Method for optimally positioning time-of-flight sensor on ceiling

Abstract

A method of determining a detection area of a ToF sensor mounted on a ceiling of a room is presented. The ToF sensor is included in a first device, such as a ceiling panel or a luminaire, having predefined dimensions. The method includes obtaining a predefined size of the first device in a second device, the second device being a device of a user such as a smartphone or tablet; obtaining a first image of a room including the first device according to a camera of the second device; obtaining a second image of the room including the desired detection area according to the camera; a projection of the ToF sensor on the second image is determined based on a predefined size of the first device, and a height of the reference object, such as a toilet (616) on a room floor (716), is determined using the ToF sensor. The ToF sensor may be repositioned to obtain an improved detection area. To obtain a projection (700) of the ToF sensor on the ground (716), a processor of the smartphone may construct two lines (740, 742) on the ground in a camera view for visualizing the detection area as a dotted frame (ABCD) superimposed on the second image, for example by using an augmented reality mode of the camera. The camera view (730) also includes a front wall (634) and side walls (636) of the room. ToF sensors may be used for fall detection, more advantageously for detecting fall of the elderly.

Description

TECHNICAL FIELD

[0002] The present disclosure relates to positioning a time-of-flight (ToF) sensor on a ceiling to obtain an optimal field of view (FoV). BACKGROUND

[0004] A ToF sensor typically comprises a light emitter (e.g. based on infrared light emitting diodes (LEDs) or based on lasers / vertical cavity surface emitting lasers (VCSELs)) and a light detector. The light emitter can send light / photons that are reflected by objects and people in its FoV, and the light / photons reflected by objects and people in its FoV can be detected by the detector. The time difference between emission and reception provides the actual distance between the object or person and the ToF sensor. A three-dimensional (3D) ToF sensor can comprise an array of detectors, thus enabling the generation of a depth image of a space.

[0005] A 3D ToF sensor can typically detect objects and / or people in real-time, e.g. in a room. Such ToF sensors have a variety of applications, such as security monitoring, motion detection and / or fall detection. In the latter example, the positioning and posture of a person in a room can be detected, and it can be detected that the person has fallen and is lying on the floor, allowing help to be provided to the person.

[0006] Automatic fall detection is an important feature in elderly care solutions. In contrast to fall detection methods based on wearable devices, non-contact fall detection via remote sensors, such as 3D ToF sensors, has some unique advantages. For example, there is less burden of wearing a device and it is less likely to be forgotten. Furthermore, 3D ToF sensors can be powered by mains electricity, whereas wearable devices are powered by batteries and need to be charged, which can lead to battery depletion and loss of protection. Moreover, 3D ToF sensors can be very accurate.

[0007] When installed on the ceiling of a room, a 3D ToF sensor can capture the positioning and posture of a person in the room in real-time. If the person falls and lies on the floor, his / her posture as perceived by the sensor is different from when the person is standing or sitting, thus allowing fall detection.

[0008] CN113786190A relates to a method and device for detecting target fall, electronic equipment. Based on TOF light wave data sent by a TOF sensor, detection reference data is determined, dynamic detection information representing a change in the position of the target to be detected is determined through the detection reference data, it is judged whether the detected target falls, the accuracy of the fall judgment is improved, and the detection accuracy is improved.

[0009] US2020258364A1 relates to the use of thermal data and time-of-flight (TOF) sensor data to detect human activity. Array-type thermal sensors are used to generate thermal data, and array-type TOF sensors are used to generate TOF data. TOF-derived data, such as distance data, velocity data, and / or acceleration data, can be determined from the TOF data. Human activity in the monitored space can be determined by comparing the thermal data and TOF-derived data acquired for the monitored space with one or more activity profiles corresponding to one or more types of activities to be monitored.

[0010] US2019110741A1 discloses a circadian rhythm measurement system. A distance measurement device uses a Time-of-Flight (TOF) sensor to measure 3D information of the target person (whether the posture corresponds to standing, sitting, or lying down, activity level, and ambush information). A management device aggregates the 3D information measured by the distance measurement device for each unit of time, estimates the target person's circadian rhythm (ratio of each posture, activity level, ambush time, bedtime, wake-up time, and return-home time per unit time) based on the 3D data for each measurement, and accumulates the estimated circadian rhythm in a storage device. The management device provides the accumulated circadian rhythm information of the target person in the storage device to the measurement requester.

[0011] When a ToF sensor is incorrectly positioned on the ceiling, a FoV sensor may not provide optimal coverage of the room to be monitored. Summary of the Invention

[0013] The following describes the inventive summary of various aspects of specific examples disclosed herein. It should be understood that these aspects are presented only to provide the reader with a brief summary of the invention of these specific embodiments, and these aspects are not intended to limit the scope of this disclosure. In fact, this disclosure may cover a wide variety of aspects and / or combinations of aspects that may not be described.

[0014] This disclosure aims to overcome the shortcomings of the markings in the background section. In particular, this disclosure aims to provide a method for positioning a ToF sensor on the ceiling to obtain the optimal FoV of the ToF sensor.

[0015] According to one aspect of this disclosure, a method for determining the detection area of ​​a Time-of-Flight (ToF) sensor is proposed. The ToF sensor may be mounted on the ceiling of a room. The ToF sensor may be included in a first device having a predefined size. The method may include: obtaining the predefined size of the first device in a second device. The method may further include obtaining a first image of the room including the first device using a camera of the second device. The method may further include obtaining a second image of the room including the desired detection area using the camera. The method may further include determining the projection of the ToF sensor onto the second image based on the predefined size of the first device. The method may further include determining the height of a reference object within the desired detection area in the room using the ToF sensor. The method may further include determining the current detection area of ​​the ToF sensor based on the determined height of the reference object, the distance between the ToF sensor and the desired detection area measured by the ToF sensor, and the detection angle range of the ToF sensor.

[0016] An example of the area to be detected is the floor of the room or any other base surface of the room.

[0017] The first and / or second images can be obtained using the camera's image mode. The first and / or second images can be obtained using the camera's video mode. The first and / or second images can be obtained using augmented reality mode, where graphic objects can be overlaid on top of the images.

[0018] The first and second images can be acquired simultaneously by the camera. In other words, the first and second images can each be portions of the same large image. This large image includes both the desired detection areas of the first device and the ToF sensor. Alternatively, the first and second images can be the same image, which includes both the desired detection areas of the first device and the ToF sensor.

[0019] The first device may be a panel that can be mounted on or within a ceiling. The first device may include a luminaire.

[0020] The second device can be an end-user's device. Non-limiting examples of a second device include: a smartphone; a tablet computer; a laptop computer; or any other portable end-user device.

[0021] In one embodiment, obtaining the predefined dimensions of the first device in the second device may include manually entering the predefined dimensions using the user interface of the second device on the second device.

[0022] In one embodiment, obtaining the predefined size of the first device in the second device may include manually entering the model or serial number of the first device using the user interface of the second device, allowing the second device to obtain the predefined size based on the model or serial number.

[0023] In one embodiment, obtaining the predefined size of the first device in the second device may include visual recognition of the first device using a camera on the second device, allowing the second device to obtain the predefined size based on the visual recognition.

[0024] In one embodiment, the first image may be a first camera image from a two-dimensional (2D) camera of the second device. The method may further include: using the first camera image and based on predetermined dimensions of the first device, determining a first distance between the ToF sensor and a first wall, and a second distance between the ToF sensor and a second wall. The first wall may intersect with the second wall. The method may further include: determining the projection of the ToF sensor onto the second image based on the first and second distances.

[0025] In one embodiment, the method may further include determining the repositioning of the ToF sensor to obtain an improved detection area.

[0026] In one embodiment, the first image may include at least a portion of the ceiling, at least a portion of the first wall, and at least a portion of the second wall of the first device.

[0027] In one embodiment, the second image may include at least a portion of the desired detection region of the reference object, at least a portion of the first wall, and at least a portion of the second wall.

[0028] In one embodiment, the method may further include displaying a second image on the display of a second device and overlaying the current detection area of ​​the ToF sensor.

[0029] In one embodiment, the method may further include displaying a second image on the display of a second device and overlaying an improved area of ​​the ToF sensor.

[0030] In one embodiment, the method may further include displaying instructions on the display of the second device for repositioning the first device to obtain an improved detection area.

[0031] In one embodiment, the method may further include automatically repositioning the ToF sensor by moving it along a guide rail to obtain an improved detection area.

[0032] In one embodiment, the method may further include displaying the projection of the ToF sensor onto the desired detection area on the display of a second device, and overlaying a second image.

[0033] In one embodiment, the method may further include displaying a first distance and a second distance on a display of a second device over a desired detection area, and superimposing a second image.

[0034] In one embodiment, the first device may be a lighting device that includes a ToF sensor and a lamp.

[0035] According to one aspect of this disclosure, a device including a Time-of-Flight (ToF) sensor is proposed. The device may have a predetermined size. The ToF sensor can be configured to determine the height of a reference object within a desired detection area in a room. The ToF sensor can be configured to transmit the determined height of the reference object to a second device. Based on the improved detection area determined by the second device, the ToF sensor can be repositioned.

[0036] In one embodiment, the device may be repositionable to reposition the ToF sensor based on the determination of an improved detection area of ​​the ToF sensor determined by the second device.

[0037] In one embodiment, the ToF sensor can be movably attached to the device. The ToF sensor can be repositioned based on the improved detection area determined by the second device.

[0038] In one embodiment, the device may be a lighting device that includes a ToF sensor and a lamp.

[0039] According to one aspect of this disclosure, a computer program is provided that includes instructions that, when executed by one or more processors, cause the one or more processors to perform a method having one or more of the features described above.

[0040] According to one aspect of this disclosure, a computer-readable storage medium is provided, the computer-readable storage medium including instructions that, when executed by one or more processors, cause the one or more processors to perform a method having one or more of the features described above. Attached Figure Description

[0042] Embodiments of this disclosure will now be described by way of example only, with reference to the accompanying schematic drawings, in which corresponding reference numerals indicate corresponding parts. Figure 1 An example ToF sensor and its FoV are shown; Figure 2 An example ToF sensor and its detection area on the ground are shown; Figure 3 A panel luminaire including a ToF sensor is shown according to an example embodiment of the present disclosure; Figures 4A-4B A top view of a room according to an exemplary embodiment of the present disclosure is shown, the room having panel light fixtures mounted on the ceiling of the room; Figures 5A-5B A camera view of a ceiling including a panel light fixture with a ToF sensor, according to an example embodiment of the present disclosure, is shown; Figure 6 A 3D camera view of a room pointing to the ceiling and two walls is shown according to an exemplary embodiment of the present disclosure; Figures 7-8 A 3D camera view of a room pointing to the floor and two walls is shown according to an exemplary embodiment of the present disclosure; Figures 9A-9B Two orientations of a panel with a ToF sensor according to an exemplary embodiment of the present disclosure are shown; Figure 9C A 3D camera view of a room pointing to the floor and two walls is shown according to an exemplary embodiment of the present disclosure; Figures 10A-10D An example panel including a ToF sensor is shown according to an exemplary embodiment of the present disclosure; Figure 11 A panel including a ToF sensor on a guide rail is shown according to an exemplary embodiment of the present disclosure; Figure 12 A network architecture according to an example embodiment of this disclosure is shown; Figure 13 A flowchart of a method according to an example embodiment of the present disclosure is shown; and Figure 14 An example embodiment of a computing system for implementing a particular aspect of this technology is shown.

[0043] The accompanying drawings are intended for illustrative purposes only and do not constitute a limitation on the scope of protection defined in the claims. Detailed Implementation

[0045] It should be readily understood that the components of the embodiments generally described herein and illustrated in the accompanying drawings can be arranged and designed in a wide variety of different configurations. Therefore, the more detailed description of the various embodiments shown in the drawings below is not intended to limit the scope of this disclosure, but rather to represent various embodiments only. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0046] The described embodiments are to be regarded in all respects as illustrative rather than restrictive. Therefore, the scope of this disclosure is indicated by the appended claims, and not by this specific embodiment. All changes falling within the meaning and scope of the equivalents of the claims will be covered by the scope of the claims.

[0047] References to features, advantages, or similar language throughout this specification do not imply that all features and advantages achievable using this disclosure should be included in or in any single example of this disclosure. Rather, references to features and advantages are to be understood as meaning that a specific feature, advantage, or characteristic described in connection with an embodiment is included in at least one embodiment of this disclosure. Therefore, the discussion of features and advantages throughout this specification, and similar language, may, but are not necessarily, refer to the same examples.

[0048] Furthermore, the features, advantages, and characteristics of this disclosure described herein can be combined in any suitable manner in one or more embodiments. Based on the description herein, those skilled in the art will recognize that this disclosure can be practiced without one or more of the specific features or advantages of a particular embodiment. In other instances, it will be recognized that additional features and advantages in certain embodiments may not be present in all embodiments of this disclosure. References to “an embodiment,” “embodiment,” or similar language in this specification mean that a particular feature, structure, or characteristic described in connection with the indicated embodiment is included in at least one embodiment of this disclosure. Therefore, the phrases “in one embodiment,” “in an embodiment,” and similar language throughout this specification may, but are not necessarily, refer to the same embodiment.

[0049] 3D ToF sensors can have a FoV determined by their design. Figure 1 In the example, the 3D ToF sensor 100 has a 63° diagonal square FoV 102. When the ToF sensor 200 (e.g., the 3D ToF sensor 100) is mounted on the ceiling 212 of room 210 (e.g., such as...), Figure 2 When the distance is 2.4 meters above the ground 214 as shown in the example, the ToF sensor 200 can detect a 2.1m x 2.1m square meter area 202 on the ground 214 (i.e., 2.4m * tan(63° / 2) * sqrt(2) ≈ 2.1m). When a person falls in the room and is lying on the ground 214, the ToF sensor 200 can detect that the person has fallen if all or part of the person's body is within the 2.1m x 2.1m FoV area 202. Therefore, the detection area of ​​the ToF fall detection sensor 200 can be defined as the maximum coverage area 202 of the sensor on the ground 214.

[0050] ToF sensors 100 and 200 can communicate with a back-end system (not shown) where detected events can be processed and recorded, and actions can be triggered based on the detected events.

[0051] The ToF sensor can be a standalone sensor. ToF sensors 100 and 200 can be combined with one or more other sensors. ToF sensors 100 and 200 can be integrated into a first device, such as a luminaire. When integrated with a first device, ToF sensors 100 and 200 can be physically included in the same housing as the first device, but functionally separate, for example, sharing only trunk power, but without communication or control between ToF sensors 100 and 200 and the first device. Alternatively, when integrated with a first device, ToF sensors 100 and 200 can be physically included in the same housing as the first device and functionally connected, for example, sharing trunk power, and have communication and / or control functions between ToF sensors 100 and 200 and the first device.

[0052] In one example embodiment, the ToF sensors 100 and 200 can be integrated into the housing of the luminaire. The luminaire can be designed for ceiling mounting.

[0053] In a preferred embodiment, luminaires with integrated ToF sensors 100, 200 can be designed for installation in ceiling systems (e.g., suspended ceilings). Figure 3 An example of a first device in the form of a rectangular shaped panel 320 for installation in a ceiling system is shown. Figure 3 The image shows a front view of panel 320. Panel 320 may include a ToF sensor 300 and a luminaire 322. In this example, panel 320 is rectangular, but panel 320 may have any other shape to adapt to the structure and / or design of the ceiling system. In this example, luminaire 322 is rectangular, but luminaire 322 may have any other shape.

[0054] exist Figure 3 In the example, the ToF sensor 300 can be integrated below the frame of the panel 320, for example, having a hole through the frame to provide a line of sight for the sensor. Alternatively, the ToF sensor 300 can be integrated within the frame of the panel 320, for example, making its surface flush with the plane of the panel 320. Alternatively, part or all of the ToF sensor 300 can extend from the frame, for example, by being mounted on the outer side of the front of the panel 320. The ToF sensor 300 can be integrated into the luminaire 322 instead of the panel 320, in which case the luminaire with the integrated ToF sensor 300 can be mounted on the panel 320, or the panel may not exist.

[0055] When a panel with fall detection (such as panel 320) or a luminaire with an integrated ToF sensor is installed on or within the ceiling of a room, users typically want to know the detection area (i.e., the FoV of the ToF) to ensure coverage of all or most of the floor area. If there are floor areas not covered by the ToF sensor, users can adjust the position or orientation of the panel or the luminaire with the integrated ToF sensor to change the position of the ToF sensor. Figure 4A and Figure 4B An example of this is shown in the figure, which shows a top view of room 410.

[0056] exist Figure 4A and Figure 4B In the example, room 410 may be a bathroom, including a floor area 414 and a first object 416 (in this example, a toilet 416) and a second object 418 (in this example, a washbasin 418) placed on the floor area 414. Panel 420 (e.g.) Figure 3 Panel 320 (in the image) can be installed inside or on the ceiling of room 410. Panel 420 includes a ToF sensor 400 and possibly a light fixture 322. A rectangular frame surrounding the floor area 414 represents the boundary (i.e., the wall) of room 410.

[0057] exist Figure 4A In the example, the positioning and orientation of panel 420 are obtained from the FoV 402A of ToF sensor 400 (described by the dashed box). Figure 4A In this example, FoV 402A does not cover the entire ground area 414. By adjusting the orientation of panel 420, in this example, by rotating panel 420 by 180°, the following is obtained: Figure 4B The displacement of the ToF sensor 400 shown can be measured by the detection area of ​​the ToF sensor 400 (i.e., FoV 402B) covering the entire ground area 414.

[0058] The ToF sensor 400 can be advantageously used for fall detection, and is most advantageous for detecting falls in the elderly. In this application scenario, the ToF sensor can also be referred to as a fall detection sensor.

[0059] This application enables visualization of the detection area (e.g., FoV 202, 402A, 402B) of a ceiling-mounted ToF sensor (e.g., ToF sensor 200, 300, 400). In a preferred embodiment, the ToF sensor can be integrated into a luminaire (e.g., luminaire 322) using a panel (e.g., panel 320, 420). The detection area of ​​the ToF sensor can be visualized on a user's display device (e.g., a smartphone or tablet), further enabling the user to adjust the ToF sensor's positioning on the ceiling for optimal detection. An application on the user's device can provide instructions for determining the current detection area of ​​the ToF sensor, as well as recommendations for repositioning the ToF sensor, for example, by rotating it. Figure 4A and Figure 4B The panel 420 in the example. Therefore, the ToF sensor can be optimally placed on the ceiling to obtain the best FoV of the ToF sensor.

[0060] In the following example, the ToF sensor is integrated into a panel that also includes a luminaire, hereinafter referred to as a panel luminaire. Alternatively, the ToF sensor can be integrated into a luminaire without a panel. In another alternative, the ToF sensor can be used as a standalone sensor or integrated into any other device. When integrated with a panel or luminaire, in situations such as... Figure 4A and Figure 4B In the case of rectangular or square shaped panels or lamps as shown in the examples, the ToF sensor can be repositioned by rotating the panel or lamp, for example, by 90°, 180° or 270°.

[0061] For panel lighting fixtures of known size, the detection area of ​​the ToF sensor can be determined by fusing data from a ToF sensor within the fixture with image data from a user device's camera (in this example, a smartphone). Data fusion can be performed by the smartphone's processor to derive the ToF sensor's detection area. This detection area can be visually overlaid on a ground image, for example, using augmented reality via the smartphone's camera, where the ground image is overlaid with lines indicating the ToF sensor's detection area. Furthermore, suggestions on how to adjust the panel lighting fixture's positioning and / or orientation can be provided on the smartphone to maximize the ground area covered by the ToF sensor.

[0062] In one example embodiment, a user can stand near a panel light fixture in a room (e.g., a bathroom). The user can open a ToF sensor calibration application (hereinafter referred to as the application), which activates the smartphone's camera. The user can then point the camera at the panel light fixture facing the ceiling. Figure 5AIn the example, panel light fixture 520, including ToF sensor 500 and light fixture 522, can be the main object in the camera view 530 of a smartphone. Several other panels of the ceiling system 512 are also shown in the camera view 530. Panel light fixture 520 can be identified via image recognition routines in the application and the positioning of ToF sensor 500 on panel light fixture 520.

[0063] Optionally, images can be overlaid with, such as Figure 5B The boxed frame 532 shown outlines the detected panel light fixture 520. In one example embodiment, a user can manually adjust the frame 532 to match the edge of the panel light fixture 520, for example, by allowing the user interface of a smartphone to move the edges and / or corners of the frame 532 via an application.

[0064] In one example embodiment, the application can automatically identify the model of the panel light fixture 520 based on the camera view 530, and obtain the dimensions of the panel light fixture 520 based on the specifications of that model. These specifications can be stored on a smartphone accessible to the application. Alternatively, the application can contact a backend system to obtain model information, specifically regarding the dimensions of the panel light fixture 520.

[0065] If the model number of panel light fixture 520 cannot be identified, or if the application is not configured to automatically identify panel light fixture 520, the user can be prompted to manually enter the model number or manually provide the fixture dimensions.

[0066] refer to Figure 6 The user can adjust his / her standing position and / or camera pointing so that the camera view 630 includes not only the panel light fixture 620 on the ceiling 612 (e.g., panel light fixture 520), but also the wall in front of the user (front wall 634) and the wall to the user's left or right (side wall 636). The toilet 616 located in the bathroom is also shown in the camera view 630. Given the actual dimensions of the panel light fixture 620 (e.g., 30cm x 30cm), the fact that the ceiling 612 is a horizontal plane, and the camera angle from a sensor built into the smartphone (e.g., a gyroscope), the smartphone's processor can accurately calculate the distance between the ToF sensor 600 and the intersection of the ceiling 612 and the front wall 634 (i.e., distance d1) and the distance between the ToF sensor 600 and the intersection of the ceiling and the side wall 636 (i.e., distance d2). For this purpose, the intersection between the wall and the ceiling can be determined by an application using image recognition software on the smartphone.

[0067] refer to Figure 7 ,according to Figure 6Knowing d1 and d2, the smartphone's processor can then virtually mark the projection 700 of the ToF sensor 600 onto the ground in the camera view 730. The user can further adjust his / her standing position and / or camera pointing so that the camera view 730 includes not only the front wall 634 and side walls 636, but also the ground area 716 intersecting with these two walls 634, 636. Due to potential space constraints in the room, the camera view 730 may not be able to include the ceiling.

[0068] To obtain the projection 700 of the ToF sensor 600 onto the ground, the smartphone processor can construct two lines 740 and 742 on the ground in the camera view 730. Line 740 can be parallel to the intersection of the ground 716 and the front wall 634, with a distance d1 between them. The other line 742 can be parallel to the intersection of the ground 716 and the side wall 636, with a distance d2 between them. The intersection of lines 740 and 742 thus determines the position of the projection 700 of the ToF sensor 600.

[0069] To accurately determine d1 and d2 in the camera view 730, a reference object 616 can be used, the actual size of which can be determined by the ToF sensor. Figure 7 In the example, object 616 is a toilet. The ToF sensor 600 can accurately measure the distance to object 616. The actual height h of the toilet 616 is also measured by measuring the distance from the ToF sensor 600 to the ground 716. t This can be calculated as the distance to the ground (716) minus the distance to the toilet (616). It's important to note that... Figure 7 In the example, the height of the toilet seat portion is measured. Instead of the toilet 616, any other object in the room can be used as a reference object. Preferably, the reference object has a flat surface area for more accurate measurement of the distance to the ToF sensor 600.

[0070] refer to Figure 8 Given the ceiling height h c This represents the detection area of ​​the ToF sensor 600 (similar to...). Figure 2 The side length (L) of region ABCD in (202) can be calculated as follows: L = h c * tan(1 / 2* FoV diagonal ) * sqrt(2).

[0071] To make the detection area visible, in Figure 8As depicted by the dashed box ABCD, the smartphone can draw a frame on the ground at the camera's field of view 730. The side length of the frame ABCD can be L, and the projection 700 of the ToF sensor 600 onto the ground 716 can be located at the center of the frame ABCD. The distance between the projection 700 of the ToF sensor 600 and the wall of the room is less than L / 2 (e.g., as shown in the image). Figure 8 As shown, d3) is possible. In this case, the box ABCD can have a shape other than a square, i.e., a rectangle. For illustrative purposes, in Figure 8 In (and its) Figure 7 (The camera's field of view is the same at 730°), d1 is less than L / 2, while d2 is greater than L / 2.

[0072] The box ABCD can represent the detection area of ​​the ToF sensor 600. Figure 8 In the example, the length of AB is (d3 + L / 2) and the length of AC is (d1 + L / 2). d3 is the distance between the projection 700 of the ToF sensor 600 and the right boundary of the room. In this example, d3 is less than L / 2 and d1 is also less than L / 2.

[0073] exist Figure 8 In the example, since d1 is less than L / 2, the ToF sensor 600 can be moved away from the front wall 634. Since d2 is greater than L / 2 and d3 is less than L / 2, the ToF sensor 600 can be moved closer to the side wall 636. This can be achieved, for example, by rotating the panel light fixture 620 (90° in this example), as shown in the top view of the panel light fixture 620 from above the ceiling. Figure 9A and Figure 9B As illustrated in the diagram. In this example, the orientation of the panel light fixture 620, which includes the ToF sensor 600A, leads to... Figure 8 The frame ABCD in the image is covered by the ToF sensor 600A. Figure 9C In the image, the projection of the ToF sensor 600A onto the ground is depicted as 700A, which is different from... Figure 8 The projection 700 corresponds to this. For example... Figure 9B As shown, rotating the panel light fixture 620 within the ceiling by 90° results in the ToF sensor 600B having its projection at position 700B on the ground. In this example, ToF sensors 600A and 600B are the same sensor, but are labeled differently to illustrate different positions of the ToF sensor. Figure 9C As illustrated, projection 700A is the original positioning of the ToF sensor projection, while projection 700B is the new positioning of the ToF sensor projection after rotation. Frame EFGH represents the updated detection area of ​​ToF sensors 600 and 600B after rotation. In this example, frame EFGH is almost a square with side length L, covering a larger area of ​​the ground compared to frame ABCD.

[0074] The panel, including the ToF sensor, can be shaped to allow for repositioning of the panel within or on the ceiling to support the optimal detection area of ​​the ToF sensor, such as... Figure 9C The detection area EFGH is shown in the diagram. Panel luminaire 620 is an example of a square panel, which can be repositioned by rotating the panel 90°, 180°, or 270° to reposition the ToF sensors 600A and 600B. Other non-limiting examples are shown in... Figure 10A As shown, the ToF sensor 1000A is located at one corner of the square panel 1020A, allowing for repositioning via 90°, 180°, or 270°. Other non-limiting examples are shown below. Figure 10B As shown, the ToF sensor 1000B is located on one side of the rectangular panel 1020B, allowing for repositioning by 180°. Other non-limiting examples are shown below. Figure 10C As shown, the ToF sensor 1000C is located on one side of the hexagonal panel 1020C, allowing for repositioning at 30°, 60°, 90°, 120°, or 150°, and other non-limiting examples are shown. Figure 10D As shown, the ToF sensor 1000D is located on the edge of the circular panel 1020D, allowing for repositioning at any angle.

[0075] Panel 1020A-D may include luminaires, in which case the panel may be referred to as a luminaire panel.

[0076] The panel may include smart lighting fixtures, in which case the ToF sensor may include functionality for controlling the lighting fixtures.

[0077] In the example above, the panel includes a ToF sensor whose positioning can be changed by altering the panel's orientation. Alternatively, the ToF sensor 1100B can be mounted on the rail 1124, or on the panel 1120, or on any other movable device behind or on the panel 1120, such as... Figure 11 As shown in the diagram. Guide rail 1124 allows the ToF sensor 1100B to be automatically repositioned along guide rail 1124, for example, in... Figure 11 The location is from positioning 1100A to the ToF sensor 1100B.

[0078] As described in the examples above, a ToF sensor may include a processor and memory for performing measurements. (Reference) Figure 12The ToF sensor 1200 can interact with the user device 1250 to perform further measurements using the user device's camera, for example, in an augmented reality mode using a camera, as described in the examples above. The user device 1250 can use the measurement data from the ToF sensor 1200, combined with its own measurement data, to determine the optimal orientation of the panel and thus the optimal detection area of ​​the ToF sensor 1200 within the panel. The panel can then be adjusted manually, or the position of the ToF sensor 1200 within the panel can be changed automatically, for example, as described above. Figure 11 As shown in the image.

[0079] The ToF sensor 1200 and user equipment 1250 can be communicatively connected via wireless communication link 1254. The ToF sensor 1200 and user equipment 1250 can be connected to the same communication network to exchange data between the ToF sensor and the user equipment. The ToF sensor can be communicatively connected to a remote computer system or controller device 1252 via communication link 1256 to support measurements by the ToF sensor and / or for interaction with the user equipment 1250 via another communication link 1258.

[0080] Figure 13 A flowchart of an example method 1300 of this disclosure is shown.

[0081] In step 1302, for example, Figure 5A and 5B As described in the examples, the dimensions of ceiling-mounted panels (e.g., panel lights 320, 420, 520, 620, or panel 1020A-D) can be obtained.

[0082] In step 1304, based on the panel size, a camera on a user device (e.g., a smartphone) can be used to determine the distance from the ToF sensor (e.g., ToF sensor 300, 400, 500, 600, 600A, 600B, 1000A-D, 1100B) in the panel to two intersecting walls of the room (e.g., [missing information]). Figure 6 The distances d1 and d2 between the front wall 634 and the side wall 636 in the middle.

[0083] In step 1306, for example, Figure 7 As described in the example, a ToF sensor can be used to determine the height (e.g., h) of a reference object (e.g., object 416, 418, 616) on the floor of a room. t ).

[0084] In step 1308, for example, Figure 7As described in the example, using the height of a determined reference object, distances d1 and d2 can be applied to the ground using a user device's camera. This allows the location of the projection of the ToF sensor (e.g., projections 700, 700A) on the ground to be determined and utilized.

[0085] In step 1310, the detection area of ​​the ToF sensor can be determined using the ceiling height measured by the ToF sensor (e.g., Figure 8 The side length L of the area ABCD is given. The detection area can be plotted on the user device's display, for example, using augmented reality technology and a camera view. In this way, the user can see the detection area ABCD projected from the ground by a ToF sensor located at the center of the area ABCD.

[0086] In step 1312, if the distance from the ToF sensor to any wall in the room is greater than half the side length L of the detection area ABCD, the user equipment can display suggestions on the display regarding how to adjust the panel positioning / orientation (e.g., as shown in the image). Figures 9A-9C As shown in the diagram), to update / improve the detection area. After adjustment, the resulting improved detection (e.g., Figure 9A The region (EFGH) can be visualized on the user's device display.

[0087] Instead of manually rotating the panel light fixture in step 1312, alternative step 1314 may include, for example, automatically repositioning the ToF sensor along guide rail 1124 based on measurements taken in steps 1302-1310.

[0088] In the example above, the ground is used as the reference. It will be understood that any other desired detection area can be used as an alternative base surface of the room.

[0089] Figure 14 An example embodiment of a computing system 1400 for implementing some aspects of this technology is shown. In various examples, the computing system 1400 may be any computing device constituting a ToF sensor 300, 400, 500, 600, 600A, 600B, 1000A-D, 1100B, a central computer or controller 1252 working with the ToF sensor, a user's device 1250 (such as a smartphone), or any other computing-based system described herein. The computing system 1400 may be implemented in panel lighting fixtures, such as panel lighting fixtures 320, 520, 520, 620.

[0090] In some implementations, the computing system 1400 may implement the methods described herein, such as Figure 13 Method 1300 is shown.

[0091] The computing system 1400 may include any component of the computing system described herein, wherein the components of the system communicate with each other using connection 1405. Connection 1405 may be a physical connection via a bus or a connection directly to the processor 1410 (such as in a chipset architecture). Connection 1405 may also be a virtual connection, a networked connection, or a logical connection.

[0092] In some embodiments, the computing system 1400 may be a distributed system, wherein the functions described herein may be distributed across data centers, multiple data centers, peer-to-peer networks, etc. In some embodiments, one or more of the described system components represent a plurality of such components, each performing some or all of the functions, and the component is described with respect to those functions. In some embodiments, a component may be a physical device or a virtual device.

[0093] Example system 1400 may include at least one processing unit (CPU or processor) 1410 and a connection 1405 that couples various system components, including system memory 1415, such as read-only memory (ROM) 1420 and random access memory (RAM) 1425, to processor 1410. Computing system 1400 may include a cache 1412 that is directly connected to, adjacent to, or integrated into high-speed memory as part of processor 1410.

[0094] Processor 1410 may include any general-purpose processors and hardware or software services (such as services 1432, 1434, and 1436 stored in storage device 1430) configured to control processor 1410 and dedicated processors therein that incorporate software instructions into the actual processor design. Processor 1410 may essentially be a fully self-contained computing system, containing multiple cores or processors, buses, memory controllers, caches, etc. Multi-core processors may be symmetric or asymmetric.

[0095] To support user interaction, computing system 1400 may include input device 1445, which may represent any number of input mechanisms, such as a microphone for voice, a touch-sensitive screen for gesture or graphical input, a keyboard, a mouse, motion input, voice, etc. Computing system 1400 may also include output device 1435, which may be one or more of a variety of output mechanisms known to those skilled in the art. In some instances, a multimodal system allows users to provide multiple types of input / output to communicate with computing system 1400. Computing system 1400 may include communication interface 1440, which typically manages and controls system user input and system output. There are no limitations on operation on any particular hardware arrangement, and therefore, as the basic features evolve, the basic features described herein can be easily replaced with improved hardware or firmware arrangements.

[0096] Storage device 1430 may be a non-volatile storage device and may be a hard disk or other types of computer-readable media that can store computer-accessible data, such as magnetic tape, flash memory cards, solid-state storage devices, digital multifunction disks, tape cartridges, random access memory (RAM), read-only memory (ROM), and / or some combination of these devices.

[0097] Storage device 1430 may include software services, servers, etc., which enable the system to perform functions when processor 1410 executes code defining such software. In some embodiments, hardware services performing a particular function may include software components stored in a computer-readable medium that are connected to necessary hardware components, such as processor 1410, connection 1405, output device 1435, etc., to implement that function.

Claims

1. A method for determining the detection area of ​​a Time-of-Flight (ToF) sensor (300, 400, 500, 600, 600A, 600B, 1000A-D, 1100B) mounted on the ceiling of a room, said ToF sensor being included in a first device (320, 420, 520, 620, 1020A-D) having predefined dimensions, said method comprising: In the second device (1250), the predefined dimensions of the first device (1002) are obtained; Use the camera of the second device to obtain a first image of the room including the first device; The camera is used to obtain a second image of the room, including the desired detection area; The projection of the ToF sensor onto the second image is determined based on the predefined dimensions of the first device; The height (h) of a reference object (416, 418, 616) on the desired detection area within the room (1006) was determined using a ToF sensor. t );and Based on the height of the determined reference object, the distance between the ToF sensor and the desired detection area measured by the ToF sensor, and the detection angle range of the ToF sensor, the current detection area (ABCD) of the ToF sensor is determined (1010). The method further includes: The second image is displayed on the display of the second device, and the current detection area (ABCD) of the ToF sensor is superimposed on the second image.

2. The method according to claim 1, The first image is a first camera image from a two-dimensional (2D) camera of the second device. Using images from a first camera and a predetermined size based on the first device, a first distance (d1) between the (1004) ToF sensor and the first wall (634) and a second distance (d2) between the ToF sensor and the second wall (636) are determined, wherein the first wall and the second wall intersect. The projection of the ToF sensor onto the second image is determined based on a first distance and a second distance.

3. The method according to any one of the preceding claims further includes determining (1012) the repositioning of the ToF sensor to obtain an improved detection area (EFGH).

4. The method according to any one of the preceding claims, wherein the first image comprises: It includes at least a portion of the ceiling of the first device, at least a portion of the first wall, and at least a portion of the second wall.

5. The method according to any one of the preceding claims, wherein the second image comprises: It includes at least a portion of the expected detection area of ​​the reference object, at least a portion of the first wall, and at least a portion of the second wall.

6. The method according to any one of claims 1-5, further comprising displaying instructions on the display of the second device for repositioning the first device to obtain an improved detection area (EFGH).

7. The method according to any one of claims 1-5 further includes automatically repositioning the ToF sensor by moving the ToF sensor along the guide rail (1124) to obtain an improved detection area (EFGH).

8. The method according to any one of the preceding claims, wherein the first device is a lighting device comprising a ToF sensor and a lamp.

9. A calibration system for determining the detection area of ​​a time-of-flight (ToF) sensor (300, 400, 500, 600, 600A, 600B, 1000A-D, 1100B) mounted on the ceiling of a room, the system comprising a first device (320, 420, 520, 620, 1020A-D) and a second device (1250), the first device comprising a ToF sensor, the second device comprising a camera, a display, and a processor, the first device having a predetermined size. The second device is configured as follows: Obtain (1002) the predefined dimensions of the first device; The camera is used to obtain a first image of the room, including the first device. The camera is used to obtain a second image of the room, including the desired detection area; Based on the predefined dimensions of the first device, the projection of the ToF sensor onto the second image is determined; The first device is configured as follows: The height (h) of a reference object (416, 418, 616) on the desired detection area within the room (1006) was determined using a ToF sensor. t );and The determined height of the reference object is transmitted to the second device; The second device is further configured as follows: Based on the determined height of the reference object, the distance between the ToF sensor and the desired detection area measured by the ToF sensor, and the detection angle range of the ToF sensor, the current detection area (ABCD) of the ToF sensor is determined (1010); and Display the second image and overlay the current detection area (ABCD) of the ToF sensor onto the second image.

10. The calibration system of claim 9, wherein the first device is repositionable to reposition the ToF sensor based on the determination of the improved detection area (EFGH) of the ToF sensor determined by the second device.

11. The calibration system of claim 9 or 10, wherein the ToF sensor is movably connected to the first device, and wherein the ToF sensor is repositionable based on the determination of the ToF sensor improved detection area (EFGH) determined by the second device.

12. The calibration system according to any one of claims 9-11, wherein the first device is an illumination device comprising a ToF sensor and a lamp.

13. A computer program comprising instructions that, when executed by one or more processors, cause the one or more processors to perform the method according to any one of claims 1-8.

14. A computer-readable storage medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform the method according to any one of claims 1-8.

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