambient light intensity includes: Based on the second position information, determine the target searchlight direction of the searchlight, and based on the second position information and the actual value of the ambient light intensity, determine the searchlight intensity target value of the searchlight, the target searchlight direction and the searchlight intensity target value are used to determine the target searchlight area of ​​the searchlight, and the position of the target tracking object at the next time step is within the target searchlight area; The searchlight is controlled to perform tracking illumination on the target tracking object based on the target searchlight direction and the searchlight intensity target value.

4. The method according to claim 3, characterized in that The second position information includes relative distance information, and the relative distance information is used to represent the interval distance between the target tracking object and the tracking lighting device in the next time step; The step of determining the searchlight intensity target value of the searchlight based on the second position information and the actual value of the ambient light intensity comprises: Based on the relative distance information, detecting a searchlight intensity base value of the searchlight under a preset ambient light intensity base value, wherein the searchlight intensity base value is positively correlated with the interval distance; Based on the difference between the ambient light intensity base value and the ambient light intensity actual value, the detection illumination base value is gain-adjusted to obtain a detection illumination target value, and the detection illumination target value is negatively correlated with the ambient light intensity actual value.

5. The method according to claim 2, characterized in that: The obtaining of the first motion state information of the target tracking object at the current time step includes: Acquire the second motion state information of the target tracking object at the previous time step; The first motion state information of the target tracking object at the current time step is detected based on the second motion state information and the first position information through a Kalman filter.

6. The method according to any one of claims 1 to 5, characterized in that: The method is applied to a tracking lighting device, wherein the tracking lighting device comprises a searchlight; the method further comprises: Obtaining a current power value and a current moving speed value of the tracking lighting device; When it is detected that the current power value is less than the preset power threshold and the current moving speed value is less than at least one of the preset moving speed threshold, the output power value of the searchlight is reduced and adjusted, and the output power value is positively correlated with the searchlight's searchlight brightness.

7. A tracking lighting device, characterized in that: The device comprises: A first acquisition module, used to acquire an image to be identified; A recognition module, used for recognizing a target tracking object from the image to be recognized, and detecting first position information of the target tracking object at a current time step; The second acquisition module is used to obtain the actual value of the ambient light intensity; The lighting module is used to perform tracking lighting on the target tracking object based on the first position information and the actual value of the ambient light intensity.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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