Self-calibrating deformable landscape lighting structure control apparatus and method

Abstract

The application discloses a self-calibration deformable landscape light structure control device and method, which comprises a deformable structure body, an actuator assembly, a laser range finder array, a controller and a driver. The deformable structure body comprises a range finding target array and a light assembly. The light assembly is fixed to the range finding target array. The laser range finder array is used to obtain range finding target distance observation values of the range finding target array. The controller receives the range finding target distance observation values and calculates actual spatial positions of the range finding target array based on the range finding target distance observation values, and then obtains shape deviations of the range finding target array, so as to generate actual execution instructions of the actuator assembly. The driver drives the actuator assembly to move based on the actual execution instructions, so as to drive the range finding target array to move, and to adjust the position of the range finding target array. The application can solve the problems of inaccurate control and difficult adjustment existing in the prior art outdoor light art device.

Description

Technical Field

[0001] This invention relates to the field of landscape lighting design technology, specifically to a self-calibrating deformable landscape lighting structure control device and method. Background Technology

[0002] With the development of urban lighting and public art, landscape lighting art installations are playing an increasingly important role in beautifying the environment, creating atmosphere, and enhancing interactivity. Existing landscape lighting art installations mostly employ pre-set programs or sensor-based activity control. When the installation has a variable structure (such as a liftable frame, flexible curtain wall, folding wings, or retractable light pole arrays), control typically relies on manual measurement and calibration, relative displacement calculation of the actuator encoder, and coarse zeroing using a few limit switches or single-point sensors. However, in outdoor environments, factors such as temperature changes, wind loads, foundation settlement causing structural shifts, and long-term wear causing return gaps can lead to inconsistencies between the actual shape and control commands, resulting in drift in the projection position of the light pattern in space and affecting the visual experience. Currently, the main solution is frequent manual maintenance and recalibration, which is costly and involves long downtime. Summary of the Invention

[0003] To address the problems existing in the prior art, this invention provides a self-calibrating deformable landscape lighting structure control device and method, which has real-time sensing capabilities, automatic calibration capabilities, and high-precision lighting control and communication unit capabilities, and is used to solve problems such as inaccurate control and difficulty in adjustment in existing outdoor lighting art installations.

[0004] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0005] According to a first aspect of this application, a self-calibrating deformable landscape lighting structure control device is provided, comprising: A deformable structural body, the deformable structural body including a ranging target array and a lighting component, the lighting component being fixed to the ranging target array; An actuator assembly is provided for moving the ranging target array to adjust its position. A laser rangefinder array, wherein the laser rangefinder array is used to acquire the distance observation value of the ranging target array; The controller is communicatively connected to the laser rangefinder array. The controller receives the distance observation value of the ranging target, calculates the actual spatial position of the ranging target array based on the distance observation value, obtains the shape deviation of the ranging target array based on the actual spatial position of the ranging target array, and generates the actual execution command of the actuator component based on the shape deviation of the ranging target array. A driver, which is communicatively connected to the controller, drives the actuator component to move based on the actual execution command.

[0006] In some embodiments of this application, based on the aforementioned scheme, the ranging target is set at a shape-sensitive node of the deformable structure body, including at least one of the following positions: hinge point, end node, telescopic end, rising and falling vertex, boundary point of flexible covering unit, or node near lamp mounting position.

[0007] In some embodiments of this application, based on the foregoing scheme, the laser rangefinder array includes at least three laser rangefinders, the ranging target array includes at least one ranging target, the controller receives the distance observation value of the ranging target, and calculates the actual spatial position of the ranging target array based on the distance observation value of the ranging target, including: Within the current control cycle, the distance observation values ​​of each laser rangefinder relative to each ranging target are integrated to form a distance observation set; For the distance observation set, invalid distance observations of the ranging target caused by over-range, insufficient echo, or obstruction are removed or marked, so that each ranging target has at least 3 valid distance observations to satisfy the spatial position calculation constraints. All valid distance observations of the ranging target are integrated to establish a valid observation index set of the ranging target. If the number of valid observations of the same ranging target is less than the preset threshold of 3, the actual execution command of the previous control cycle is maintained and the deformation speed of the actuator component is reduced or the holding mode is entered. For each ranging target, a first solution equation for the actual spatial location of the ranging target is established based on the effective observation index set, and the actual spatial location is obtained by solving the equation using the least squares method.

[0008] In some embodiments of this application, based on the foregoing scheme, obtaining the morphological deviation of the ranging target array based on its actual spatial position includes: Based on the difference between the reference position and the actual spatial position of the ranging target, the shape deviation of the ranging target is obtained. All the shape deviations of the ranging targets are integrated to obtain a shape deviation set, and the shape deviation set is used as the shape deviation of the ranging target array.

[0009] In some embodiments of this application, based on the foregoing scheme, generating the actual execution instructions for the actuator component based on the morphological deviation of the ranging target array includes: The compensation control quantity of the actuator component is generated based on the mapping relationship between the morphological deviation and the actuator component; The compensation control quantity is added to the preset actuator reference instruction to form the actual execution instruction.

[0010] In some embodiments of this application, based on the foregoing scheme, the method further includes updating the zero-bias compensation control quantity of the actuator component, including: The zero-bias compensation control quantity for the current cycle is obtained by multiplying the compensation control quantity and the preset learning rate with the zero-bias compensation control quantity of the previous control cycle.

[0011] In some embodiments of this application, based on the foregoing scheme, the driver drives the actuator component to move based on the actual execution instruction to adjust the position of the ranging target array, and further includes: Determine whether the actuator component has any abnormalities such as excessive stroke, excessive current, long-term failure of ranging, or abnormal shape deviation exceeding the threshold. When a preset abnormal condition is met, the controller outputs a safety control strategy to the driver. The safety control strategy includes at least one of stopping the actuator, limiting the movement speed, returning to the safe position, or triggering an emergency stop circuit.

[0012] According to a second aspect of this application, a self-calibrating deformable landscape lighting structure control method is provided, comprising: A deformable structural body is constructed, the deformable structural body including a ranging target array and a lighting component, the lighting component being fixed to the ranging target array; The distance observation values ​​of the ranging target array are obtained based on the laser rangefinder; Based on the observed distance values ​​of the ranging target, the actual spatial position of the ranging target array is calculated by the controller; Based on the actual spatial position of the ranging target array, the morphological deviation of the ranging target array is obtained through the controller; An actuator component is constructed. Based on the shape deviation of the ranging target array, the controller generates actual execution instructions for the actuator component. A driver is used to drive the actuator component to move based on the actual execution instructions, thereby moving the ranging target array to adjust its position.

[0013] According to a third aspect of this application, a computer-readable storage medium is provided that stores a computer program thereon, the computer program including executable instructions that, when executed by a processor, implement the method described above.

[0014] According to a fourth aspect of this application, an electronic device is provided, comprising: One or more processors; A memory for storing executable instructions of the processor, which, when executed by the one or more processors, cause the one or more processors to implement the method described above.

[0015] The beneficial effects of this application are as follows: (1) The present invention uses a laser rangefinder array to observe the distance of the target array at multiple points and calculate the actual spatial position of the key nodes, thereby enabling an objective quantitative characterization of the actual shape of the deformable structure, avoiding the problems of unobservable shape and error accumulation caused by relying solely on encoder relative displacement calculation or a small number of limit switches.

[0016] (2) The present invention generates the actuator compensation control quantity based on the shape deviation between the actual shape and the target shape, and iteratively updates the calibration parameters such as zero bias, so as to continuously suppress control drift under the influence of factors such as temperature change, wind load disturbance, foundation settlement and mechanical wear return clearance, and reduce the frequency of manual maintenance and recalibration.

[0017] (3) Based on the morphological calculation results, the present invention updates the lighting control output simultaneously, so that the spatial position / pixel mapping of the lighting components matches the actual structural shape, thereby reducing the drift of the lighting pattern or projection position, ensuring the long-term consistency of the program effect, and reducing the overall operating cost by reducing manual calibration and downtime maintenance.

[0018] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit this application. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A diagram showing the overall structure and connection relationship of a self-calibrating deformable landscape lighting structure control device provided by the present invention; Figure 2A schematic diagram (top view) showing the installation arrangement and positional relationship between the laser rangefinder array and the ranging target in one embodiment of the present invention. Figure 3 A structural schematic diagram (side view) of an embodiment of a deformable landscape lighting art installation provided by the present invention. Figure 4 A flowchart illustrating an embodiment of a self-calibrating deformable landscape lighting structure control method provided by the present invention; Figure 5 A schematic diagram illustrating a self-calibrating deformable landscape lighting structure control method provided by the present invention; Figure 6 A schematic diagram illustrating the effects before and after deformation of an embodiment of a self-calibrating deformable landscape lighting structure control method provided by the present invention; Figure 7 This is a schematic diagram of an electronic device according to the present invention.

[0021] The components include: 1. Laser rangefinder array; 2. Controller; 3. Driver; 4. Actuator assembly; 41. Motor actuator; 5. Deformable structure body; 51. Base; 52. Telescopic arm; 6. Rangefinder target array; 7. Lighting control and communication unit; 8. Lighting assembly; and 9. Power supply and safety unit. Detailed Implementation

[0022] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0023] It should be understood that the terms "comprising" and other similar expressions in the specification, claims, and accompanying drawings of this invention are intended to cover a non-exclusive inclusion, such as a process, method, system, or apparatus that includes a series of steps or units and is not limited to the listed steps or units. Furthermore, "first" and "second" are used to distinguish different objects and are not intended to describe a specific order.

[0024] According to the first aspect of this application, Figure 1 and Figure 2 As shown, this embodiment provides a self-calibrating deformable landscape lighting structure control device, including a deformable structure body 5, an actuator assembly 4, a laser rangefinder array 1, a controller 2, and a driver 3.

[0025] The deformable structure body 5 includes a ranging target array 6 and a lighting component 8. The lighting component 8 is fixed to the ranging target array 6. The ranging target array 6 includes at least one ranging target. The ranging target is set at the shape-sensitive node of the deformable structure body 5, including at least one of the following positions: hinge point, end node, telescopic end, rising and falling vertex, boundary point of flexible cover unit, or node near the lamp mounting position.

[0026] The actuator component 4 is used to drive the ranging target array 5 to move, so as to adjust the position of the ranging target array, that is, to adjust the position of each ranging target.

[0027] The laser rangefinder array 1 is used to obtain the distance observation value of the ranging target array 6. The laser rangefinder array 1 consists of at least three laser rangefinders and is fixedly installed on the base 51 or bracket on the outside of the deformable structure body 5 to form a multi-base station geometric layout, so that the same ranging target is observed by at least three laser rangefinders.

[0028] The controller 2 includes a processor, a memory, a communication interface, and an input / output interface. The controller 2 is communicatively connected to the laser rangefinder array 1. The processor receives the observed distance values ​​of the ranging target and, based on these values, calculates the actual spatial position of the ranging target array 6. Based on the actual spatial position of the ranging target array 6, it obtains the morphological deviation of the ranging target array 6. Based on the morphological deviation of the laser rangefinder array 1, it generates the actual execution instructions for the actuator assembly 4. The controller 2 is installed in an electrical control box / cabinet, preferably in the same cabinet as the driver 3. The controller 2 is communicatively connected to the laser rangefinder array 1, the driver 3, the actuator assembly 4, and the lighting control and communication unit 7 via the communication interface. The memory stores the executable instructions of the processor, and the input / output interface is used to communicate with the power supply and safety component 9. The driver 3 includes a power drive module (servo driver, stepper driver, motor drive board, etc.), an interface module (pulse / bus communication interface, enable interface, etc.), and a protection module (overcurrent, overtemperature, undervoltage protection, etc.).

[0029] The driver 3 is communicatively connected to the controller 2. Based on the actual execution command, the driver 3 drives the actuator assembly 4 to move, thereby adjusting the position of the ranging target array 6. The driver 3 is installed in an electrical control box or control cabinet, located close to the actuator assembly 4. The driver 3 is electrically connected to the actuator assembly 4 (including power lines and control / feedback lines), and communicatively connected to the controller 2. The actuator assembly 4 includes a brake and its connecting parts. The actuator assembly 4 is fixedly installed on the fixed frame of the deformable structure body 5, and its output end is mechanically connected to the drive node of the deformable structure body 5 through the connecting parts, used to drive the deformable structure body 5 to produce morphological changes such as lifting, folding, stretching, or bending. The deformable structural body 5 includes a base 51, a skeleton unit, a connecting unit, and a flexible covering unit; wherein the skeleton unit is composed of several rods / profiles, and the connecting unit is any one or a combination of hinged joints, rotating shaft joints, sliding joints, or flexible connectors; the deformable structural body 5 is fixedly installed on the foundation or foundation platform through the base 51; the skeleton unit is connected to the base 51 and forms the main structure of the deformable structural body 5; the flexible covering unit and the connecting unit are installed on the skeleton unit and deform with the skeleton unit.

[0030] The ranging target array 6 consists of multiple ranging targets (denoted as p1, p2, ... pm); each ranging target includes a reflective / scattering working surface, a substrate, and a mounting part, wherein the working surface is either a retroreflective structure or a diffuse reflective surface. The ranging target array 6 is located at the shape-sensitive nodes of the deformable structure body 5, including at least one of the following: hinge point, end node, telescopic end, rising and falling vertex, boundary point of flexible cover unit, or node near the lamp mounting position; the ranging target array 6 is mechanically fixedly connected to the corresponding node, allowing it to move with the deformable structure body 5. The lighting control and communication unit 7 includes a lighting protocol output module and a network / bus interface, installed in the electrical control box / control cabinet, communicating with the controller 2, and outputting control signals to the lighting assembly 8 via a communication connection. The lighting assembly 8 includes a light-emitting unit and its mounting bracket. The lighting assembly 8 is mounted on the deformable structure body 5 and moves synchronously with the deformable structure body 5. The power supply and safety unit 9 is installed in the electrical control box / distribution box and is electrically connected to and supplies power to the laser rangefinder array 1, controller 2, driver 3, actuator assembly 4, lighting control and communication unit 7, and lighting assembly 8. Note: The above components can be combined or separated according to the engineering implementation. For example, the lighting control and communication unit 7 can be integrated into the controller 2.

[0031] The laser rangefinder array 1 is used to perform multi-point ranging on the target array 6, outputting the distance observation values ​​from the laser rangefinders to each target, providing a data source for the actual structural shape calculation and self-calibration. Preferably, the laser rangefinder array 1 consists of at least three laser rangefinders and is fixedly installed on the base 51 or bracket outside the structure, forming a multi-base station geometric layout so that the same target is observed by at least three ranging units. The laser ranging unit is preferably a time-of-flight (TOF) rangefinder or a phase rangefinder, which has the ability to resist ambient light interference and a communication interface. The controller 2 is used to fuse the laser ranging data and the feedback data from the actuator component 4, complete the target point position calculation, shape deviation calculation, compensation control quantity generation and self-calibration parameter update, and output structural control commands and lighting control data. The driver 3 is used to convert the control commands output by the controller 2 into power drive outputs for the actuator component 4, realize position / speed control, and provide overcurrent, overtemperature protection and operating status feedback. The actuator assembly 4 is used to output driving force or displacement, causing the deformable structure body 5 to undergo a predetermined shape change; simultaneously, as a closed-loop control object, it cooperates with self-calibration compensation to achieve precise shape control. The actuator assembly 4 preferably includes at least one of an electric push rod, a servo motor lead screw mechanism, a hoisting mechanism, or a sliding table mechanism; preferably, it has position feedback (encoder / stroke sensor) and mechanical limit; the actuator assembly 4 and the deformable structure body 5 are preferably connected by mechanical connections such as hinges / links / cables for easy force transmission and maintenance. The deformable structure body 5 serves as the carrier and deformation body of the landscape lighting art installation, forming at least two different spatial geometric configurations under the drive of the actuator 4 to change the spatial position, posture, or distribution of the lighting components 8. The deformable structure body 5 preferably includes a base 51, a frame unit, and a connecting unit; the connecting unit is preferably at least one of a hinge joint, a rotating shaft joint, or a sliding joint, enabling the structure to achieve lifting, folding, extension, or flexural deformation; the body 5 preferably does not have a separate power supply and is a purely mechanical structural component. The ranging target array 6 provides echo targets that can be stably identified by the laser rangefinder array 1, enabling the controller 2 to obtain ranging observation data and calculate the actual spatial position of key nodes of the deformable structure body 5, thereby facilitating shape deviation detection and self-calibration control. The ranging target array 6 preferably uses regressive reflective structural targets (e.g., corner reflectors / corner cone prisms, microprism reflectors, glass bead reflective films, metal reflectors, or coated reflective surfaces) to improve echo stability under long-distance and angled incidence conditions. The lighting control and communication unit 7 converts the lighting control data output by the controller 2 into lighting protocol signals and sends them to the lighting component 8 to achieve lighting effect control and synchronization; it also coordinates the lighting output with shape updates when the structural shape changes. The lighting control and communication unit 7 preferably supports at least one of the DMX512, Art-Net, or sACN protocols; it preferably has multi-channel output and isolation protection.The lighting component 8 is used to output preset or real-time generated lighting effects (color, brightness, pattern, dynamic changes, etc.), and changes the light field distribution according to the shape changes of the deformable structure body 5, thereby forming a spatially variable lighting art presentation. The lighting component 8 preferably includes at least one of floodlights, linear lights, pixel dot matrix lights, or light strips; preferably, it has an addressable control channel that supports protocols such as DMX512 / Art-Net / sACN. The power supply and safety unit 9 is used to provide power to the laser rangefinder array 1, controller 2, driver 3, actuator component 4, lighting control and communication unit 7, and lighting component 8, and to realize emergency stop, limit cut-off, and electrical protection in abnormal situations to ensure outdoor operation safety. The power supply and safety unit 9 preferably includes a power distribution module, circuit breaker / fuse protection, surge protection, grounding module, and emergency stop / limit safety circuit; preferably, it supplies power to the actuator power circuit and the lighting power circuit separately and provides graded protection; preferably, it has a waterproof, dustproof, and weather-resistant electrical control box.

[0032] Thus, the self-calibrating deformable landscape lighting structure control device provided in this embodiment has the ability to perceive the laser rangefinder array 1 in real time and the ability to automatically calibrate it. In addition, it has the ability to control the lighting components 8 with high precision and the communication unit 7. This is used to solve the problems of inaccurate control and difficulty in adjustment that exist in existing outdoor lighting art installations.

[0033] In some implementations of this embodiment, such as Figure 1 As shown, the laser rangefinder array 1 and controller 2 communicate to send distance observations of the target; controller 2 and driver 3 communicate to send structural control commands; controller 2 and lighting control and communication unit 7 communicate to send commands to lighting control and communication unit 7; driver 3 and actuator assembly 4 communicate to output structural control signals; actuator assembly 4 communicates with controller 2 to provide feedback on control status; lighting control and communication unit 7 and lighting assembly 8 communicate to output lighting control and communication unit 7 signals. Power and safety unit 9 supplies power to laser rangefinder array 1, controller 2, driver 3, lighting control and communication unit 7, and lighting assembly 8, and provides electrical protection and emergency stop / limit safety functions. Actuator assembly 4 is mechanically connected to deformable structure body 5 to drive its deformation; lighting assembly 8 is fixedly installed to deformable structure body 5 and changes shape accordingly.

[0034] In some specific embodiments, a set of deformable landscape lighting art installations is set up in the urban square area. The set of installations consists of multiple "electric telescopic arm lighting devices". The telescopic arm 52 of each device can extend or retract under the drive of the actuator assembly 4 to form dynamic spatial shapes and output lighting programs. To solve the problem of shape drift caused by outdoor temperature changes, wind load, foundation settlement and wear gaps, this embodiment uses a laser rangefinder array 1 to perform multi-point ranging of the ranging target array 6. The controller 2 calculates the actual shape online and performs compensation control and self-calibration.

[0035] like Figure 2 As shown, a telescopic arm lighting device (deformable structure body 5) is installed in the square area, and six laser rangefinders (s1~s6) are fixedly installed around the square, arranged to "surround and face the ranging target array 6". In this embodiment, the ranging target array 6 includes two ranging targets p1 and p2, preferably installed at shape-sensitive locations of the deformable structure body 5 (e.g., the end of the telescopic arm 52 / key node) to ensure that changes in structural shape can be stably observed by external ranging. Through geometric arrangement, the same ranging target is observed by at least three laser rangefinders, thereby satisfying the three-dimensional solution constraints and improving anti-occlusion and anti-noise capabilities. A control cabinet (illustrated) is located at the edge of the square, integrating a controller 2, a driver 3, a lighting control and communication unit 7, and a power supply and safety unit 9. An electrical control box / control cabinet (connection relationship omitted) is also located at the edge of the square, integrating a controller 2, a driver 3, a lighting control and communication unit 7, and a power supply and safety unit 9.

[0036] like Figure 3 As shown, the deformable structure 5 of a single telescopic arm lighting device includes a base 51 and a telescopic arm 52; the actuator assembly 4 is an electric actuator 41, preferably an electric push rod or a motor screw mechanism, installed inside the base 51 or the telescopic arm 52, with its output end mechanically connected to the telescopic arm 52 to achieve telescopic movement; the lighting assembly 8 is installed at the top of the telescopic arm 52, changing its spatial position and light field distribution with structural deformation; ranging targets p1 and p2 are respectively set at the middle and end sections to form solvable external observation points. The driver 3 is installed in the electrical control box and is electrically connected to the actuator assembly 4 (power line + control / feedback line). The operating power of the lighting assembly 8 is provided by the power supply and safety unit 9; the lighting control and communication unit 7 outputs control signals (such as DMX / Art-Net / sACN) to the lighting assembly 8.

[0037] like Figure 5 As shown, in this embodiment, during program operation, a self-calibrating deformable landscape lighting art device control method is used to cyclically execute a closed-loop process of "distance measurement - calculation - compensation - self-calibration - lighting synchronization".

[0038] In some specific implementations, initialization begins. First, the power supply and safety unit 9 is powered on, and the controller 2 reads the installation position parameters of the laser rangefinder array 1. and program target shape parameters (e.g., reference position of ranging target point) Or the telescopic boom's target travel distance is 52. ).

[0039] In some specific implementations, effective distance observation data is collected. Controller 2 collects distance observation values ​​from the laser ranging array to each of the six ranging targets on the ranging target array within the same control cycle. To form a distance observation set Then, controller 2 performs distance observations on the set of observations. The system performs validity checks, eliminating or marking invalid ranging data caused by exceeding the range, insufficient echo, or obstruction, ensuring that each ranging target has at least 3 valid distances to satisfy the spatial position calculation constraints. When the number of valid observations for the same ranging target is less than the preset threshold of 3, the controller 2 maintains the calibration parameters of the previous cycle and reduces the structural deformation rate or enters hold mode.

[0040] In some implementations of this embodiment, such as Figure 4 As shown, the actual spatial position of the ranging target is calculated. Based on the obtained effective distance observations, controller 2 calculates the actual spatial position of each ranging target in the ranging target array 6. Preferably, the controller 2 performs the calculation based on the following ranging model:

[0041] in, To correspond to the ranging offset of the laser rangefinder; and to obtain the actual spatial position using the least squares method. :

[0042] in, For the first The effective observation index set for a ranging target: Assume the system has 6 laser rangefinders s1~s6. At a certain moment, the... If only s1, s3, and s4 successfully detect a ranging target, then Preferably, At that time, to ensure the basic constraints of the three-dimensional position calculation; when Meanwhile, controller 2 maintains the calibration parameters from the previous cycle. Furthermore, it obtains the actual spatial position set of the ranging target array 6. The set is used to characterize the actual shape of the deformable structural body 5.

[0043] In some implementations of this embodiment, such as Figure 4As shown, the morphological deviation is calculated. For ease of calculation, assume that actuator 4 includes... Each actuator's control and compensation control variables are represented in vector form, specifically:

[0044] Controller 2 obtains the reference position of the ranging target under the preset target shape parameters. And calculate the morphological deviation:

[0045] Obtain the set of morphological deviations And stacked in a predetermined order to form a total deviation vector:

[0046] In some implementations of this embodiment, such as Figure 4 As shown, the controller 2 generates a compensation control quantity and outputs control commands to the actuator based on the set of morphological deviations. Pre-establish the "deviation-actuator" linear mapping matrix And calculate the compensation control quantity based on the overall deviation vector. and in the preset executor reference instructions Based on this, the actual execution instructions are formed:

[0047] in, The proportional gain (a scalar) is used to compensate for deviations; the negative sign indicates the direction of compensation. The mapping matrix can be obtained by recording actuator increments in several sets of control tests. Deviation from the corresponding target point The changes were obtained using least squares fitting. The mapping relationship between shape deviation and actuator can be used to generate the data, preferably a linear mapping or a sensitivity matrix mapping. Controller 2 will... The signal is sent to the actuator 3, which drives the actuator to make the deformable structure body 5 approach the target shape and to perform amplitude limiting / safety constraints.

[0048] In some embodiments of this example, the execution process is constrained and safety is handled. During the operation of the actuator, the controller 2 obtains the status information of the driver 3 and / or the feedback information of the actuator to determine whether there are any abnormalities such as excessive stroke, excessive current, long-term failure of ranging, or excessive morphological deviation. When the preset abnormal conditions are met, the controller 2 outputs a safety control strategy, including at least one of stopping the actuator, limiting the movement speed, returning to the safe position, or triggering an emergency stop circuit.

[0049] In some embodiments of this example, the self-calibration parameters are updated. The controller 2 updates the calibration parameters based on morphological deviations or compensation control quantities to offset long-term drift (zero bias) caused by factors such as temperature changes, wear, and foundation offset.

[0050] Preferably, the controller 2 updates the zero-bias compensation control quantity of the actuator component 4. :

[0051] in, Set the preset learning rate; and use the updated calibration parameters in subsequent control cycles.

[0052] In some embodiments of this example, the lighting control and communication unit 7 outputs data and achieves lighting synchronization. The controller 2, based on the obtained actual shape information... Data is generated by the lighting control and communication unit 7 and sent to the lighting component 8 through the lighting control and communication unit 7, so that the lighting output is synchronized with the actual shape of the deformable structure body 5, thereby reducing the shape deviation caused by the drift of the lighting pattern / projection position due to the structure.

[0053] In some embodiments of this example, the controller 2 executes cyclically to achieve closed-loop control based on laser ranging, which includes "shape perception, shape deviation calculation, compensation control, parameter self-calibration, and light synchronization".

[0054] In some embodiments of this example, the controller 2 also generates lighting control data based on actual shape information, which is output to the lighting component 8 via the lighting control and communication unit 7, to synchronize shape changes with lighting effects, and to trigger safety strategies such as speed limiting, shutdown, return to a safe position, or emergency stop in abnormal situations. According to the second aspect of this application, as Figure 4 and 5 As shown in the figure, this embodiment provides a self-calibrating deformable landscape lighting structure control method, including: Step S1: Construct a deformable structural body 5 and an actuator assembly 4. The deformable structural body 5 includes a ranging target array 6 and a lighting assembly 8. The lighting assembly 8 is fixed to the ranging target array 6. Step S2: Based on the laser rangefinder array, obtain the distance observation values ​​of the ranging target array based on the laser rangefinder; Step S3: Based on the observed distance values ​​of the ranging target, the actual spatial position of the ranging target array 6 is calculated by the controller 2; Step S4: Based on the actual spatial position of the ranging target array 6, the laser rangefinder array 1 obtains the shape deviation of the ranging target array 6 through the controller 2; Step S5: Construct the actuator component 4. Based on the shape deviation of the ranging target array 6, the controller 2 generates the actual execution command of the actuator component 4. The driver 3 drives the actuator component 4 to move based on the actual execution command, thereby driving the ranging target array 6 to move and adjust the position of the ranging target array 6.

[0055] Specifically, this embodiment corresponds one-to-one with the above-described device embodiments. The functions of each step have been described in detail in the corresponding device embodiments, so they will not be repeated here.

[0056] According to a third aspect of this application, this embodiment provides a computer-readable storage medium having a computer program stored thereon, the computer program including executable instructions that, when executed by a processor, implement the method described above.

[0057] The present invention can implement all or part of the processes in the above methods, or it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or system capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0058] According to the fourth aspect of this application, such as Figure 6 As shown, an electronic device is provided, comprising: One or more processors; Memory is used to store executable instructions for the processor, which, when executed by one or more processors, cause one or more processors to implement the methods described above.

[0059] Electronic devices are manifested in the form of general-purpose computing devices. Components of an electronic device may include, but are not limited to: at least one processor, at least one memory, and a bus connecting different system components (including memory and processor).

[0060] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of a computer system, connecting all parts of the computer system through various interfaces and lines.

[0061] Memory can be used to store computer programs and / or modules. The processor implements various functions of the computer system by running or executing the computer programs and / or modules stored in the memory, and by accessing data stored in the memory. Memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system and at least one application program required for a function (e.g., sound playback, image playback, etc.); the data storage area can store data created based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, SmartMedia Cards (SMC), Secure Digital (SD) cards, Flash Cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0062] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and memory) containing computer-usable program code.

[0063] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A system that specifies functions in one or more boxes.

[0064] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction set implemented in a process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0065] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0066] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0067] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0068] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-calibrating deformable landscape lighting structure control device, characterized in that, include: A deformable structural body, the deformable structural body including a ranging target array and a lighting component, the lighting component being fixed to the ranging target array; An actuator assembly is provided for moving the ranging target array to adjust its position. A laser rangefinder array, wherein the laser rangefinder array is used to acquire the distance observation value of the ranging target array; The controller is communicatively connected to the laser rangefinder array. The controller receives the distance observation value of the ranging target, calculates the actual spatial position of the ranging target array based on the distance observation value, obtains the shape deviation of the ranging target array based on the actual spatial position of the ranging target array, and generates the actual execution command of the actuator component based on the shape deviation of the ranging target array. A driver, which is communicatively connected to the controller, drives the actuator component to move based on the actual execution command.

2. The self-calibrating deformable landscape lighting structure control device according to claim 1, characterized in that: The ranging target is set at a shape-sensitive node of the deformable structure body, including at least one of the following locations: hinge point, end node, telescopic end, rising and falling vertex, boundary point of flexible covering unit, or node near lamp mounting position.

3. The self-calibrating deformable landscape lighting structure control device according to claim 1, characterized in that: The laser rangefinder array includes at least three laser rangefinders, the ranging target array includes at least one ranging target, the controller receives distance observations of the ranging target, and calculates the actual spatial position of the ranging target array based on the distance observations of the ranging target, including: Within the current control cycle, the distance observation values ​​of each laser rangefinder relative to each ranging target are integrated to form a distance observation set; For the distance observation set, invalid distance observations of the ranging target caused by over-range, insufficient echo, or obstruction are removed or marked, so that each ranging target has at least 3 valid distance observations to satisfy the spatial position calculation constraints. All valid distance observations of the ranging target are integrated to establish a valid observation index set of the ranging target. If the number of valid observations of the same ranging target is less than the preset threshold of 3, the actual execution command of the previous control cycle is maintained and the deformation speed of the actuator component is reduced or the holding mode is entered. For each ranging target, a first solution equation for the actual spatial location of the ranging target is established based on the effective observation index set, and the actual spatial location is obtained by solving the equation using the least squares method.

4. The self-calibrating deformable landscape lighting structure control device according to claim 3, characterized in that, The step of obtaining the morphological deviation of the ranging target array based on its actual spatial position includes: Based on the difference between the reference position and the actual spatial position of the ranging target, the shape deviation of the ranging target is obtained. All the shape deviations of the ranging targets are integrated to obtain a shape deviation set, and the shape deviation set is used as the shape deviation of the ranging target array.

5. The self-calibrating deformable landscape lighting structure control device according to claim 1, characterized in that, The step of generating actual execution instructions for the actuator component based on the morphological deviation of the ranging target array includes: The compensation control quantity of the actuator component is generated based on the mapping relationship between the morphological deviation and the actuator component; The compensation control quantity is added to the preset actuator reference instruction to form the actual execution instruction.

6. The self-calibrating deformable landscape lighting structure control device according to claim 1, characterized in that, It also includes updating the zero-bias compensation control value of the actuator component, including: The zero-bias compensation control quantity for the current cycle is obtained by multiplying the compensation control quantity and the preset learning rate with the zero-bias compensation control quantity of the previous control cycle.

7. The self-calibrating deformable landscape lighting structure control device according to claim 1, characterized in that, The driver drives the actuator component to move based on the actual execution command to adjust the position of the ranging target array, and further includes: Determine whether the actuator component has any abnormalities such as excessive stroke, excessive current, long-term failure of ranging, or abnormal shape deviation exceeding the threshold. When a preset abnormal condition is met, the controller outputs a safety control strategy to the driver. The safety control strategy includes at least one of stopping the actuator, limiting the movement speed, returning to the safe position, or triggering an emergency stop circuit.

8. A self-calibrating method for controlling deformable landscape lighting structures, characterized in that, include: A deformable structural body is constructed, the deformable structural body including a ranging target array and a lighting component, the lighting component being fixed to the ranging target array; The distance observation values ​​of the ranging target array are obtained based on the laser rangefinder; Based on the observed distance values ​​of the ranging target, the actual spatial position of the ranging target array is calculated by the controller; Based on the actual spatial position of the ranging target array, the morphological deviation of the ranging target array is obtained through the controller; An actuator component is constructed. Based on the shape deviation of the ranging target array, the controller generates actual execution instructions for the actuator component. A driver is used to drive the actuator component to move based on the actual execution instructions, thereby moving the ranging target array to adjust its position.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program includes executable instructions that, when executed by a processor, implement the method of claim 8.

10. An electronic device, characterized in that, include: One or more processors; A memory for storing executable instructions of the processor, which, when executed by the one or more processors, cause the one or more processors to implement the method of claim 8.

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