Light control system integrated on unmanned trolley

Abstract

The invention relates to the field of control analysis, in particular to a light control system integrated on an unmanned trolley, which comprises an area monitoring module used for periodically determining whether to carry out control optimization or not according to a first-class subarea proportion index; the optimization evaluation module is used for determining whether to perform associated regulation and control processing or independent regulation and control processing based on the execution association state of each control optimization target; the association regulation and control module is used for determining whether collaborative optimization processing or collaborative execution processing is carried out on each association execution set according to the association reference energy consumption index and the association energy consumption difference index so as to determine a stage auxiliary target or a collaborative execution target for executing supplementary lighting based on the stage auxiliary index or the supplementary operation duration index; and the independent regulation and control module is used for setting a lighting supplementary index for controlling an optimization target based on the personnel activity index of each operation analysis sub-region. Unnecessary energy consumption is avoided under the condition that the illumination requirement of the unmanned vehicle under safe operation is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of control analysis, in particular to a light control system integrated on an unmanned vehicle. BACKGROUND

[0002] With the rapid development of unmanned vehicle control technology, the use of unmanned vehicles in production operations is gradually increasing, greatly improving production operation efficiency, but the operation process of the unmanned vehicle needs to obtain the surrounding image in time to adjust the operation process, although the operation process of the unmanned vehicle is not limited by time, but in the case of insufficient light, the lighting device integrated on the unmanned vehicle needs to supplement the light to ensure the acquisition quality of the surrounding image of the operation process of the unmanned vehicle, and further ensure the safety degree of the operation process of the unmanned vehicle. However, the existing light control process for the unmanned vehicle often only adjusts based on the light conditions of the actual operation environment, and uniformly and continuously sets the light supplement degree of the unmanned vehicle, which easily leads to waste of energy of the vehicle, therefore, how to reduce unnecessary energy consumption as much as possible under the premise of ensuring the lighting demand of the unmanned vehicle in safe operation is a problem to be solved for actual personnel in the field.

[0003] Chinese patent publication CN108407696A discloses an unmanned mine car in the field of engineering transportation, comprising: a vehicle body; an industrial computer arranged on the vehicle body; a GPS navigation system comprising a reference station, a positioning device of an inertial navigation system and a mobile station; a drive-by-wire chassis system comprising: a drive-by-wire power system comprising an engine system, an automatic gearbox system and an engine controller, an automatic gearbox controller mounted on the front end of the vehicle body; a drive-by-wire braking system comprising a vehicle master braking system and an EBS braking control system mounted on the rear axle; a drive-by-wire steering system comprising a vehicle steering system and an EPS steering control system mounted on the steering gear; a drive-by-wire cargo box dumping system comprising a vehicle cargo box dumping system and a dumping control system; a drive-by-wire body control system comprising a body light system and an LCC body control system. Chinese patent publication CN115734434A discloses a light control method for an unmanned vehicle, comprising an information acquisition module, an information processing module, a vehicle body light automatic control module, a light remote network control module, and a light control module. The information acquisition module and the information processing module are connected, the vehicle body light automatic control module and the light remote network control module are connected to the information processing module. The unmanned vehicle is provided with a data processing module and a detection feedback module. The light control module is connected to the data processing module, the data processing module is connected to the detection feedback module, the light remote network control module is connected to the detection feedback module, and the detection feedback module is connected to the light control module. However, the above-mentioned scheme has the following defects: it fails to make timely adjustments to the light control process in combination with the actual working environment and the task execution of the unmanned vehicle, resulting in that the actual light supplement decision for the unmanned vehicle cannot reduce unnecessary energy consumption while ensuring the lighting needs of the unmanned vehicle under safe operation. SUMMARY

[0004] To this end, the present application provides a light control system integrated on an unmanned vehicle to overcome the problem that the prior art fails to make timely adjustments to the light control process in combination with the actual working environment and the task execution of the unmanned vehicle, resulting in that the actual light supplement decision for the unmanned vehicle cannot reduce unnecessary energy consumption while ensuring the lighting needs of the unmanned vehicle under safe operation.

[0005] To achieve the above-mentioned purpose, the present application provides a light control system integrated on an unmanned vehicle, comprising: a region monitoring module for periodically determining whether to perform control optimization according to a first type of sub-region proportion index, the first type of sub-region proportion index being determined according to the number of each type of work analysis sub-region existing in the target work region, and the type of the work analysis sub-region being determined according to the personnel activity index and the regional lighting index of each work analysis sub-region; an optimization evaluation module connected with the area monitoring module, configured to determine whether to perform associated regulation processing or independent regulation processing on each control optimization target based on an execution association state of each control optimization target, the execution association state being determined according to an associated target proportion index and an associated area coincidence index of each control optimization target; an associated regulation module connected with the optimization evaluation module, configured to determine whether to perform cooperative optimization processing or cooperative execution processing on each associated execution set according to an associated reference energy consumption index and an associated energy consumption difference index, so as to determine a stage auxiliary target or a cooperative execution target for performing supplementary lighting based on a stage auxiliary index or a supplementary work duration index; the associated execution set is a set of control optimization targets in a type of execution association state, and the associated execution set is determined based on a reference association coincidence index; an independent regulation module connected with the optimization evaluation module, configured to set a lighting supplement index of each control optimization target in a second type of execution association state based on a personnel activity index of each work analysis sub-area; a lighting execution module connected with the associated regulation module and the independent regulation module respectively, comprising a plurality of lighting devices, each of which corresponds to a control optimization target and is configured to perform supplementary lighting.

[0006] Further, the types of the work analysis sub-areas include a first type of work analysis sub-area and a second type of work analysis sub-area; The area monitoring module records a work analysis sub-area with a personnel activity index less than or equal to a preset personnel activity index and a lighting evaluation index less than or equal to a preset lighting evaluation index as a first type of work analysis sub-area; The area monitoring module records a work analysis sub-area with a personnel activity index greater than a preset personnel activity index or a lighting evaluation index greater than a preset lighting evaluation index as a second type of work analysis sub-area.

[0007] Further, the optimization evaluation module performs control optimization on the control optimization targets existing in a target work area in response to an optimization execution condition; The optimization execution condition is a first type of sub-area proportion index determined in an evaluation execution period greater than a preset first type of sub-area proportion index; The first type of sub-area proportion index is a proportion of the number of the first type of work analysis sub-areas determined in the evaluation execution period in the number of the work analysis sub-areas existing in the target work area.

[0008] Further, the execution association state of the control optimization target includes a first type of execution association state and a second type of execution association state; The control optimization target records the control optimization target in a first execution association state as the control optimization target whose associated target proportion index is greater than a preset associated target proportion index or whose associated region coincidence index is greater than a preset associated region coincidence index. The control optimization target records the control optimization target in a second execution association state as the control optimization target whose associated target proportion index is less than or equal to a preset associated target proportion index and whose associated region coincidence index is less than or equal to a preset associated region coincidence index.

[0009] Further, the association regulation module performs association execution analysis on the control optimization target in the first execution association state. The associated reference energy consumption index and the associated energy consumption difference index are determined according to the execution energy consumption parameters of the control optimization targets in each association execution set. The reference associated coincidence index of any association execution set is greater than a preset reference associated coincidence index.

[0010] Further, the association regulation module performs cooperative optimization processing on the association execution set whose associated reference energy consumption index is less than or equal to a preset associated reference energy consumption index or whose associated energy consumption difference index is greater than a preset associated energy consumption difference index, wherein, For any key auxiliary target, the control optimization target with the largest stage auxiliary index for the key auxiliary target in the association execution set is recorded as a stage auxiliary target. The stage auxiliary index is determined based on the associated region coincidence index of each key auxiliary target. The key auxiliary target is the control optimization target whose execution energy consumption parameter is less than or equal to a preset execution energy consumption parameter.

[0011] Further, the association regulation module determines the stage auxiliary index of each control optimization target for the key auxiliary target whose associated region coincidence index is greater than a preset associated region coincidence index based on the execution energy consumption parameter and the associated effective index. The association regulation module determines the stage auxiliary index of each control optimization target for the key auxiliary target whose associated region coincidence index is less than or equal to a preset associated region coincidence index based on the execution energy consumption parameter and the job-related index.

[0012] Further, the association regulation module performs cooperative execution processing on the association execution set whose associated reference energy consumption index is greater than a preset associated reference energy consumption index and whose associated energy consumption difference index is less than or equal to a preset associated energy consumption difference index. The stage path coincidence parameter of any cooperative execution set is greater than a preset stage path coincidence parameter. The control optimization target with the largest supplementary job continuous index in each cooperative execution set is recorded as a cooperative execution target of the corresponding cooperative execution set.

[0013] Further, the independent regulation module performs independent execution analysis on the control optimization target in the second execution association state. The personnel flow index is determined according to the personnel activity index of the job analysis sub-area in the flow evaluation stage.

[0014] Further, the independent regulation module determines the lighting supplementary index of each control optimization target in the second execution association state in the corresponding first job analysis area based on the personnel flow index of each first job analysis area. The lighting supplementary index is positively correlated with the personnel flow index of the first job analysis area.

[0015] Compared with the prior art, the beneficial effects of the present application are that the present application determines the category of the job analysis sub-area according to the personnel activity index and the area lighting index of the job analysis sub-area, and determines whether to perform control optimization according to the proportion of the first job analysis sub-area, so that the unmanned vehicle can determine whether to perform supplementary lighting in the actual operation process, ensure the image acquisition quality of the surrounding environment of the unmanned vehicle, and avoid causing safety risks in the job analysis sub-area. The present application ensures the safety of the unmanned vehicle in the job process while reducing the energy consumption of the unmanned autonomous vehicle.

[0016] Further, the present application periodically determines whether to perform control optimization according to the first sub-area proportion index, which quantifies the proportion of the first job analysis sub-area existing in the target job area. The first job analysis sub-area is a job analysis sub-area with small personnel activity index and lighting evaluation index. The number of workers in this area is small, so the demand for lighting is weak. Even if the current stage has weak lighting in this job analysis area, the energy consumption of the actual production process is saved, and there is no need to add light sources for lighting in this job analysis area. However, in order to ensure the safety of the control optimization target in the job process, the control optimization target passing through this job analysis area needs to be supplemented by the lighting device integrated in the control optimization target. When the first sub-area proportion index is large, it means that there are many first job analysis sub-areas that need to be supplemented by the control optimization target. By controlling the optimization of the control optimization target, energy consumption can be further avoided.

[0017] Further, the present application determines the execution association state according to the associated target proportion index and the associated region overlap index of each control optimization target, and determines whether to perform associated regulation processing or independent regulation processing on the corresponding control optimization target based on the execution association state of each control optimization target. The associated target proportion index and the associated region overlap index represent the richness of control optimization targets in the same path region of the control optimization target in the optimization execution period, and the coverage of the path operation region of the control optimization target, so as to determine whether there are a sufficient number of optimization control targets for collaborative operation in the operation execution process of the control optimization target, so as to determine the targeted control optimization method, so that the control optimization process of each control optimization target in the target operation region is more in line with the actual situation, and the effectiveness of the determined supplementary lighting decision is further improved. The present application avoids unnecessary energy consumption while ensuring the lighting needs of the unmanned vehicle in the safe operation state.

[0018] Further, the present application determines the execution association state according to the associated target proportion index and the associated region overlap index of each control optimization target, and determines whether to perform associated regulation processing or independent regulation processing on the corresponding control optimization target based on the execution association state of each control optimization target. The associated target proportion index and the associated region overlap index represent the richness of control optimization targets in the same path region of the control optimization target in the optimization execution period, and the coverage of the path operation region of the control optimization target, so as to determine whether there are a sufficient number of optimization control targets for collaborative operation in the operation execution process of the control optimization target, so as to determine the targeted control optimization method, so that the control optimization process of each control optimization target in the target operation region is more in line with the actual situation, and the effectiveness of the determined supplementary lighting decision is further improved. The present application avoids unnecessary energy consumption while ensuring the lighting needs of the unmanned vehicle in the safe operation state. BRIEF DESCRIPTION OF DRAWINGS

[0019] Fig. 1 The module connection diagram of the light control system integrated on the unmanned small car of the present application; Fig. 2 The flowchart of determining the category of the operation analysis sub-region according to the personnel activity index and the region lighting index of each operation analysis sub-region of the present application; Fig. 3 The flowchart of determining whether to perform control optimization according to the sub-region proportion index of the present application; Fig. 4The flow chart for determining whether to perform associated control processing or independent control processing for the corresponding control optimization target based on the execution associated state of each control optimization target. DETAILED DESCRIPTION

[0020] In order to make the objects and advantages of the present application clearer, the following further describes the present application with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0021] The preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that the embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0022] It should be noted that, in the description of the present application, the terms indicating the direction or positional relationship such as "upper", "lower", "left", "right", "inner", "outer" and the like are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application.

[0023] In addition, it should be further noted that, in the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. Those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0024] Please refer to Figs. 1 to 4 As shown in the drawings, the present application provides a light control system integrated on an unmanned vehicle, comprising: The area monitoring module is used to periodically determine whether to perform control optimization according to a first type of sub-area proportion index, the first type of sub-area proportion index is determined according to the number of each type of work analysis sub-area existing in the target work area, and the type of the work analysis sub-area is determined according to the personnel activity index and the area lighting index of each work analysis sub-area; The optimization evaluation module is connected with the area monitoring module and is used to determine whether to perform associated control processing or independent control processing for the corresponding control optimization target based on the execution associated state of each control optimization target, the execution associated state is determined according to the associated target proportion index and the associated area overlap index of each control optimization target; an association regulation module connected with the optimization evaluation module, configured to determine whether to perform a cooperative optimization process or a cooperative execution process for each association execution set according to an association reference energy consumption index and an association energy consumption difference index, and determine a phase assistance target or a cooperative execution target for performing supplementary lighting based on a phase assistance index or a supplementary work duration index; The association execution set is a set of control optimization targets in a first execution association state, and the association execution set is determined based on a reference association coincidence index. An independent regulation module connected with the optimization evaluation module, configured to set a lighting supplement index of each control optimization target in a second execution association state based on a personnel activity index of each work analysis sub-area. A lighting execution module connected with the association regulation module and the independent regulation module respectively, comprising a plurality of lighting devices corresponding to each control optimization target for performing supplementary lighting.

[0025] In the present application, the optimization of the light control process for the unmanned vehicles performing transportation or other tasks in the enclosed logistics distribution area is carried out. The unmanned vehicles for which the light control process optimization is carried out are referred to as control optimization targets, and the task execution area corresponding to the control optimization target is referred to as a target work area. The work process of the control optimization target in the present application uses electric energy supply, each control optimization target corresponds to integrated lighting devices, and the specific model of the set lighting devices is not limited, but the luminous flux of the lighting devices needs to be adjusted. The control optimization target in the target work area corresponds to the work task information set. The work task information of any control optimization target includes the work task category of the corresponding control optimization target, the starting point and the ending point of the execution work task process, and the work analysis sub-area passed by the execution work task process. The work task information of some control optimization targets includes the passing stopping point of the execution work task process. The work analysis sub-area passed by the execution work task process included in the work task information is referred to as the passing work area of the corresponding control optimization target. This invention utilizes several optimization control records. Each optimization control record records at least one instance of personnel activity index, lighting evaluation index, first-class sub-area proportion index, task area association parameters, associated target proportion index, associated area overlap index, reference association overlap index, execution energy consumption parameters, associated reference energy consumption index, associated energy consumption difference index, and stage path overlap parameters during the optimization process of lighting control for the control optimization target within the target work area. Each optimization control record also has a corresponding qualification mark. The qualification mark records whether the lighting control scheme for the control optimization target within the target work area meets the user's needs and whether the energy saving effect meets the user's needs. It can be understood that the user can determine the effectiveness of the lighting control scheme for the control optimization target within the target work area and whether the energy saving effect meets the user's needs based on self-defined indicators.

[0026] Specifically, the job analysis sub-areas are categorized into two types: Type I job analysis sub-areas and Type II job analysis sub-areas. The area monitoring module classifies the work analysis sub-areas where the personnel activity index is less than or equal to the preset personnel activity index and the lighting evaluation index is less than or equal to the preset lighting evaluation index as a type of work analysis sub-area. The area monitoring module classifies the sub-areas where the personnel activity index is greater than the preset personnel activity index or the lighting assessment index is greater than the preset lighting assessment index as the second type of operation analysis sub-area.

[0027] This invention divides the target work area into several work analysis sub-areas with equal areas, based on the area that the target can pass through. The invention does not specify the division of these sub-areas; the higher the user's requirements for the effectiveness and energy saving of the lighting control scheme for the target work area, the more work analysis sub-areas are obtained. A cyclical regional evaluation period is applied, the duration of which can be determined by the user. Higher user requirements for the effectiveness and energy saving of the lighting control scheme for the target work area, the shorter the regional evaluation period. A regional evaluation period of 0.5 hours is provided. At the end of each regional evaluation period, the personnel activity index and lighting evaluation index of each work analysis sub-area are detected, and control optimization is determined based on the proportion index of a certain type of sub-area. If the current time is the end time of a regional evaluation cycle, the personnel activity index and lighting evaluation index for each operation analysis sub-region are detected. For a single operation analysis sub-region, the personnel activity index... , The lighting assessment index represents the number of workers present in the analysis sub-area at that moment. This represents the average illuminance obtained by each control optimization objective existing within the analysis sub-region of this operation at that moment. This represents the maximum illuminance previously acquired by the control optimization objective within the analysis sub-region of this task. If there is no control optimization objective within the analysis sub-region at this moment... The values ​​obtained by the illuminance monitoring device set up for the analysis sub-area of ​​this operation, and how to perform illuminance monitoring, are contents that are already known to those skilled in the art, and will not be elaborated here; The values ​​of the preset personnel activity index and the preset lighting evaluation index can be determined by the user based on the actual work scenario. For example, the user can set them based on the optimized control records. The higher the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the optimized target in the target work area, the larger the value of the preset personnel activity index and the preset lighting evaluation index. A method for determining the preset personnel activity index is provided, in which the minimum value of the personnel activity index in a type of work analysis sub-area in the optimized control records that meets the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the optimized target in the target work area is recorded as the preset personnel activity index. A method for determining the preset lighting evaluation index is provided, in which the minimum value of the lighting evaluation index in a type of work analysis sub-area in the optimized control records that meets the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the optimized target in the target work area is recorded as the preset lighting evaluation index.

[0028] Specifically, the optimization evaluation module responds to optimization execution conditions and performs control optimization for control optimization targets existing in the target work area; The optimized execution condition is that the proportion index of a certain type of sub-region determined by the evaluation execution cycle is greater than the preset proportion index of a certain type of sub-region; The sub-region proportion index refers to the proportion of the number of sub-regions of a certain type of operation analysis determined in the evaluation execution cycle to the total number of operation analysis sub-regions existing in the target operation area.

[0029] Wherein, if the current time is the end time of a regional assessment cycle, the regional assessment cycle is recorded as the assessment execution cycle, and the next regional assessment cycle is recorded as the optimization execution cycle, and the sub-regional proportion index is... This represents the number of job analysis sub-regions existing within the target job area. To assess the number of Class I operation analysis sub-areas determined in the execution cycle, if the determined Class I sub-area proportion index is greater than the preset Class I sub-area proportion index, it indicates that there are a large number of Class I operation analysis sub-areas in the current target operation area. Class I operation analysis areas are operation analysis sub-areas where the personnel activity index is less than or equal to the preset personnel activity index and the lighting evaluation index is less than or equal to the preset lighting evaluation index. There are fewer workers in these operation analysis areas, and the demand for lighting is weak. There is no need to add new light sources for these operation analysis areas. However, the illumination corresponding to these operation analysis areas is weak at the current stage. Control optimization targets passing through these operation analysis areas need to supplement the lighting through the lighting device integrated into the control optimization targets. Control optimization needs to be performed for control optimization targets passing through these operation analysis areas. When the proportion of Class I operation analysis areas is small, each control optimization target will automatically supplement the lighting when entering a Class I operation analysis area to ensure safe operation. The value of the preset sub-area proportion index can be determined by the user based on the actual work scenario. For example, the user can set it based on the optimized control records. The higher the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the optimized target in the target work area, the smaller the value of the preset sub-area proportion index. A method for determining the value of the preset sub-area proportion index is provided. The optimized control records that optimize the control targets existing in the target work area are recorded as optimized execution records. The minimum value of the sub-area proportion index in the optimized execution records that meet the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the optimized target in the target work area is recorded as the preset sub-area proportion index. A value of 0.4 is provided for the preset sub-area proportion index.

[0030] Specifically, the execution association state of the control optimization target includes a first-class execution association state and a second-class execution association state; The control optimization target is defined as a control optimization target that is in a first-class execution association state, where the associated target proportion index is greater than the preset associated target proportion index or the associated region overlap index is greater than the preset associated region overlap index. The control optimization target is defined as a control optimization target in the second type of execution association state whose associated target proportion index is less than or equal to the preset associated target proportion index and whose associated region overlap index is less than or equal to the preset associated region overlap index.

[0031] Among them, for a single control optimization objective, the related objective proportion index The number of control optimization targets existing within the target operating area. This refers to the number of associated optimization targets within the target work area for the control optimization target during the optimization execution cycle. The associated optimization targets are those for which the task area association parameter of the control optimization target is greater than a preset task area association parameter. For any two control optimization targets, the task area association parameter... The number of different path operation sub-regions corresponding to the two control optimization objectives mentioned above. The number of path operation sub-areas corresponding to both of the above two control optimization objectives is given. The value of the preset task area association parameter can be determined by the user according to the actual work scenario. For example, the user can set it according to the optimization control record. The higher the user's requirements for the effectiveness and energy saving effect of the lighting control scheme of the control optimization objective in the target work area, the larger the value of the preset task area association parameter. A method for determining the value of the preset task area association parameter is provided, which is the minimum value of the task area association parameter of the optimization objective in the optimization control record that meets the user's requirements for the effectiveness and energy saving effect of the lighting control scheme of the control optimization objective in the target work area. For a single control optimization objective, the overlap index of the associated regions The target of this control optimization is the number of traversed job sub-regions that exist within the optimization execution cycle. The number of different associated operation sub-regions for each associated optimization objective of the control optimization objective, wherein the associated operation sub-region is the path operation sub-region that exists for each associated optimization objective and the control optimization objective; The values ​​of the preset associated target proportion index and the preset associated area overlap index can be determined by the user based on the actual work scenario. For example, the user can set them based on the optimized control records. The higher the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the optimized target in the target work area, the smaller the value of the preset associated target proportion index and the preset associated area overlap index. A method for determining the value of the preset associated target proportion index is provided, which is the maximum value of the associated target proportion index of the optimized control record that meets the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the optimized target in the target work area and is in the second type of execution association state. A method for determining the value of the preset associated area overlap index is provided, which is the maximum value of the associated area overlap index of the optimized control record that meets the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the optimized target in the target work area and is in the second type of execution association state and is in the preset associated area overlap index.

[0032] Specifically, the correlation control module performs correlation execution analysis on control optimization targets that are in a type of execution correlation state; The associated reference energy consumption index and the associated energy consumption difference index are determined based on the execution energy consumption parameters of each control optimization objective within each associated execution set; The reference association overlap index of any associated execution set is greater than the preset reference association overlap index.

[0033] Specifically, for a single control optimization target, if the control optimization target is in a type of execution association state, it indicates that the association target proportion index of the control optimization target is greater than the preset association target proportion index or the association area overlap index is greater than the preset association area overlap index. This indicates that within the optimization execution cycle, there are many control optimization targets with the same path area, or that the path operation area of ​​the control optimization target has relatively complete coverage. Therefore, association execution analysis is performed on the control optimization target to determine the association execution set, so as to initially determine the scope of control optimization targets for collaborative operation. By integrating the task execution process of the control optimization target, unnecessary supplementary lighting decisions are avoided, so as to reduce unnecessary resource consumption while ensuring the operational safety of the actual operation process of the control optimization target. The remaining energy consumption of the current association optimization targets of each control optimization target in the association execution set is characterized by the association reference energy consumption index and the association energy consumption difference index. This determines the energy consumption of the control optimization targets that can integrate the task execution process of each control optimization target, so as to ensure that the completed task execution process integration meets the energy consumption status of the control optimization targets in the actual operation process. The associated execution set is a set of control optimization objectives that are in a certain type of execution association state. For a single associated execution set, the reference association overlap index is the average of the association overlap indices of each control optimization objective within the associated execution set with respect to that associated execution set. For any control optimization objective within the associated execution set, the association overlap index with respect to that associated execution set is... The target of this control optimization is the number of traversed job sub-regions that exist within the optimization execution cycle. To determine the number of different associated work sub-regions for each associated optimization objective within the associated execution set for the control optimization objective, the value of the preset reference association overlap index can be determined by the user based on the actual work scenario. For example, the user can set it based on the optimization control record. The higher the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the control optimization objective within the target work area, the larger the value of the preset reference association overlap index. A method for determining the value of the preset reference association overlap index is provided, which is the minimum value of the reference association overlap index of the associated execution set in the optimization control record that meets the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the control optimization objective within the target work area. For a single associated execution set, the associated reference energy consumption index is the average value of the execution energy consumption parameters of each control optimization objective within that associated execution set, and the associated energy consumption difference index is... This is the average value of the execution energy consumption parameters for each control optimization objective within the associated execution set. The standard deviation of the execution energy consumption parameters among the control optimization objectives within the associated execution set; for a single control optimization objective, the execution energy consumption parameter... To optimize this control, the remaining battery level under the current conditions is determined. The maximum energy value for the target of this control optimization.

[0034] Specifically, the correlation control module performs collaborative optimization processing on correlation execution sets where the correlation reference energy consumption index is less than or equal to a preset correlation reference energy consumption index or the correlation energy consumption difference index is greater than a preset correlation energy consumption difference index. For any key auxiliary objective, the control optimization objective with the largest stage auxiliary index for that key auxiliary objective within the associated execution set is denoted as the stage auxiliary objective; The method for setting the stage auxiliary index is determined based on the overlap index of the associated areas of each key auxiliary target; The key auxiliary objective is the control optimization objective that the execution energy consumption parameter is less than or equal to the preset execution energy consumption parameter.

[0035] Specifically, for a single associated execution set, if the associated reference energy consumption index of the associated execution set is less than or equal to the preset associated reference energy consumption index or the associated energy consumption difference index is greater than the preset associated energy consumption difference index, it indicates that the remaining energy consumption of each control optimization target within the associated execution set is poor, or that the difference between the remaining energy consumption is large. Therefore, when integrating the task execution process of the control optimization targets within the associated execution set, it is necessary to additionally consider the impact of the remaining energy consumption on supplementary lighting during the collaborative task execution process and perform collaborative optimization processing. For any control optimization target within a set of associated executions undergoing collaborative optimization, if the execution energy consumption parameter of the control optimization target is less than or equal to the preset execution energy consumption parameter, it indicates that the remaining power of the control optimization target is low. To ensure the execution efficiency of the actual operation process and to avoid the control optimization target from performing supplementary lighting tasks as much as possible, thus saving the energy consumption of the control optimization target, the control optimization target is recorded as a key auxiliary target. Based on the path sequence, the stage auxiliary targets for each type of operation sub-area analyzed by the key auxiliary target are defined. The value of the preset execution energy consumption parameter can be determined by the user according to the actual work scenario. For example, the user can set it according to the optimization control record. The higher the user's requirements for the effectiveness and energy saving effect of the lighting control scheme of the control optimization target in the target work area, the larger the value of the preset execution energy consumption parameter. A method for determining the value of the preset execution energy consumption parameter is provided, which records the average value of the execution energy consumption parameters of each key auxiliary target in the optimization control record that meets the user's requirements for the effectiveness and energy saving effect of the lighting control scheme of the control optimization target in the target work area as the preset execution energy consumption parameter. The values ​​of the preset associated reference energy consumption index and the preset associated energy consumption difference index can be determined by the user according to the actual working scenario. For example, the user can set them according to the optimized control records. A method for determining the value of the preset associated reference energy consumption index is provided, in which the optimized control records that perform collaborative execution processing for the associated execution set are recorded as collaborative reference records, and the minimum value of the associated reference energy consumption index in the collaborative reference records that meets the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the control optimization target in the target work area is recorded as the preset associated reference energy consumption index. A method for determining the value of the preset associated energy consumption difference index is provided, in which the minimum value of the associated energy consumption difference index in the collaborative reference records that meets the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the control optimization target in the target work area is recorded as the preset associated energy consumption difference index.

[0036] Specifically, the correlation control module determines the stage auxiliary index for each control optimization target for key auxiliary targets whose correlation region overlap index is greater than the preset correlation region overlap index based on the execution energy consumption parameters and the correlation effective index; The correlation control module determines the stage auxiliary index of each control optimization target for key auxiliary targets whose correlation region overlap index is less than or equal to the preset correlation region overlap index based on the execution energy consumption parameters and operation-related indices.

[0037] Specifically, for a single key auxiliary target, if the overlap index of the associated region of the key auxiliary target is greater than the preset overlap index, it indicates that the associated optimization targets of the key auxiliary target have relatively complete coverage of the operation area through which the key auxiliary target exists. In this case, the stage auxiliary index of each control optimization target for the key auxiliary target is determined based on the execution energy consumption parameter and the association effectiveness index. When the key auxiliary target enters any type of operation analysis area, the stage auxiliary index of each control optimization target existing in that type of operation analysis area is detected. For a single control optimization target, the stage auxiliary index is the sum of the current execution energy consumption parameter and the association effectiveness index. The number of work areas that the target of this control optimization exists to pass through. The continuous correlation parameter for the control optimization objective and the key auxiliary objective is the number of all operation analysis regions that the control optimization objective and the key auxiliary objective continuously co-traverse from the first type of operation analysis region. For a single key auxiliary target, if the overlap index of its associated region is less than or equal to a preset overlap index, it indicates that the coverage of the associated optimization targets of the key auxiliary target by the path operation area is weak. In this case, it is necessary to determine the stage auxiliary target in addition to the associated optimization targets. When the key auxiliary target enters any type of operation analysis area, the stage auxiliary index of each control optimization target existing in that type of operation analysis area is detected. For a single control optimization target, the stage auxiliary index is the sum of the current execution energy consumption parameter and the operation-related index. To optimize the execution cycle duration, The duration of time the target vehicle stays in the analysis area of ​​this type of operation is determined by the phased auxiliary targets, and supplementary lighting is required to ensure the safe operation of itself and its key auxiliary targets.

[0038] Specifically, the correlation control module performs collaborative execution processing on the correlation execution set where the correlation reference energy consumption index is greater than the preset correlation reference energy consumption index and the correlation energy consumption difference index is less than or equal to the preset correlation energy consumption difference index. The stage path overlap parameter of any of the aforementioned collaborative execution sets is greater than the preset stage path overlap parameter; The control optimization objective that maximizes the duration index of supplementary tasks within each collaborative execution set is denoted as the collaborative execution objective of the corresponding collaborative execution set.

[0039] Specifically, for a single associated execution set, if the associated reference energy consumption index of the associated execution set is greater than the preset associated reference energy consumption index and the associated energy consumption difference index is less than or equal to the preset associated energy consumption difference index, it indicates that the remaining energy consumption of each control optimization target within the associated execution set is good and the difference between the remaining energy consumption is small. Therefore, when integrating the task execution process of the control optimization target within the associated execution set, it is not necessary to consider the impact of the remaining energy consumption on the supplementary lighting during the collaborative task execution process. It is only necessary to consider the rationality of the energy consumption allocation during the integration process, carry out collaborative execution processing, and ensure the balance of the task allocation used to undertake supplementary lighting. For a single set of associated executions undergoing collaborative execution, if multiple control analysis targets exist within the associated execution set in a single type of job analysis area within the optimized execution cycle, collaborative analysis is performed. The collaborative execution set is determined based on the stage path overlap parameter, and the collaborative execution target is determined based on the supplementary job continuity index for supplementary lighting to ensure the safe operation of itself and its collaborative execution set. The collaborative execution set is a set of several control analysis targets existing within the associated execution set in the type of job analysis area. For a single collaborative execution set, the stage path overlap degree... This refers to the number of different stage-by-stage sub-regions that exist for each control analysis objective within the collaborative execution set. The number of stage-based path sub-regions present for all control analysis objectives within the collaborative execution set is defined as follows: For a single control analysis objective, based on the path sequence, a preset number of path operation areas are extracted from the corresponding job task information after passing through a certain type of job analysis sub-region. These are denoted as the stage-based path sub-regions of the control analysis objective. For any control optimization objective within the collaborative execution set, the supplementary job continuity index... This is the average of the supplementary operation indices for each control optimization objective within the collaborative execution set. For the supplementary operation index of the control optimization target, the supplementary operation index is the duration of supplementary lighting for the control optimization target during the continuous analysis phase. The end time of the continuous analysis phase is the current time. The duration of the continuous analysis phase can be determined by the user according to the actual work scenario. The higher the user's requirements for the effectiveness and energy saving effect of the lighting control scheme of the control optimization target in the target work area, the longer the duration of the continuous analysis phase. One value for the duration of the continuous analysis phase is provided, which is 1 hour. The value for the preset extraction quantity can be determined by the user according to the actual work scenario. The higher the user's requirements for the effectiveness and energy saving effect of the lighting control scheme of the control optimization target in the target work area, the larger the value of the preset extraction quantity. One value for the preset extraction quantity is provided, which is 4. The value of the preset stage path overlap parameter can be determined by the user according to the actual working scenario. For example, the user can set it according to the optimized control record. The higher the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the optimized target in the target work area, the larger the value of the preset stage path overlap parameter. A method for determining the value of the preset stage path overlap parameter is provided, which takes the minimum value of the stage path overlap parameter of the collaborative execution set in the optimized control record that meets the user's requirements for the effectiveness and energy saving effect of the lighting control scheme for the optimized target in the target work area as the preset stage path overlap parameter.

[0040] Specifically, the independent control module performs independent execution analysis on control optimization targets that are in a state of second-class execution association; The personnel mobility index is determined based on the personnel activity index of the work analysis sub-area during the mobility assessment phase.

[0041] Specifically, the independent control module determines the lighting supplementation index of each control optimization target in the corresponding Class I operation analysis area based on the personnel flow index of each Class I operation analysis area; The lighting supplementation index is positively correlated with the personnel flow index in the first type of work analysis area.

[0042] Specifically, for a single control optimization target, if the control optimization target is in a Class II execution association state, it indicates that the association target proportion index of the control optimization target is less than or equal to the preset association target proportion index and the association area overlap index is less than or equal to the preset association area overlap index. This indicates that there are few control optimization targets with the same path area as the control optimization target within the optimization execution cycle and the coverage of the path operation area of ​​the control optimization target is poor. Therefore, the control optimization target needs supplementary lighting to ensure its safe operation. Independent execution analysis is performed on the control optimization target, and the degree of execution of supplementary lighting for the control optimization target is determined based on the personnel flow in each Class I operation analysis area during the execution of its operation task. The personnel flow index is used to characterize the personnel flow. For a single control optimization objective in a Class II execution association state, if the control optimization objective reaches any Class I operation analysis sub-region, the lighting supplementation index for the control optimization objective within that Class I operation analysis region is determined based on the personnel flow index. The lighting supplementation index is the luminous flux of the lighting device integrated with the control optimization objective. The personnel flow index is the sum of the reference personnel activity index and the personnel activity difference index for that Class I operation analysis sub-region during the flow assessment phase. The reference personnel activity index is the average of the personnel activity indices determined for that Class I operation analysis sub-region during the flow assessment phase. The personnel activity difference index... This represents the average of the personnel activity indexes determined for each sub-area of ​​this type of work during the mobility assessment phase. The standard deviation is defined as the ratio of the personnel activity indexes determined for each sub-area of ​​the operation within the flow assessment phase. The end time of the flow assessment phase is the time when the control optimization target arrives at the sub-area of ​​the operation. The duration of the flow assessment phase can be determined by the user based on the actual work scenario. The higher the user's requirements for the effectiveness of the lighting control scheme and energy saving effect of the control optimization target in the target work area, the longer the duration of the flow assessment phase. One possible value for the duration of the flow assessment phase is 1.5 hours.

[0043] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A lighting control system integrated into an unmanned vehicle, characterized in that, include: The area monitoring module is used to periodically determine whether to perform control optimization based on the proportion index of a certain type of sub-area. The proportion index of a certain type of sub-area is determined based on the number of various types of work analysis sub-areas existing in the target work area. The category of the work analysis sub-area is determined based on the personnel activity index and the area lighting index of each work analysis sub-area. An optimization evaluation module, which is connected to the regional monitoring module, is used to determine whether to perform associated control and regulation processing or independent control and regulation processing on the corresponding control and optimization target based on the execution association status of each control and optimization target. The execution association status is determined according to the association target proportion index and the association area overlap index of each control and optimization target. The associated control module, which is connected to the optimization evaluation module, is used to determine whether to perform collaborative optimization or collaborative execution processing for each associated execution set based on the associated reference energy consumption index and the associated energy consumption difference index, so as to determine the stage auxiliary target or collaborative execution target for performing supplementary lighting based on the stage auxiliary index or the supplementary operation continuity index. The associated execution set is a set of several control optimization objectives that are in a certain type of execution association state, and the associated execution set is determined based on the reference association overlap index; An independent control module, which is connected to the optimization evaluation module, is used to set the lighting supplement index for each control optimization target in the second-class execution association state based on the personnel activity index of each operation analysis sub-area; The lighting execution module is connected to the associated control module and the independent control module respectively. It includes several lighting devices, each of which is integrated into each control optimization target for supplementary lighting.

2. The lighting control system integrated on an unmanned vehicle according to claim 1, characterized in that, The job analysis sub-areas are categorized into two types: Type I job analysis sub-areas and Type II job analysis sub-areas. The area monitoring module classifies the work analysis sub-areas where the personnel activity index is less than or equal to the preset personnel activity index and the lighting evaluation index is less than or equal to the preset lighting evaluation index as a type of work analysis sub-area. The area monitoring module classifies the sub-areas where the personnel activity index is greater than the preset personnel activity index or the lighting assessment index is greater than the preset lighting assessment index as the second type of operation analysis sub-area.

3. The lighting control system integrated on an unmanned vehicle according to claim 2, characterized in that, The optimization evaluation module responds to optimization execution conditions and performs control optimization for control optimization objectives existing within the target work area; The optimized execution condition is that the proportion index of a certain type of sub-region determined by the evaluation execution cycle is greater than the preset proportion index of a certain type of sub-region; The sub-region proportion index refers to the proportion of the number of sub-regions of a certain type of operation analysis determined in the evaluation execution cycle to the total number of operation analysis sub-regions existing in the target operation area.

4. The lighting control system integrated on an unmanned vehicle according to claim 3, characterized in that, The execution association state of the control optimization target includes a first-class execution association state and a second-class execution association state; The control optimization target is defined as a control optimization target that is in a first-class execution association state, where the associated target proportion index is greater than the preset associated target proportion index or the associated region overlap index is greater than the preset associated region overlap index. The control optimization target is defined as a control optimization target in the second type of execution association state, where the associated target proportion index is less than or equal to the preset associated target proportion index and the associated region overlap index is less than or equal to the preset associated region overlap index.

5. The lighting control system integrated on an unmanned vehicle according to claim 4, characterized in that, The correlation control module performs correlation execution analysis on control optimization targets that are in a type of execution correlation state; The associated reference energy consumption index and the associated energy consumption difference index are determined based on the execution energy consumption parameters of each control optimization objective within each associated execution set; The reference association overlap index of any associated execution set is greater than the preset reference association overlap index.

6. The lighting control system integrated on an unmanned vehicle according to claim 5, characterized in that, The correlation control module performs collaborative optimization processing on correlation execution sets where the correlation reference energy consumption index is less than or equal to a preset correlation reference energy consumption index or the correlation energy consumption difference index is greater than a preset correlation energy consumption difference index. For any key auxiliary objective, the control optimization objective with the largest stage auxiliary index for that key auxiliary objective within the associated execution set is denoted as the stage auxiliary objective; The method for setting the stage auxiliary index is determined based on the overlap index of the associated areas of each key auxiliary target; The key auxiliary objective is the control optimization objective that the execution energy consumption parameter is less than or equal to the preset execution energy consumption parameter.

7. The lighting control system integrated on an unmanned vehicle according to claim 6, characterized in that, The correlation control module determines the stage auxiliary index for each control optimization target for key auxiliary targets whose correlation region overlap index is greater than the preset correlation region overlap index based on the execution energy consumption parameters and the correlation effective index; The correlation control module determines the stage auxiliary index of each control optimization target for key auxiliary targets whose correlation region overlap index is less than or equal to the preset correlation region overlap index based on the execution energy consumption parameters and operation-related indices.

8. The lighting control system integrated on an unmanned vehicle according to claim 5, characterized in that, The associated control module performs collaborative execution processing on associated execution sets where the associated reference energy consumption index is greater than the preset associated reference energy consumption index and the associated energy consumption difference index is less than or equal to the preset associated energy consumption difference index. The stage path overlap parameter of any of the aforementioned collaborative execution sets is greater than the preset stage path overlap parameter; The control optimization objective that maximizes the duration index of supplementary tasks within each collaborative execution set is denoted as the collaborative execution objective of the corresponding collaborative execution set.

9. The lighting control system integrated on an unmanned vehicle according to claim 4, characterized in that, The independent control module performs independent execution analysis on the control optimization objectives that are in the second-class execution association state; The personnel mobility index is determined based on the personnel activity index of the work analysis sub-area during the mobility assessment phase.

10. The lighting control system integrated on an unmanned vehicle according to claim 9, characterized in that, The independent control module determines the lighting supplementation index of each control optimization target in the corresponding Class I operation analysis area based on the personnel flow index of each Class I operation analysis area; The lighting supplementation index is positively correlated with the personnel flow index in the first type of work analysis area.

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