Adaptive lighting control method, system and lighting device based on environmental perception

Abstract

This invention relates to the field of lighting technology and provides an adaptive lighting control method, system, and lighting equipment based on environmental perception. The method includes: synchronously acquiring motion attitude data of the lighting equipment, target distance data in the lighting direction, and echo intensity characteristics using an inertial measurement unit and a time-of-flight sensor; performing temporal feature analysis on the motion attitude data to obtain a motion mode determination result; performing correlation analysis between the echo intensity characteristics and the target distance data to obtain a light propagation path analysis result; generating beam divergence angle control commands and light source brightness driving commands based on the motion mode determination results and the light propagation path analysis results; driving a zoom actuator to adjust the lens position according to the beam divergence angle control commands, and adjusting the output power of the light-emitting unit according to the light source brightness driving commands. This invention solves the problem of frequent and unstable beam jitter in existing automatic zoom lighting equipment during user movement.

Description

Technical Field

[0001] This invention relates to the field of lighting technology, and in particular to an adaptive lighting control method, system and lighting equipment based on environmental perception. Background Technology

[0002] Lighting equipment, especially handheld flashlights, headlamps, and other portable lighting tools, is widely used in nighttime operations, outdoor exploration, security patrols, and emergency rescue. Particularly in mining and industrial sectors such as coal mines, tunnels, and metal mines, lighting equipment is not only a tool but also a guarantee of life and safety. To adapt to the complex underground working environment, these lighting devices are typically designed with a miniaturized structure and are mounted on the worker's safety helmet, freeing their hands for carrying equipment or operating machinery. Meanwhile, to meet different lighting needs, lighting devices with zoom capabilities have become mainstream in the market. By changing the relative position between the optical lens and the light-emitting unit, users can switch between a focused beam mode for long-distance illumination and a floodlight mode for wide-area illumination at close range.

[0003] In existing technologies, zoom functionality primarily relies on manual mechanical adjustment. Users typically need to rotate the lamp head thread or push and pull the lamp head sleeve to change the relative position between the lens and the light source, thereby adjusting the focal length and, consequently, the beam divergence angle. However, this method presents significant inconveniences in practical applications: First, users must operate the flashlight with both hands, especially in industrial and mining environments where workers are often holding tools, carrying heavy objects, or climbing ladders, making it impossible to free their hands to touch the flashlight on their safety helmet for focal length adjustment. This results in the lighting not keeping up with the required visual state, and stopping high-risk operations to adjust the light can easily lead to accidents. Second, industrial and mining environments are often filled with dust, oil, and mud. Workers typically wear heavy gloves, which not only makes operation difficult and precise adjustment of small knobs challenging, but frequent contact can also cause dirt and sand to enter the zoom mechanism, causing jamming or seal failure and shortening the equipment's lifespan. Finally, the response speed of mechanical adjustment is slow and difficult to adapt to rapidly changing lighting environments.

[0004] To address the issue of manual adjustment, some lighting devices with automatic zoom functions have emerged in recent years. These devices typically integrate a distance sensor into the flashlight, automatically driving a motor to adjust the lens position based on the detected distance to obstacles; specifically, it focuses the light when the distance is far and diffuses it when the distance is close. While this method achieves a degree of automation, it still has serious drawbacks in industrial and mining applications: the complex environment of mines and the natural swaying and movement of workers in tunnels or on scaffolding make the existing automatic zoom logic overly sensitive, causing the beam to frequently switch between "shining at a distance" and "shining at a close distance" in response to the miner's steps. In the darkness of a mine, this frequent expansion and contraction of the beam produces a strong flickering sensation, causing severe visual dizziness for workers, and even leading to misjudgment, missteps, or falls, posing a serious safety hazard. Summary of the Invention

[0005] Therefore, the purpose of this invention is to provide an adaptive lighting control method, system, and lighting device based on environmental perception, which fundamentally solves the problem of frequent beam jitter and instability in existing automatic zoom lighting devices during user movement.

[0006] An adaptive lighting control method based on environmental perception according to an embodiment of the present invention includes: The motion attitude data of the lighting equipment, as well as the target distance data and echo intensity characteristics in the lighting direction, are acquired synchronously using an inertial measurement unit and a time-of-flight sensor. The motion mode determination result is obtained by performing temporal feature analysis on the motion posture data. The motion mode determination result is used to characterize whether the lighting device is currently in a steady-state holding mode or a dynamic movement mode. Correlation analysis is performed between the echo intensity characteristics and the target distance data to obtain the light propagation path analysis results. The light propagation path analysis results are used to characterize whether there are highly reflective targets or high-concentration scattering media in the light propagation path. Based on the motion mode determination result and the light propagation path analysis result, a beam divergence angle control command and a light source brightness driving command are generated according to a preset strategy model. The zoom actuator is driven to adjust the position of the lens according to the beam divergence angle control command, and the output power of the light-emitting unit is adjusted according to the light source brightness drive command, so as to achieve adaptive switching of the lighting state.

[0007] In addition, the adaptive lighting control method based on environmental perception according to the above embodiments of the present invention may also have the following additional technical features: Furthermore, the step of simultaneously acquiring motion attitude data of the lighting device, target distance data in the lighting direction, and echo intensity characteristics using an inertial measurement unit and a time-of-flight sensor includes: The motion attitude data of the lighting equipment is collected in real time using an inertial measurement unit, and the motion attitude data includes three-axis acceleration data and three-axis angular velocity data; The time-of-flight sensor periodically emits probe light pulses and receives reflected echo signals. The reflected echo signals are digitally sampled, the flight time of the echo signals is extracted to calculate the target distance data, and the peak amplitude and energy integral of the echo signals are extracted to generate echo intensity characteristics.

[0008] Furthermore, the step of performing temporal feature analysis on the motion posture data to obtain the motion pattern determination result includes: A time sliding window of preset length is established, and the triaxial acceleration data and triaxial angular velocity data from the collected motion attitude data are filled into the time sliding window; Calculate the variance of the triaxial acceleration data and the amplitude integral of the triaxial angular velocity data within the time sliding window; The variance value is compared with a first motion threshold, and the amplitude integral is compared with a second motion threshold; If the variance value is less than the first motion threshold and the amplitude integral is less than the second motion threshold, then the lighting device is determined to be in a steady-state holding mode. If the variance value is greater than or equal to the first motion threshold, or the amplitude integral is greater than or equal to the second motion threshold, then the lighting device is determined to be in dynamic movement mode.

[0009] Furthermore, the step of performing correlation analysis between the echo intensity characteristics and the target distance data to obtain the light propagation path analysis results includes: Based on the current transmission power and target distance data, the theoretical echo intensity benchmark value is calculated using the inverse square law. The actual echo intensity characteristics are compared with the theoretical echo intensity reference value to calculate the echo intensity deviation ratio. If the echo intensity deviation ratio exceeds the preset safety glare threshold, it is determined that there is a highly reflective target on the light propagation path; If a near-field high-energy echo signal is identified based on the actual acquired echo intensity characteristics, and the target distance data indicates a long distance or invalid data, then it is determined that a high-concentration scattering medium exists on the light propagation path.

[0010] Furthermore, the step of generating beam divergence angle control commands and light source brightness driving commands according to a preset strategy model based on the motion mode determination results and the light propagation path analysis results includes: If the light propagation path analysis results indicate the presence of a highly reflective target, then the motion mode determination results are ignored, a beam divergence angle control command indicating the maximum divergence angle is generated, and a light source brightness drive command indicating the reduction of output power to a preset safety value is generated. If the light propagation path analysis results indicate the presence of a high-concentration scattering medium and the absence of a highly reflective target, then a beam divergence angle control command is generated to indicate the maintenance of a preset divergence angle, and a light source brightness drive command is generated to indicate the maintenance of the rated power. If the light propagation path analysis result indicates that the path is normal, and the motion mode determination result determines that the lighting device is in dynamic movement mode, then a beam divergence angle control command is generated to indicate maintaining the preset travel floodlight state, and a light source brightness drive command is generated to indicate maintaining the output power corresponding to the preset travel standard brightness, and the control of the zoom actuator by the target distance data is shielded. If the light propagation path analysis result indicates that the path is normal, and the motion mode determination result indicates that the lighting device is in a steady-state holding mode, then a beam divergence angle control command that is negatively correlated with the target distance data and a light source brightness drive command that is positively correlated with the target distance data are generated based on the mapping relationship between the current target distance data and the lens position.

[0011] Furthermore, prior to the step of driving the zoom actuator to adjust the lens position according to the beam divergence angle control command, the method further includes: Obtain the current remaining battery power information of the lighting equipment; The zoom control dead zone threshold is dynamically adjusted based on the current remaining battery power information. The zoom actuator is triggered only when the absolute value of the difference between the target position calculated based on the beam divergence angle control command and the current lens position is greater than the dynamically adjusted dead zone threshold.

[0012] Furthermore, the step of driving the zoom actuator to adjust the position of the lens according to the beam divergence angle control command includes: The target position of the lens calculated according to the beam divergence angle control command is compared with the current actual position of the lens to obtain the position deviation. The position deviation is processed using a PID algorithm to calculate the duty cycle of the motor drive pulses; The calculated duty cycle is used to output a pulse width modulation signal to the zoom actuator, driving the lens to move to the target position of the lens with a smooth acceleration and deceleration curve, so as to prevent abrupt changes in the beam shape.

[0013] Furthermore, the step of adjusting the output power of the light-emitting unit according to the light source brightness driving command includes: The target brightness parameter is determined according to the light source brightness driving command, and the target brightness parameter is the target current value or the target brightness percentage. Based on the target brightness parameters, calculate the duty cycle of the corresponding digital pulse width modulation signal, or the reference voltage value used to control analog dimming; The generated digital pulse width modulation signal or reference voltage value is sent to the constant current drive circuit of the light-emitting unit, so that the constant current drive circuit adjusts the drive current flowing through the light-emitting unit according to the received signal, and samples the actual output current in real time and feeds it back to the central processing unit, so that the central processing unit performs closed-loop correction according to the feedback actual output current, ensuring that the actual output power of the light-emitting unit matches the light source brightness drive command.

[0014] Another objective of this invention is to provide an adaptive lighting control system based on environmental perception, the system comprising: The data acquisition module is used to synchronously acquire motion attitude data of the lighting equipment, target distance data in the lighting direction, and echo intensity characteristics using an inertial measurement unit and a time-of-flight sensor. The motion mode determination module is used to perform temporal feature analysis on the motion posture data to obtain a motion mode determination result. The motion mode determination result is used to characterize whether the lighting device is currently in a steady-state holding mode or a dynamic movement mode. The light propagation path analysis module is used to perform correlation analysis between the echo intensity characteristics and the target distance data to obtain the light propagation path analysis results. The light propagation path analysis results are used to characterize whether there are highly reflective targets or high-concentration scattering media on the light propagation path. The decision calculation module is used to generate beam divergence angle control commands and light source brightness driving commands according to the motion mode determination results and the light propagation path analysis results, and in accordance with the preset strategy model. The execution drive module is used to drive the zoom actuator to adjust the position of the lens according to the beam divergence angle control command, and to adjust the output power of the light-emitting unit according to the light source brightness drive command, so as to realize the adaptive switching of the illumination state.

[0015] Another embodiment of the present invention aims to provide a lighting device, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the environmental perception-based adaptive lighting control method as described above.

[0016] The adaptive lighting control method based on environmental perception provided in this invention utilizes an inertial measurement unit and a time-of-flight sensor to simultaneously collect motion posture, target distance data, and echo intensity characteristics. By performing deep fusion analysis of multi-dimensional data, it achieves accurate identification of the user's current motion mode. This allows for forced locking of the floodlight state and shielding against distance fluctuation interference when the user is walking or running. This solves the problems of visual dizziness and ineffective motor wear caused by the fluctuating beam size and frequent oscillations of existing automatic zoom flashlights due to natural human movement. Furthermore, by performing correlation analysis based on the inverse square law between echo intensity characteristics and target distance data, it calculates the echo intensity deviation ratio in real time and identifies near-field high-energy signals. This enables intelligent differentiation of highly reflective targets and high-concentration scattering media along the light propagation path, allowing for targeted triggering of power-reducing anti-glare strategies or... By maintaining the fog-penetrating lighting strategy, the system addresses the safety hazards of traditional equipment causing momentary blindness when facing highly reflective objects, and the safety risks of vision being obstructed by light curtains due to incorrect focusing or excessive brightness in foggy weather. Furthermore, by acquiring remaining battery power information and dynamically adjusting the dead zone threshold of the zoom control, it automatically relaxes the adjustment sensitivity when the battery is low, solving the problem of accelerated power consumption and shortened battery life caused by frequent micro-movements of the motor when the battery is insufficient. Moreover, by employing a PID algorithm for smooth acceleration and deceleration control of the zoom actuator, and utilizing a current closed-loop feedback mechanism to adjust the light-emitting unit, it achieves a smooth transition of light spot shape changes and constant and precise output brightness, solving the visual discomfort caused by abrupt changes in beam shape and the experience problem of brightness decay as the battery decreases. Ultimately, this solves the problem of frequent and unstable beam jitter in existing automatic zoom lighting equipment during user movement. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the adaptive lighting control method based on environmental perception in the first embodiment of the present invention. Figure 2 This is a schematic diagram of the specific process of step S40 in the first embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the adaptive lighting control system based on environmental perception in the second embodiment of the present invention; Figure 4 This is a schematic diagram of the lighting device in the third embodiment of the present invention; The following detailed description of the embodiments will further illustrate the present invention in conjunction with the above-described accompanying drawings. Detailed Implementation

[0018] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0019] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] Example 1 Please see Figure 1 The diagram illustrates an adaptive lighting control method based on environmental perception according to a first embodiment of the present invention. For ease of explanation, only the parts relevant to the embodiments of the present invention are shown. The adaptive lighting control method based on environmental perception provided by the embodiments of the present invention includes: Step S10: Simultaneously acquire motion attitude data of the lighting equipment, target distance data in the lighting direction, and echo intensity characteristics using an inertial measurement unit and a time-of-flight sensor; In one embodiment of the present invention, the method is applied to a lighting device, which includes a flashlight, headlamp, or engineering lighting, etc. Specifically, the lighting device in this embodiment is actually a small flashlight, mainly used in industrial and mining operations, but can also be used for daily purposes. Furthermore, the lighting device can be used in conjunction with a safety helmet, that is, the lighting device is installed on the safety helmet for illumination. Further, the hardware architecture of the lighting device includes, but is not limited to, a central processing unit (MCU), a data acquisition module, a zoom actuator, a light-emitting unit, and a power management module. The MCU serves as the core control unit connecting all modules. The data acquisition module includes an inertial measurement unit (IMU) and a time-of-flight sensor (ToF). The IMU can be a six-axis sensor including a three-axis accelerometer and a three-axis gyroscope, installed on the handle or body of the lighting device, and connected to the MCU via an I2C bus for real-time acquisition of the attitude and motion data of the lighting device. The time-of-flight sensor uses a single-point or multi-area ranging module, installed at the front end of the lamp head and parallel to the optical axis, for obtaining the distance to the target and the echo signal strength. The zoom actuator uses a miniature stepper motor or linear geared motor to drive the optical lens back and forth via a lead screw or gear, thereby changing the beam divergence angle. Its motor driver receives PWM signals from the central processing unit. The light-emitting unit is a high-power LED chip, coupled with a constant current drive circuit. The power management module includes a battery voltage detection circuit to detect the remaining battery power.

[0022] In one embodiment of the present invention, the step of synchronously acquiring motion attitude data of the lighting device, target distance data in the lighting direction, and echo intensity characteristics using an inertial measurement unit and a time-of-flight sensor includes: The motion attitude data of the lighting equipment is collected in real time using an inertial measurement unit. The motion attitude data includes three-axis acceleration data and three-axis angular velocity data. The time-of-flight sensor periodically emits probe light pulses and receives reflected echo signals. The reflected echo signals are digitally sampled, the flight time of the echo signals is extracted to calculate the target distance data, and the peak amplitude and energy integral of the echo signals are extracted to generate echo intensity characteristics.

[0023] Specifically, the central processing unit first sends initialization configuration commands to the inertial measurement unit and the time-of-flight sensor via the communication bus, configuring the inertial measurement unit to a high-sensitivity continuous measurement mode and the time-of-flight sensor to a ranging mode that can output histogram raw data or signal strength data. At the same time, a hardware timer is started to generate periodic synchronous trigger signals, which are sent to the data sampling interfaces of the inertial measurement unit and the time-of-flight sensor, thereby ensuring that both start data acquisition at the same time and establish a unified time reference.

[0024] Next, upon receiving the synchronization trigger signal, the inertial measurement unit (IMU) immediately activates its integrated microelectromechanical system (MEMS) triaxial accelerometer and triaxial gyroscope. The triaxial accelerometer senses the linear acceleration components of the lighting equipment along the three orthogonal axes, reflecting the instantaneous vibration amplitude and movement trend of the lighting equipment. Simultaneously, the triaxial gyroscope senses the angular velocity components of the lighting equipment's rotation around the three orthogonal axes, reflecting the rate of change of the lighting equipment's tilt angle and its rotation speed. The analog-to-digital converter (ADC) inside the IMU converts these analog sensing signals into digital motion attitude data and stores it in the output register.

[0025] Simultaneously, upon receiving the same synchronization trigger signal, the time-of-flight sensor drives its infrared emitter to emit a sequence of specially modulated infrared light pulses in the direction of illumination. This sequence of infrared light pulses propagates through the air and illuminates the target object ahead, undergoing diffuse reflection. Part of the reflected light returns along its original path and is captured by the photon receiving array of the time-of-flight sensor. The signal processing circuitry inside the sensor performs correlation calculations on the emitted signal and the received echo signal, accurately measuring the round-trip flight time of the photons, and converting this flight time into target distance data representing the spatial distance between the illumination device and the target object based on the principle of the speed of light.

[0026] Furthermore, while calculating the target distance data, the time-of-flight sensor also analyzes the received echo signal to generate echo intensity characteristics. Specifically, the sensor integrates the number of effective photons captured by the photon receiving array per unit time to obtain the total energy integral of the echo signal, and extracts the peak amplitude from the echo signal waveform. This total energy integral and the peak amplitude together constitute the echo intensity characteristics. The total energy integral reflects the surface reflectivity of the target object or the degree of scattering of the medium along the light propagation path, while the peak amplitude reflects the instantaneous intensity of the echo signal.

[0027] Finally, the central processing unit reads motion attitude data containing acceleration and angular velocity from the inertial measurement unit via the communication bus, and reads perception data containing target distance data and echo intensity characteristics from the time-of-flight sensor. These are packaged into a set of multi-dimensional environmental perception data under the same timestamp for subsequent scene analysis.

[0028] Step S20: Perform temporal feature analysis on the motion posture data to obtain the motion mode determination result. The motion mode determination result is used to characterize whether the lighting device is currently in a steady-state holding mode or a dynamic movement mode. In one embodiment of the present invention, the step of performing temporal feature analysis on motion posture data to obtain motion pattern determination results includes: Establish a time sliding window of a preset length, and fill the time sliding window with the triaxial acceleration data and triaxial angular velocity data from the collected motion attitude data; Calculate the variance of the triaxial acceleration data and the amplitude integral of the triaxial angular velocity data within the time sliding window; The variance value is compared with the first motion threshold, and the amplitude integral is compared with the second motion threshold. If the variance is less than the first motion threshold and the amplitude integral is less than the second motion threshold, the lighting device is determined to be in steady-state holding mode. If the variance value is greater than or equal to the first motion threshold, or the amplitude integral is greater than or equal to the second motion threshold, then the lighting equipment is determined to be in dynamic movement mode.

[0029] Specifically, the central processing unit (CPU) first allocates a fixed-capacity circular buffer in system memory as a time sliding window, the size of which corresponds to a preset historical time period. As the inertial measurement unit (IMU) continuously outputs data, the CPU sequentially writes the latest acquired acceleration and angular velocity values ​​(containing the three orthogonal axes) into the circular buffer according to a first-in, first-out (FIFO) principle. When the buffer is full, the latest data sampling point automatically overwrites the earliest data sampling point, thus ensuring that the window always stores continuous and real-time motion trajectory data of the lighting equipment over the most recent period.

[0030] Furthermore, the central processing unit (CPU) performs statistical operations on all data temporarily stored within the time sliding window to extract feature values. Specifically, for triaxial acceleration data, the CPU first calculates the average acceleration of all sampling points within the time sliding window to remove the gravitational component. Then, it calculates the sum of squares of the differences between the acceleration value of each sampling point and the average value, thereby obtaining the variance of the acceleration data. This variance quantifies the severity of vibration or shaking experienced by the lighting equipment during the current time period. Simultaneously, for triaxial angular velocity data, the CPU calculates the magnitude of the angular velocity vector at each sampling point within the time sliding window, i.e., the absolute value, and sums the angular velocity magnitudes of all sampling points within the window to obtain the amplitude integral of the angular velocity data. This amplitude integral quantifies the cumulative rotational amplitude or waving range of the lighting equipment during the current time period.

[0031] Finally, the central processing unit (CPU) calls two preset threshold parameters stored in non-volatile memory: a first motion threshold to define the upper limit of hand tremors and a second motion threshold to define the amplitude of arm swings. It then logically compares the previously calculated statistical characteristics with these two thresholds. Specifically, the decision logic is as follows: only when the calculated acceleration variance is strictly less than the first motion threshold, and the calculated angular velocity amplitude integral is also strictly less than the second motion threshold, does the system determine that the user is in a stable aiming or observing state, and in this case, the motion mode determination result is set to steady-state holding mode. Conversely, if the acceleration variance is greater than or equal to the first motion threshold, indicating severe vibration, or if the angular velocity amplitude integral is greater than or equal to the second motion threshold, indicating large-amplitude scanning or arm swinging movements, the system determines that the user is in a walking, running, or searching state, and immediately sets the motion mode determination result to dynamic movement mode.

[0032] Step S30: Correlation analysis is performed on the echo intensity characteristics and target distance data to obtain the light propagation path analysis results. The light propagation path analysis results are used to characterize whether there are highly reflective targets or high-concentration scattering media on the light propagation path. In one embodiment of the present invention, the step of performing correlation analysis between echo intensity characteristics and target distance data to obtain the light propagation path analysis result includes: Based on the current transmission power and target distance data, the theoretical echo intensity benchmark value is calculated using the inverse square law. The actual echo intensity characteristics are compared with the theoretical echo intensity reference value to calculate the echo intensity deviation ratio. If the echo intensity deviation ratio exceeds the preset safety glare threshold, it is determined that there is a highly reflective target in the light propagation path; If a near-field high-energy echo signal is identified based on the actual acquired echo intensity characteristics, and the target distance data indicates a long distance or invalid data, then it is determined that there is a high-concentration scattering medium in the light propagation path.

[0033] Specifically, the central processing unit first calls the optical propagation physics model pre-stored in memory. This model is based on the inverse square law in optics, which states that when a point light source propagates in a lossless medium, the intensity of light radiated at a certain point is inversely proportional to the square of the distance from that point to the light source. Therefore, the system calculates the theoretical echo intensity that should be produced on an ideal diffuse reflective object based on the current transmission power and the target distance. By comparing the deviation between the actual echo intensity and this theoretical value, the reflection characteristics of the target or the attenuation characteristics of the propagation medium can be deduced.

[0034] Specifically, the central processing unit reads the current transmit power level of the time-of-flight sensor and the target distance data measured in the previous step. Assuming the target object has standard diffuse reflection characteristics (e.g., an 18% grayscale card), it calculates the theoretically expected echo intensity value at the current distance by dividing the current transmit power by the square of the target distance data. This value is defined as the theoretical echo intensity benchmark. This step establishes a reference standard for illuminating ordinary objects under ideal, clear conditions.

[0035] Next, the central processing unit divides the echo intensity characteristics (i.e., the actual peak value or energy integral of the echo signal) actually collected by the time-of-flight sensor with the theoretical echo intensity reference value calculated above. Specifically, the actual echo intensity characteristics are divided by the theoretical echo intensity reference value to obtain a dimensionless value, namely the echo intensity deviation ratio. This ratio directly reflects the degree to which the surface reflectivity of the currently illuminated target deviates from that of a standard diffuse reflector.

[0036] Furthermore, the central processing unit (CPU) performs logical judgments on potential risks along the light propagation path. First, it identifies highly reflective targets. The CPU compares the calculated echo intensity deviation ratio with a preset safety glare threshold, which corresponds to the reflective characteristics of specular reflection or traffic reflective materials. If the calculated echo intensity deviation ratio exceeds this safety glare threshold, it indicates that although the distance may be considerable, the returned light intensity is abnormally strong, posing a risk of blindness. The system then determines that a highly reflective target exists along the light propagation path.

[0037] Simultaneously, the central processing unit (CPU) executes the identification logic for severe weather conditions in parallel. The CPU analyzes the raw signal waveform returned by the time-of-flight sensor, detecting high-amplitude energy peaks within the time interval representing extremely close distance, i.e., identifying the presence of near-field high-energy echo signals. Subsequently, this characteristic is combined with target distance data for a joint logical judgment: if the sensor detects a strong near-field high-energy echo signal, but the calculated target distance data indicates infinity, exceeds the range, or is marked as invalid data, the system determines that the light is obstructed at close range, and there is a high-concentration scattering medium such as dense fog, heavy rain, or smoke in the light propagation path. Invalid data indicates that the light is heavily scattered by particles in the air, making it impossible to obtain a valid echo from a distant target.

[0038] Step S40: Based on the motion mode determination result and the light propagation path analysis result, generate beam divergence angle control command and light source brightness driving command according to the preset strategy model. Among them, reference Figure 2As shown, in one embodiment of the present invention, the step of generating beam divergence angle control commands and light source brightness driving commands according to a preset strategy model based on motion mode determination results and light propagation path analysis results includes: Step S41: If the light propagation path analysis results indicate the presence of a highly reflective target, then ignore the motion mode determination results, generate a beam divergence angle control command indicating the maximum divergence angle, and generate a light source brightness drive command indicating the reduction of output power to a preset safety value. Step S42: If the light propagation path analysis results indicate the presence of a high-concentration scattering medium and the absence of a highly reflective target, a beam divergence angle control command is generated to indicate the maintenance of a preset divergence angle, and a light source brightness drive command is generated to indicate the maintenance of the rated power. Step S43: If the light propagation path analysis result indicates that the path is normal, and the motion mode determination result indicates that the lighting device is in dynamic movement mode, then a beam divergence angle control command is generated to indicate that the preset travel floodlight state is maintained, and a light source brightness drive command is generated to indicate that the output power corresponding to the preset travel standard brightness is maintained, and the control of the zoom actuator by the target distance data is shielded. Step S44: If the light propagation path analysis result indicates that the path is normal, and the motion mode determination result indicates that the lighting device is in a steady-state holding mode, then a beam divergence angle control command that is negatively correlated with the target distance data and a light source brightness drive command that is positively correlated with the target distance data are generated based on the mapping relationship between the current target distance data and the lens position. Specifically, the central processing unit (CPU) first retrieves a multi-level control strategy model stored in non-volatile memory, which defines priority response rules for different scenarios. The CPU uses the light propagation path analysis results and motion mode determination results obtained from the previous steps as input variables, and performs logical branch judgments in the order of safety first, environmental adaptation second, and user intent last.

[0039] Specifically, the central processing unit (CPU) first checks the highest priority flag in the light propagation path analysis results. If the analysis indicates the presence of a highly reflective target in the light propagation path, the CPU immediately executes a safety-forced interrupt procedure, ignoring the current motion mode determination result or distance data. In this state, the CPU directly generates a beam divergence angle control command indicating the maximum divergence angle, forcing the lens to move to the extreme floodlight position to disperse the light energy density. Simultaneously, it generates a light source brightness drive command indicating a reduction in output power to a preset safety value, instructing the drive circuit to significantly reduce current output, thereby preventing glare or visual impairment caused by strong light reflection.

[0040] If no highly reflective target is detected, the central processing unit (CPU) then checks for environmental interference. If the light propagation path analysis indicates the presence of a high concentration of scattering media, such as fog, rain, or smoke, the CPU will execute a penetration mode strategy. In this case, the CPU generates a beam divergence angle control command to maintain a preset divergence angle, locking the lens at an optimized, moderate beam angle to reduce near-field light curtain reflections. Simultaneously, it generates a light source brightness drive command to maintain rated power, ensuring the light source outputs continuously at standard power to prevent fluctuations in brightness due to smoke concentration variations.

[0041] Once the light propagation path is confirmed to be in a normal state (i.e., no reflection and no scattering), the central processing unit (CPU) further analyzes the user's operational intent based on the motion mode determination result. If the lighting device is determined to be in dynamic movement mode, indicating that the user is walking or running, the CPU executes a movement stabilization strategy. At this time, the CPU generates a beam divergence angle control command to maintain the preset movement floodlight state, and a light source brightness drive command to maintain the output power corresponding to the preset movement standard brightness, ensuring a wide field of view and constant brightness. During this process, the CPU actively cuts off or blocks the control signal path of the target distance data to the zoom actuator in software logic, preventing frequent beam extension and contraction caused by jumps in the distance measurement value due to body movement.

[0042] Finally, if the light propagation path is normal and the lighting device is determined to be in steady-state holding mode, indicating that the user is stably observing a specific target, the central processing unit (CPU) activates the intelligent tracking strategy. At this time, the CPU reads the current real-time target distance data and substitutes it into a preset mapping function or lookup table for calculation. On one hand, the CPU calculates the lens position corresponding to the target distance and generates a beam divergence angle control command, making the beam divergence angle negatively correlated with the target distance—that is, the farther the distance, the more focused the beam; the closer the distance, the more divergent the beam. On the other hand, the CPU calculates the power value matching the target distance and generates a light source brightness driving command, making the output power positively correlated with the target distance—that is, the farther the distance, the higher the brightness to compensate for light attenuation; the closer the distance, the lower the brightness to prevent overexposure.

[0043] Step S50: Drive the zoom actuator to adjust the position of the lens according to the beam divergence angle control command, and adjust the output power of the light-emitting unit according to the light source brightness drive command to achieve adaptive switching of the illumination state. In one embodiment of the present invention, before the step of driving the zoom actuator to adjust the position of the lens according to the beam divergence angle control command, the method further includes: Obtain the current remaining battery power information of the lighting equipment; The zoom control dead zone threshold is dynamically adjusted based on the current remaining battery power information. The zoom actuator is triggered only when the absolute value of the difference between the target position calculated based on the beam divergence angle control command and the current lens position is greater than the dynamically adjusted dead zone threshold.

[0044] In one embodiment of the present invention, the step of driving the zoom actuator to adjust the position of the lens according to the beam divergence angle control command includes: The position of the lens target calculated based on the beam divergence angle control command is compared with the current actual position of the lens to obtain the position deviation. The position deviation is processed using a PID algorithm, and the duty cycle of the motor drive pulse is calculated. The calculated duty cycle is used to output a pulse width modulation signal to the zoom actuator, driving the lens to move to the target position of the lens with a smooth acceleration and deceleration curve, so as to prevent abrupt changes in the beam shape.

[0045] In one embodiment of the present invention, the step of adjusting the output power of the light-emitting unit according to the light source brightness driving command includes: The target brightness parameter is determined based on the light source brightness driving command. The target brightness parameter is the target current value or the target brightness percentage. Based on the target brightness parameters, calculate the duty cycle of the corresponding digital pulse width modulation signal, or the reference voltage value used to control analog dimming; The generated digital pulse width modulation signal or reference voltage value is sent to the constant current drive circuit of the light-emitting unit, so that the constant current drive circuit adjusts the drive current flowing through the light-emitting unit according to the received signal, and samples the actual output current in real time and feeds it back to the central processing unit, so that the central processing unit performs closed-loop correction according to the feedback actual output current, ensuring that the actual output power of the light-emitting unit matches the light source brightness drive command.

[0046] Specifically, in the preprocessing stage before driving the zoom actuator, the central processing unit (CPU) reads the real-time value of the battery voltage detection circuit in the power management module through its analog-to-digital converter interface to obtain the current remaining power information of the lighting equipment. The CPU internally stores a preset power level and dead zone threshold lookup table. The CPU consults this table based on the currently read remaining power information to dynamically adjust the dead zone threshold of the zoom control. The dead zone threshold is a preset allowable range of positional deviation to prevent frequent motor jitter. Only when the dead zone threshold is exceeded does the system determine that zoom adjustment is needed and drive the zoom actuator. The specific strategy is as follows: when the remaining power is sufficient, the CPU selects a smaller value as the dead zone threshold to ensure zoom sensitivity and tracking performance; when the remaining power is below a preset low-power alarm line, the CPU automatically selects a larger value as the dead zone threshold to filter out motor movements caused by minor distance changes, avoiding frequent lens fine-tuning due to sensor measurement noise or minor hand tremors, thereby eliminating beam jitter and reducing system power consumption. Subsequently, the central processing unit (CPU) calculates the absolute value of the difference between the theoretical target position of the lens obtained from the beam divergence angle control command and the current actual position of the lens, and logically compares this absolute value with the currently dynamically set dead zone threshold. Only when the absolute value of the difference is strictly greater than the dead zone threshold does the CPU determine that a zoom operation is required and send an action command to the lower-level drive circuit; otherwise, the current state remains unchanged, thereby effectively reducing motor energy consumption under low battery conditions.

[0047] Furthermore, after determining that a zoom operation is required, the process enters the motor drive control stage and the brightness adjustment stage. The central processing unit (CPU) first subtracts the lens target position indicated in the beam divergence angle control command from the current actual lens position fed back by the position sensor to obtain the real-time position deviation. Subsequently, the CPU activates its built-in proportional-integral-derivative (PID) algorithm module to process this position deviation: using the proportional term to respond to the current magnitude of the deviation, the integral term to eliminate steady-state error, and the derivative term to predict the trend of deviation change to suppress overshoot. The PID algorithm module synthesizes the above calculation results to calculate the motor drive pulse duty cycle used to control the motor speed and torque. Finally, based on this duty cycle, the CPU sends a corresponding pulse width modulation signal to the motor drive chip of the zoom actuator through the timer output port. This signal controls the motor to run according to a preset smooth acceleration / deceleration curve, such as an S-shaped speed curve, i.e., slowly accelerating during the start-up phase, maintaining a constant speed in the middle phase, and slowly decelerating until precisely stopping when approaching the target position, thereby preventing visual jumps or mechanical shocks in the beam shape caused by sudden changes in lens position.

[0048] Meanwhile, during the brightness adjustment of the light-emitting unit, the central processing unit (CPU) executes closed-loop power control logic. First, the CPU parses the light source brightness drive instruction and converts it into a specific target brightness parameter, which is represented by the expected target current value or target brightness percentage. Next, based on this target brightness parameter, the CPU maps it to a corresponding digital control signal using an internal calculation formula. This signal is either the duty cycle of a digital pulse width modulation (PWM) signal or a reference voltage value for analog dimming output by a digital-to-analog converter (DAC). The CPU sends this generated PWM signal or reference voltage value to the constant current drive circuit of the light-emitting unit via control lines. The constant current drive circuit adjusts the driving current flowing through the light-emitting unit accordingly. During this process, the current sampling resistor at the output of the constant current drive circuit collects the actual output current flowing through the light-emitting unit in real time and feeds it back to the analog-to-digital converter (ADC) input of the CPU. The central processing unit periodically reads the actual output current value of the feedback and compares it with the set target current value. Based on the comparison result, it dynamically fine-tunes the control signal sent to the constant current drive circuit until the actual output current matches the target value. This ensures that even with battery voltage fluctuations or device temperature rises, the actual output power of the light-emitting unit can always accurately match the requirements of the light source brightness drive command.

[0049] Furthermore, to better understand the application of the embodiments of the present invention in actual industrial and mining scenarios, the following description is provided in conjunction with specific industrial and mining operation scenarios: In a typical application scenario of the present invention, the lighting device is specifically a smart mining lamp that is fixedly installed on the side or front of a mining safety helmet by means of a buckle or a slide rail. When underground workers are walking in the tunnels, such as during inspections, the lighting equipment mounted on their safety helmets detects continuous footstep vibrations and slight head movements through the inertial measurement unit. Determined to be in dynamic movement mode, the system automatically locks into a floodlight state, illuminating the ground beneath the workers' feet and the surrounding tunnel walls to prevent tripping. When workers stop to look at the instrument panel or inspect the support structure, the system detects the disappearance of vibrations and a stable posture. Based on the distance measured by the time-of-flight sensor, it automatically focuses the beam of light, highlighting the target. If a large amount of coal dust is generated in the tunnel due to blasting or mechanical cutting, forming a high-concentration scattering medium, the system analyzes the echo intensity characteristics to identify the scattering environment and automatically adjusts to a medium divergence angle with stronger penetration, preventing strong light from forming a "light wall" in the dust and obstructing vision. If workers are facing highly reflective targets such as equipment with reflective warning strips or road signs, the system immediately reduces brightness and disperses the light spot to prevent glare and potential safety accidents.

[0050] In summary, the environmental perception-based adaptive lighting control method in the above embodiments of the present invention, by utilizing an inertial measurement unit and a time-of-flight sensor to simultaneously collect motion posture, target distance data, and echo intensity characteristics, and performing deep fusion analysis of multi-dimensional data, achieves accurate identification of the user's current motion mode. This allows for forced locking of the floodlight state and shielding against distance fluctuation interference when the user is walking or running, solving the problems of visual dizziness and ineffective motor wear caused by the natural swaying of the human body in existing automatic zoom flashlights, which result in fluctuating beam size and frequent oscillations. Furthermore, by performing correlation analysis based on the inverse square law between echo intensity characteristics and target distance data, the method calculates the echo intensity deviation ratio in real time and identifies near-field high-energy signals, achieving intelligent differentiation between highly reflective targets and high-concentration scattering media on the light propagation path. This enables targeted triggering of power reduction anti-glare. The strategy, or maintaining fog-penetrating lighting strategy, solves the safety hazards of traditional equipment causing momentary blindness when facing highly reflective objects, and the safety risks of vision being blocked by light curtains due to incorrect focusing or excessive brightness in foggy weather. Furthermore, by acquiring remaining battery information and dynamically adjusting the dead zone threshold of zoom control, it automatically relaxes the adjustment sensitivity when the battery is low, solving the problem of accelerated power consumption and shortened battery life caused by frequent micro-movements of the motor when the battery is insufficient. Further, by using a PID algorithm to smoothly control the acceleration and deceleration of the zoom actuator, and by using a current closed-loop feedback mechanism to adjust the light-emitting unit, it achieves a smooth transition of light spot shape changes and constant and precise output brightness, solving the visual discomfort caused by abrupt changes in beam shape and the experience problem of brightness decay as the battery decreases. Ultimately, it solves the problem of frequent and unstable beam jitter in existing automatic zoom lighting equipment during user movement.

[0051] Example 2 Please see Figure 3 This is a schematic diagram of an adaptive lighting control system based on environmental perception provided in the second embodiment of the present invention. For ease of explanation, only the parts related to the embodiment of the present invention are shown. The adaptive lighting control system based on environmental perception in the embodiment of the present invention includes: Data acquisition module 11 is used to synchronously acquire motion attitude data of the lighting equipment, target distance data and echo intensity characteristics in the lighting direction using an inertial measurement unit and a time-of-flight sensor; The motion mode determination module 12 is used to perform temporal feature analysis on the motion posture data to obtain a motion mode determination result. The motion mode determination result is used to characterize whether the lighting device is currently in a steady-state holding mode or a dynamic movement mode. The light propagation path analysis module 13 is used to perform correlation analysis between the echo intensity characteristics and the target distance data to obtain the light propagation path analysis result. The light propagation path analysis result is used to characterize whether there is a highly reflective target or a high-concentration scattering medium on the light propagation path. The decision calculation module 14 is used to generate beam divergence angle control commands and light source brightness driving commands according to the motion mode determination results and the light propagation path analysis results, and in accordance with the preset strategy model. The execution drive module 15 is used to drive the zoom actuator to adjust the position of the lens according to the beam divergence angle control command, and to adjust the output power of the light-emitting unit according to the light source brightness drive command, so as to realize the adaptive switching of the illumination state.

[0052] Furthermore, in one embodiment of the present invention, the data acquisition module 11 includes: The motion attitude data acquisition unit is used to acquire motion attitude data of the lighting equipment in real time using an inertial measurement unit. The motion attitude data includes three-axis acceleration data and three-axis angular velocity data. The target distance data and echo intensity feature acquisition unit is used to periodically emit probe light pulses and receive reflected echo signals using a time-of-flight sensor, digitally sample the reflected echo signals, extract the time of flight of the echo signals to calculate the target distance data, and extract the peak amplitude and energy integral of the echo signals to generate echo intensity features.

[0053] Furthermore, in one embodiment of the present invention, the motion mode determination module 12 includes: The data input unit is used to establish a time sliding window of a preset length and to input the triaxial acceleration data and triaxial angular velocity data from the collected motion attitude data into the time sliding window. The data calculation unit is used to calculate the variance of the triaxial acceleration data and the amplitude integral of the triaxial angular velocity data within the time sliding window. A data comparison unit is used to compare the variance value with a first motion threshold and the amplitude integral with a second motion threshold; The first motion mode determination unit is used to determine that the lighting device is in a steady-state holding mode if the data comparison unit determines that the variance value is less than the first motion threshold and the amplitude integral is less than the second motion threshold. The second motion mode determination unit is used to determine that the lighting device is in dynamic movement mode if the data comparison unit determines that the variance value is greater than or equal to the first motion threshold, or the amplitude integral is greater than or equal to the second motion threshold.

[0054] Furthermore, in one embodiment of the present invention, the optical propagation path analysis module 13 includes: The reference value calculation unit is used to calculate the theoretical echo intensity reference value based on the inverse square law, according to the current transmit power and target distance data. The deviation ratio calculation unit is used to compare the actual acquired echo intensity characteristics with the theoretical echo intensity reference value and calculate the echo intensity deviation ratio. The first optical propagation path analysis unit is used to determine that there is a highly reflective target on the optical propagation path if the echo intensity deviation ratio exceeds a preset safety glare threshold. The second optical propagation path analysis unit is used to determine that a high-concentration scattering medium exists on the optical propagation path if a near-field high-energy echo signal is identified based on the actual acquired echo intensity characteristics, and the target distance data indicates a long distance or invalid data.

[0055] Furthermore, in one embodiment of the present invention, the decision calculation module 14 includes: The first instruction generation unit is used to ignore the motion mode determination result if the light propagation path analysis result indicates the presence of a highly reflective target, generate a beam divergence angle control instruction indicating the maximum divergence angle, and generate a light source brightness drive instruction indicating the reduction of output power to a preset safety value. The second instruction generation unit is used to generate a beam divergence angle control instruction that indicates the presence of a high concentration of scattering medium and the absence of a highly reflective target if the light propagation path analysis results indicate the presence of such a medium. At the same time, it generates a light source brightness drive instruction that indicates the maintenance of the rated power. The third instruction generation unit is used to generate a beam divergence angle control instruction that indicates maintaining a preset traveling floodlight state if the light propagation path analysis result indicates that the path is normal and the motion mode determination result indicates that the lighting device is in a dynamic moving mode. At the same time, it generates a light source brightness drive instruction that indicates maintaining the output power corresponding to the preset traveling standard brightness, and shields the target distance data from controlling the zoom actuator. The fourth instruction generation unit is used to generate, based on the mapping relationship between the current target distance data and the lens position, a beam divergence angle control instruction that is negatively correlated with the target distance data and a light source brightness drive instruction that is positively correlated with the target distance data, if the light propagation path analysis result indicates that the path is normal and the motion mode determination result indicates that the lighting device is in a steady-state holding mode, a beam divergence angle control instruction that is negatively correlated with the target distance data and a light source brightness drive instruction that is positively correlated with the target distance data.

[0056] Furthermore, in one embodiment of the present invention, the system further includes: The remaining power acquisition module is used to acquire the current remaining power information of the lighting equipment; The dead zone threshold adjustment module is used to dynamically adjust the dead zone threshold of zoom control based on the current remaining battery power information. The trigger module is used to trigger the zoom actuator only when the absolute value of the difference between the target position calculated according to the beam divergence angle control command and the current lens position is greater than the dynamically adjusted dead zone threshold.

[0057] Furthermore, in one embodiment of the present invention, the execution driving module 15 includes: The position deviation determination unit is used to compare the target position of the lens calculated according to the beam divergence angle control command with the current actual position of the lens to obtain the position deviation. The first parameter calculation unit is used to process the position deviation using a PID algorithm and calculate the duty cycle of the motor drive pulse. The first driving unit is used to output a pulse width modulation signal to the zoom actuator according to the calculated duty cycle, driving the lens to move to the lens target position with a smooth acceleration and deceleration curve, so as to prevent abrupt changes in the beam shape.

[0058] Furthermore, in one embodiment of the present invention, the execution driving module 15 includes: The target brightness parameter determination unit is used to determine the target brightness parameter according to the light source brightness driving command, wherein the target brightness parameter is a target current value or a target brightness percentage; The second parameter calculation unit is used to calculate the duty cycle of the corresponding digital pulse width modulation signal based on the target brightness parameter, or to control the reference voltage value for analog dimming. The second driving unit is used to send the generated digital pulse width modulation signal or reference voltage value to the constant current driving circuit of the light-emitting unit, so that the constant current driving circuit adjusts the driving current flowing through the light-emitting unit according to the received signal, and samples the actual output current in real time and feeds it back to the central processing unit, so that the central processing unit performs closed-loop correction according to the feedback actual output current, ensuring that the actual output power of the light-emitting unit matches the light source brightness driving command.

[0059] The adaptive lighting control system based on environmental perception provided in this embodiment of the invention has the same implementation principle and technical effects as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0060] Example 3 In another aspect, the present invention also provides a lighting device, please refer to [link / reference]. Figure 4 The image shows a lighting device according to a third embodiment of the present invention, including a memory 20, a processor 10, and a program 30 stored in the memory 20 and executable on the processor 10. When the processor 10 executes the program 30, it implements the adaptive lighting control method based on environmental perception as described above.

[0061] In some embodiments, the processor 10 may be a central processing unit (CPU), controller, microcontroller, microprocessor or other data processing chip, used to run program code stored in memory 20 or process data, such as executing access restriction programs.

[0062] The memory 20 includes at least one type of readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 20 can be an internal storage unit of the lighting device, such as the hard disk of the lighting device. In other embodiments, the memory 20 can also be an external storage device of the lighting device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the lighting device. Furthermore, the memory 20 can include both internal and external storage units of the lighting device. The memory 20 can be used not only to store application software and various types of data installed on the lighting device, but also to temporarily store data that has been output or will be output.

[0063] It should be pointed out that, Figure 4 The structure shown does not constitute a limitation on the lighting device. In other embodiments, the lighting device may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0064] This invention also proposes a computer-readable medium storing a program that, when executed by a processor, implements the ultrasonic image scale pixel distance calculation method as described in the foregoing method embodiments.

[0065] Those skilled in the art will understand that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "medium" can mean any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0066] More specific examples of media (a non-exhaustive list) include: electrical connections (electronic devices) with one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0067] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0068] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0069] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A method for adaptive lighting control based on environmental perception, characterized in that, The method comprises: synchronously acquiring motion posture data of the lighting device and target distance data and echo intensity features in the lighting direction by using an inertial measurement unit and a time-of-flight sensor; performing time-domain feature analysis on the motion posture data to obtain a motion mode determination result, the motion mode determination result being used to represent that the lighting device is currently in a steady holding mode or a dynamic movement mode; performing correlation analysis on the echo intensity features and the target distance data to obtain a light propagation path analysis result, the light propagation path analysis result being used to represent whether there is a high-reflective target or a high-concentration scattering medium on the light propagation path; generating a light beam divergence angle control instruction and a light source brightness driving instruction according to the motion mode determination result and the light propagation path analysis result, and according to a preset strategy model; driving a zoom execution mechanism to adjust the position of a lens according to the light beam divergence angle control instruction, and adjusting the output power of a light-emitting unit according to the light source brightness driving instruction, so as to realize adaptive switching of the lighting state.

2. The environment perception based adaptive lighting control method according to claim 1, characterized in that, The step of synchronously acquiring motion posture data of the lighting device and target distance data and echo intensity features in the lighting direction by using an inertial measurement unit and a time-of-flight sensor comprises: collecting motion posture data of the lighting device in real time by using an inertial measurement unit, the motion posture data containing three-axis acceleration data and three-axis angular velocity data; periodically emitting a probe light pulse and receiving a reflected echo signal by using a time-of-flight sensor, digitizing and sampling the reflected echo signal, extracting the time of flight of the echo signal to calculate target distance data, and extracting the peak amplitude and energy integral of the echo signal to generate echo intensity features.

3. The environment perception based adaptive lighting control method according to claim 1 or 2, characterized in that, The step of performing time-domain feature analysis on the motion posture data to obtain a motion mode determination result comprises: establishing a time sliding window of a preset length, and filling the three-axis acceleration data and three-axis angular velocity data in the collected motion posture data into the time sliding window; calculating the variance value of the three-axis acceleration data and the amplitude integral of the three-axis angular velocity data in the time sliding window; comparing the variance value with a first motion threshold value, and comparing the amplitude integral with a second motion threshold value; if the variance value is less than the first motion threshold value and the amplitude integral is less than the second motion threshold value, it is determined that the lighting device is in a steady holding mode; if the variance value is greater than or equal to the first motion threshold value, or the amplitude integral is greater than or equal to the second motion threshold value, it is determined that the lighting device is in a dynamic movement mode.

4. The environment perception based adaptive lighting control method according to claim 1, wherein, The step of performing correlation analysis on the echo intensity features and the target distance data to obtain a light propagation path analysis result comprises: calculating a theoretical echo intensity reference value based on the inverse square law according to the current transmission power and the target distance data; comparing the actually acquired echo intensity features with the theoretical echo intensity reference value to calculate an echo intensity deviation ratio; if the echo intensity deviation ratio exceeds a preset safety glare threshold value, it is determined that there is a high-reflective target on the light propagation path. If a near-field high-energy echo signal is recognized according to the actually obtained echo intensity feature, and the target distance data indicates a far distance or invalid data, it is determined that there is a high-concentration scattering medium on the light propagation path.

5. The environment perception based adaptive lighting control method according to claim 1 or 4, characterized in that, The step of generating the light beam divergence angle control instruction and the light source brightness driving instruction according to the motion mode determination result and the light propagation path analysis result comprises: If the light propagation path analysis result indicates that there is a high-reflective target, the motion mode determination result is ignored, a light beam divergence angle control instruction indicating a maximum divergence angle is generated, and a light source brightness driving instruction indicating that the output power is reduced to a preset safety value is generated; If the light propagation path analysis result indicates that there is a high-concentration scattering medium and no high-reflective target, a light beam divergence angle control instruction indicating that the preset divergence angle is maintained is generated, and a light source brightness driving instruction indicating that the rated power is maintained is generated; If the light propagation path analysis result indicates that the path is normal, and the motion mode determination result determines that the lighting device is in a dynamic moving mode, a light beam divergence angle control instruction indicating that the preset traveling floodlight state is maintained is generated, a light source brightness driving instruction indicating that the output power corresponding to the preset traveling standard brightness is maintained is generated, and the control of the zoom execution mechanism by the target distance data is shielded; If the light propagation path analysis result indicates that the path is normal, and the motion mode determination result determines that the lighting device is in a steady-state holding mode, a light beam divergence angle control instruction in which the light beam divergence angle is negatively correlated with the target distance data, and a light source brightness driving instruction in which the output power is positively correlated with the target distance data, are generated according to the mapping relationship between the current target distance data and the lens position.

6. The environment perception based adaptive lighting control method according to claim 1, wherein, Before the step of driving the zoom execution mechanism to adjust the position of the lens according to the light beam divergence angle control instruction, the method further comprises: obtaining current remaining power information of the lighting device; dynamically adjusting a dead zone threshold of zoom control according to the current remaining power information; only when the absolute value of the difference between the target position calculated according to the light beam divergence angle control instruction and the current lens position is greater than the dynamically adjusted dead zone threshold, the action of the zoom execution mechanism is triggered.

7. The environment perception based adaptive lighting control method according to claim 1, wherein, The step of driving the zoom execution mechanism to adjust the position of the lens according to the light beam divergence angle control instruction comprises: comparing the target position of the lens calculated according to the light beam divergence angle control instruction with the current actual position of the lens to obtain a position deviation amount; processing the position deviation amount by using a PID algorithm to calculate the duty cycle of the motor driving pulse; outputting a pulse width modulation signal according to the calculated duty cycle to drive the lens to move to the target position of the lens at a smooth acceleration and deceleration curve, so as to prevent the light beam shape from changing abruptly.

8. The environment perception based adaptive lighting control method according to claim 1, wherein, The step of adjusting the output power of the light emitting unit according to the light source brightness driving instruction comprises: determining a target brightness parameter according to the light source brightness driving instruction, the target brightness parameter being a target current value or a target brightness percentage; calculating the duty cycle of the corresponding digital pulse width modulation signal or the reference voltage value for controlling analog dimming according to the target brightness parameter; The generated digital pulse width modulation signal or reference voltage value is sent to the constant current drive circuit of the light-emitting unit, so that the constant current drive circuit adjusts the drive current flowing through the light-emitting unit according to the received signal, and samples the actual output current in real time and feeds it back to the central processing unit, so that the central processing unit performs closed-loop correction according to the feedback actual output current, ensuring that the actual output power of the light-emitting unit matches the light source brightness drive command.

9. An environment-aware based adaptive lighting control system, characterized by, The system includes: The data acquisition module is used to synchronously acquire motion attitude data of the lighting equipment, target distance data in the lighting direction, and echo intensity characteristics using an inertial measurement unit and a time-of-flight sensor. The motion mode determination module is used to perform temporal feature analysis on the motion posture data to obtain a motion mode determination result. The motion mode determination result is used to characterize whether the lighting device is currently in a steady-state holding mode or a dynamic movement mode. The light propagation path analysis module is used to perform correlation analysis between the echo intensity characteristics and the target distance data to obtain the light propagation path analysis results. The light propagation path analysis results are used to characterize whether there are highly reflective targets or high-concentration scattering media on the light propagation path. The decision calculation module is used to generate beam divergence angle control commands and light source brightness driving commands according to the motion mode determination results and the light propagation path analysis results, and in accordance with the preset strategy model. The execution drive module is used to drive the zoom actuator to adjust the position of the lens according to the beam divergence angle control command, and to adjust the output power of the light-emitting unit according to the light source brightness drive command, so as to realize the adaptive switching of the illumination state.

10. An illumination device, characterized by It includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the environment-aware adaptive lighting control method as described in any one of claims 1-8.

Images