Cylindrical Solar Street Lighting System with Verified Handover of Rear-Following Pedestrian Illumination Responsive to Walking-Direction Reversal and Ground-Level Light Energy Recovery

Abstract

The present invention relates to a street light system that provides tracking illumination from the rear of a changed direction of travel even when a pedestrian returns along the path they came from. The street light is equipped with a rotating main light unit, a fixed basic lighting unit, a cylindrical column solar panel that wraps around the circumference of the column and is secured by upper and lower fixing rings, and a main battery. The control unit determines the inversion based on the actual movement history of the image and, upon indication of an inversion, limits the existing dangerous main light while maintaining the basic safety lighting. Once the inversion is confirmed, the new rear street light, the forward target area, and the floor reference point are re-selected, and the reverse direction tracking is confirmed by verifying the position, angle, and illuminance conditions using the angle response and light reception values ​​of the new direction generation. The handover response prior to the inversion is not reused. Subsequently, after passing the neighboring street light in the new direction of travel, a rear margin is secured, and then the standard verified handover is repeated. Light recovery and handover verification are performed using the power generation cell of the floor module and a separate light reception monitoring cell, and auxiliary charging is controlled under conditions that satisfy the charging start and maintenance criteria and the storage state of the circulating recovered power. The shadow analysis unit adjusts the illumination direction of the main light unit or the light intensity per LED channel when the shadow of the trailing person appears in front of the leading person, and reconfirms the brightness contrast of the image to clearly distinguish the shadow.

Description

Technology Field

[0001] The present invention relates to a street lighting system that changes the direction of lighting according to the movement of a pedestrian. More specifically, it relates to a street lighting system that illuminates the pedestrian and the forward walking area using the main light unit of a street light located behind a pedestrian tracked by video, transfers lighting after the pedestrian passes the neighboring street light by verifying the actual illumination state of the neighboring street light using a ground light reception signal, and recovers a portion of the light incident on the ground as electrical energy. In particular, when a pedestrian returns along the path they came from, the invention relates to a direction reversal response control that re-selects the rear main light source based on the changed direction of travel, limits channels among the existing main lights that pose a risk of glare, maintains the fixed basic lighting, and verifies the actual illumination state of the new rear main light source. Furthermore, the invention relates to a control that adjusts the main light unit to increase the brightness contrast between the shadow and the background when the shadow of a trailing pedestrian appears in front of a preceding pedestrian. Background Technology

[0002] Streetlights are installed spaced apart from each other on pedestrian walkways, sparsely populated alleys, and roads in the outskirts of cities and provincial towns. Depending on the spacing between lights, installation height, light distribution characteristics of the optical system, obstruction by trees or facilities, and road surface reflection characteristics, relatively dark areas may form between the lights. In these areas, it may be difficult for pedestrians to spot obstacles and for surrounding passersby to recognize pedestrians.

[0003] In particular, even with LED streetlights, if the light distribution of the optical system is concentrated in a specific area or the illumination ranges of adjacent streetlights do not sufficiently overlap, the section between streetlights may become relatively darker compared to the area directly beneath the streetlights.

[0004] In such dark areas, pedestrians may find it difficult to check their surroundings or feel anxious.

[0005] As prior art, Registered Publication No. 10-2431619 proposed a battery charging control device for a solar street light and a solar street light including the same, which can maximize battery charging efficiency and secure stable and continuous lighting functions by searching for and extracting charging control factors that affect the charging of a rechargeable battery and calculating parameters that allow charging at the highest efficiency based on the results and controlling the charging operation. However, it is not a structure that enables more comfortable walking by performing lighting that follows a pedestrian as in the present invention.

[0006] Therefore, a structure is required that enables more comfortable walking by illuminating necessary walking areas in response to pedestrian movement even in dark sections between streetlights, and maintaining safety during lighting transitions even when the direction of travel changes.

[0007] <Prior Art Literature>

[0008] - Registered Gazette No. 10-2431619

[0009] (Battery charging control device for solar streetlights and solar streetlight including the same) The problem to be solved

[0010] One objective of the present invention is to select a main light source located at the actual rear based on the position and direction of travel of a pedestrian to track and illuminate the pedestrian and the forward walking area, while limiting light directly projected toward the eyes of the pedestrian and other passersby. In this case, the rear reference is not fixed to the initial walking direction but is updated according to the new, validly verified direction of travel of the returning pedestrian.

[0011] Another objective of the present invention is to separate the preparation for approach of neighboring streetlights and the actual lighting transfer in a normal transfer where the direction of travel is maintained, and to dim or restore the main light of the previous streetlight only when it is verified that the neighboring streetlight is located at the rear and provides the necessary amount of light after the pedestrian has passed. When the direction is reversed, a separate objective is to switch to a new rear main light source while maintaining the basic safety light, without maintaining the dangerous main light of the existing streetlight located at the front of the new direction of travel until the verification of the new main light source is completed.

[0012] Another objective of the present invention is to utilize the floor photoelectric conversion module together as a means for recovering light energy and a means for verifying the irradiation status for each light source, while distinguishing the electrical detection paths of the two functions so that the response delay of the recovery capacitor circuit does not interfere with the transfer verification.

[0013] Another objective of the present invention is to adjust the main lighting while maintaining safe illumination so that the shadow of a following pedestrian appears in front of a preceding pedestrian, thereby clearly identifying the shadow. Furthermore, considering the additional power consumption required for recovery, the charging of floor light energy is permitted only under conditions where circulating recovery power is secured. means of solving the problem

[0014] To achieve the above objectives, a street light system according to one embodiment of the present invention is,

[0015] It includes a plurality of streetlights spaced apart along a pedestrian walkway, each having a column, a rotatable main lighting unit, a fixed basic lighting unit, a cylindrical column solar panel wrapped around the column and fixed by upper and lower fixing rings, and a main battery; an image acquisition unit for acquiring bidirectional images; a floor photoelectric conversion module; and a control unit. The main lighting unit includes a plurality of independently driveable LED channels and an optical system, and is connected to an azimuth and elevation angle driving unit and an angle detection unit.

[0016] The floor photovoltaic conversion module includes a photovoltaic conversion cell for power generation, a light receiving and monitoring cell distinct therefrom, a low-illumination harvesting circuit, a battery for recovery, and a photoresponse detection unit. The signal from the light receiving and monitoring cell is acquired via an independent detection path that does not pass through the low-illumination harvesting circuit and the battery for recovery, and the light originates from which street light using distinct light identification modulations added to the main light unit.

[0017] The control unit converts the image position to a common ground coordinate system and calculates the pedestrian's tracking identifier, location, direction of travel, and predicted position. Considering the margin of error due to position error and control delay, the control unit selects a street light located behind the pedestrian and controls the rotation and light distribution of the main light unit by distinguishing the pedestrian's forward target area and the direct light exclusion area. The control unit further includes a direction of travel reversal determination unit to distinguish actual movement in the opposite direction from stopping or turning the head, and performs safety restrictions upon indication of reversal, updates the direction generation number, and re-selects the rear main light source after the reversal is confirmed. When the shadow analysis unit detects the shadow of a trailing pedestrian within the preceding pedestrian's forward observation area, it adjusts the illumination direction of the main light unit or the light intensity per LED channel to increase the brightness contrast between the shadow and the adjacent background. After adjustment, the image is checked, and if the target contrast is reached, the corresponding lighting state is maintained.

[0018] The handover control unit pre-aligns the main light of a neighboring streetlight when a pedestrian approaches it, turning it off or ensuring that no follower light is emitted. After the pedestrian passes the projection position of the neighboring streetlight along the path and a rear clearance is secured, the main light of the neighboring streetlight is turned on, and the main light of the previous streetlight is maintained within a safe illumination range until verification is complete. This handover after passing is a procedure applicable when the direction of travel is maintained; the condition of passing that streetlight again is not applied to the initial reassignment of a streetlight that has already been repositioned to a new rear location due to a reversal of direction.

[0019] The handover control unit separates and detects the light contribution of the next street light at multiple reference points on the floor, and determines whether the lighting is satisfied by excluding the contribution of the previous main light source using the lower limit of the illuminance estimate with applied calibration information and the contribution of the basic lighting. If the handover condition is continuously established, the previous main light is gradually dimmed, and if there is no lighting assigned to other pedestrians, the pedestrian returns to the original position. When the direction is reversed, verification is performed anew using the changed forward target area, direct light exclusion area, and floor reference points, and the operation to limit the dangerous main light of the existing street light located ahead of the new direction of travel does not wait for the successful verification of the new main light source. During the transition, the safety illuminance of the fixed basic lighting is maintained.

[0020] The control unit, in conjunction with the circulating recovery power verification unit, evaluates the circulating recovery power considering conversion losses and additional power consumption at the floor photoelectric conversion output. If the circulating recovery power exceeds a positive charging initiation threshold, charging of the recovery capacitor is initiated; if it falls below a positive charge maintenance threshold that is lower than the charging initiation threshold, the recovery charging path is blocked. Between these two thresholds, the previous charging authorization state is maintained, but charging is stopped if separate protection conditions, such as a capacitor voltage upper limit, are met. The light reception monitoring function for safety verification is controlled independently of whether the recovery charging path is blocked. Effects of the invention

[0021] The present invention, configured as described above, can reduce the decrease in pedestrian visibility occurring between fixed lighting ranges by utilizing the actual rear main light source in response to pedestrian movement and continuously illuminating the front target area. Since the direct light exclusion zone and fixed basic lighting are used together, it is possible to maintain a light distribution that limits the risk of direct light without assuming that there is no glare solely due to the rear lighting. Furthermore, by linking the reversal of the actual direction of movement with the spatial position of the rear main light source, follow-up lighting can be resumed from the rear of the changed direction of travel even when retracing the path taken.

[0022] Furthermore, since the lighting is transferred after verifying the position conditions, angle reach, and actual light contribution of neighboring streetlights, the occurrence of illumination gaps can be suppressed compared to cases where the transfer is completed solely through command transmission or motor operation. As the floor light reception function is used for closed-loop verification of the transfer, the floor module is not merely an addition of a power generation device. By using the direction generation number and the new light reception section, it is possible to prevent success responses generated before the reversal from being reused for transfer authorization after the reversal, and basic safety lighting is used to compensate for gaps in tracking switching during direction verification.

[0023] In addition, when the shadow of a trailing pedestrian appears in front of a leading pedestrian, the main lighting is adjusted to increase the brightness contrast between the shadow and the background, which can help the leading pedestrian recognize the presence of the trailing pedestrian without having to turn around.

[0024] In addition, a portion of the light incident on the floor by the originally required lighting can be recovered, and charging can be stopped under conditions where the recovery circuit consumes additional power. Brief explanation of the drawing

[0025] FIG. 1 is a perspective conceptual diagram showing the overall arrangement of a bidirectional image acquisition unit, a plurality of streetlights and a floor photoelectric conversion module, and the shape of a pedestrian. FIG. 2 is a perspective view showing the appearance and partial structure of the main light section, basic lighting section, cylindrical column solar panel, main battery, and bottom photovoltaic conversion module of a street light. FIG. 3 is a block diagram showing the configuration of the control unit and the connection of the image acquisition unit, street light, floor photoelectric conversion module, and power supply unit. FIG. 3 also shows the relationship in which the direction of travel reversal determination unit (325) is connected to other functional units of the control unit (300). Figure 4 is a diagram showing the geometric relationship between the rear position condition of the pedestrian, the direct light exclusion area, the front target area, and the shadow formation. Figure 5 is a diagram showing the sequence of preparation for approach of the next street light, lighting and light reception verification after pedestrians pass, and lighting handover. Figure 6 is a diagram showing the priority branching of normal state transitions and direction reversal procedures between standby, follow, handover preparation, verification, handover, return, and safe mode. Figure 7 is a diagram showing the relationship between the detection of light source components of the floor photoelectric conversion module and the transfer permission based on the verification of the illuminance of the reference point and inspection grid. Figure 8 illustrates the relationship between the shadows of a preceding pedestrian and a following pedestrian and the forward observation area, and explains the control for increasing the brightness contrast of the shadows through main lighting adjustment and image reconfirmation after detecting the shadow of the following pedestrian. Figure 9 is a diagram showing the branch supply path of the charging permit and recovery storage unit according to the column solar charging path, the floor light energy recovery path, and the circular recovery power. Figure 10 is a diagram showing the relationship between the direct light exclusion zone and the safety mode for pedestrians and vehicle drivers moving in opposite directions. FIG. 11 is a diagram showing the relationship in which, when a pedestrian returns along the path they came from, the following light of the previous rear street light is restricted, the new rear street light is switched, and the light is transferred to the neighboring street light in the reverse direction. FIG. 12 is a diagram showing the state transitions of the forward direction reversal determination unit, including reversal candidate detection, safe switching, actual reversal confirmation, rear light source reselection, new light reception verification, and reverse direction following. FIG. 13 is a signal flowchart showing the direction generation number before and after direction reversal, the nullification of the old handover response, and the light reception verification of the new measurement section. Specific details for implementing the invention

[0026] The structure and operation of the present invention will be described below with reference to the attached drawings.

[0027] In describing the present invention, detailed descriptions of known technologies related to the present invention are omitted if it is determined that such descriptions could unnecessarily obscure the essence of the invention.

[0028] The terms used in this specification are understood in accordance with the function of the corresponding configuration and the meaning described in this specification.

[0029] For terms used differently from their general meaning, the meaning is specified in the section explaining the term.

[0030] Identical terms are used with the same meaning unless otherwise specified.

[0031] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0032] However, the embodiments of the present invention exemplified below may be modified in various other forms, and the scope of the present invention is not limited to the embodiments described below.

[0033] The following examples are intended to specifically explain the structure and operation of the present invention.

[0034] 1. Overall Layout and Terminology

[0035] In the following, embodiments are described with reference to FIGS. 1 to 13. In the drawings, the shapes of people and streetlights represent three-dimensional appearances, and their arrangement and light rays are intended to explain configuration and control relationships, so the size, width, distance, and angle of the light rays do not represent actual proportions. Identical symbols represent identical components, and '100A', '100B', '100C', and '100D' are identification symbols that distinguish multiple streetlights (100).

[0036] The pedestrian path (10) includes a sidewalk, alley, walking path, or a walkable area at the edge of a road. The roadway (20) may be adjacent to the pedestrian path (10) or be partitioned separately. Streetlights (100) are placed at intervals of, for example, 15m, and image acquisition units (200) are placed in both directions at camera installation points at intervals of, for example, 100m. These distances are design examples and are not guaranteed values ​​for mandatory installation or illumination satisfaction.

[0037] Each image acquisition unit (200) includes a first direction camera (210) and a second direction camera (220). When cameras facing each other at two installation points separated by 100m each secure an effective shooting distance of 55m along the pedestrian path, the two shooting sections overlap by approximately 10m. The actual effective section is determined by verifying the resolution, lens, installation height, night sensitivity, the influence of rain, fog, and trees, and the required tracking precision. If necessary, an additional camera or infrared auxiliary shooting is used.

[0038] "Rear" does not simply refer to the left side on a map or a specific bearing, but rather to the rear relative to the pedestrian's current or valid predicted direction of travel. The original orientation refers to the base azimuth and base elevation angles stored at the time of installation; returning the previous main light unit to the original orientation is distinct from turning off the fixed base light unit. The first direction of travel is the valid direction of travel prior to reversal, and the second direction of travel is the confirmed direction for the same pedestrian to retrace their original path. The streetlights' '100A', '100B', '100C', and '100D' are physical identification codes, and the roles of the previous, next, and new rear vary depending on each pedestrian's direction of travel and status.

[0039] The forward target area (F) is a ground area in front of the pedestrian's direction of travel where the illumination level is checked. The forward observation area is an area within this forward target area used for shadow detection and contrast evaluation, and in embodiments not separately distinguished, it is set to be identical to the forward target area (F). The direct light exclusion area (G) is a spatial area that includes the expected position of the eyes or head and an uncertainty margin. The required illumination and safety illumination refer to the lower limit values ​​of illumination applied to the corresponding verification area and the maintenance area of ​​the safety mode, respectively, and are set together with the application area. These values ​​are control standards determined according to actual installation conditions, and the numerical examples in this specification do not substitute for those standards.

[0040] The floor photoelectric conversion module (500) is placed in the transfer verification section between the floor under the streetlight and the adjacent streetlight. The number and location of the modules are determined so that at least two valid reference points exist within the forward target area during the transfer. For example, additional floor photoelectric conversion modules (500) can be placed at locations spaced 4m and 6m away from the projection point of the next column in the direction of travel. Additional floor photoelectric conversion modules (500) are placed at corresponding locations to verify walking in the opposite direction, or a continuous section type module is used. In the direction reversal corresponding section, floor photoelectric conversion modules (500) are distributed so that at least two valid reference points can be secured in the forward target area in both directions, which varies depending on the reversal position. In locations where this cannot be secured, the light reception verification is not treated as successful, and a safety mode centered on basic lighting is applied.

[0041] This floor photoelectric conversion module (500) recovers a portion of the light incident downward by the main light unit (120) and the basic light unit (130), and is also used for verifying the lighting transfer of the street light.

[0042] 2. Hardware of Streetlights and Ground Modules

[0043] The street light (100) of FIG. 2 includes a column (110), a main light section (120), a basic lighting section (130), a rotary drive section (140), and a local controller (150). The main light section (120) includes an LED channel (121) capable of controlling current, an optical system (122) that separates the illumination sections of each channel, and a light blocking section (123) that blocks unnecessary upward light or light directed toward the eyes.

[0044] The rotational drive unit (140) includes an azimuth drive unit (141), an elevation drive unit (142), an angle detection unit (143), and a brake (144) that maintains a stationary state. The azimuth drive unit (141) and the elevation drive unit (142) are equipped with a motor, a reduction gear, and a support unit. The angle detection unit (143) detects the actual angle of each axis and transmits it to the local controller (150), and the local controller (150) calculates the difference between the detected actual angle and the target angle. The brake (144) limits changes in posture caused by external forces while stationary. The azimuth operating range of the main lighting unit (120) is set to include a posture that can illuminate in two longitudinal directions of the pedestrian path, and a rotational path is used to avoid wiring twisting and mechanical limits. If it cannot be safely rotated to the required posture, another rear street light is selected or a safety mode using the basic lighting is applied.

[0045] That is, the main lighting unit (120) has a mechanical structure that can be rotated by power in the left and right directions, that is, in the longitudinal direction of the walkway (10), so that lighting can be performed by following the pedestrian.

[0046] The basic lighting unit (130) is fixed to a column (110) separately from the main lighting unit (120) and diffuses lighting downwards within a defined area of ​​the walkway. The basic lighting unit (130) has a separate drive channel so that it can operate even while the main lighting unit (120) is rotating. The light distribution of adjacent basic lighting units is designed to overlap so that the required lighting level for the walking area in safety mode can be secured, and installations where the required area cannot be secured with basic lighting alone are supplemented by an additional fixed light source or by adjusting the installation spacing. In particular, in the direction reversal response section, the lower limit of the required illumination is secured from normal times with only basic lighting so that the necessary safety illumination is maintained even if the main lighting channel, which is at risk of irradiating light exceeding the allowable limit in the direct light exclusion area (G), is first restricted. Dangerous follower main light is not continuously emitted while waiting for the basic lighting to increase.

[0047] The column solar panel (410) provided on the column (110) is mounted cylindrically along the outer circumference of the column (110), generates power through solar radiation during the day, and charges the main battery (430) through the main charging circuit (420). The main battery (430) supplies power for lighting, driving, and image acquisition through the battery protection circuit (440) and the power bus (450). The capacity of the solar panel and the battery is calculated separately according to the actual load and solar radiation conditions, and an external emergency power source may be used in combination if necessary. The column solar panel (410) is fixed to the column (110) by an upper fixing ring and a lower fixing ring and is supported independently of the rotation of the main lighting unit (120).

[0048] In one embodiment, the column solar panel (410) includes a cylindrical support sleeve that is spaced apart from the outer circumference of the column (110) and a plurality of curved panel pieces arranged on the outer circumference thereof. The plurality of curved panel pieces are distinguished into electrical output zones corresponding to different orientations, and each electrical output zone is connected to the main charging circuit (420) through an orientation-specific reverse current blocking circuit. The orientation-specific reverse current blocking circuit is a circuit distinct from the reverse current blocking section (523) of the floor photovoltaic conversion module (500). In FIG. 2, the exterior of the column solar panel (410) is shown, and the detailed illustration of the interior of the support sleeve and the orientation-specific wiring is omitted.

[0049] The main charging circuit (420) determines the power that can be charged using the voltage, current, and power generation amount for each zone in the actual installation state. The control unit (300) determines whether there is an energy surplus required for basic lighting, rotation, and verification during direction reversal by considering the remaining amount of the main battery (430) and the expected load. The power generation amount of the column solar panel (410) and the floor photovoltaic conversion module (500) is not calculated redundantly, nor is nighttime recovered energy treated as a new external energy source.

[0050] The floor photoelectric conversion module (500) includes a light-transmitting and anti-slip protective layer (511), a photoelectric conversion cell for power generation (512), a waterproof and drainage support layer (513), and a light-receiving and monitoring cell (514). The protective layer (511) supports walking loads while allowing light to pass through, and the support layer (513) protects the wiring and cell from moisture and forms a drainage path. The cell may be composed of unit panels that can be replaced during maintenance.

[0051] The photoelectric conversion cell (512) for power generation converts harvestable light into electrical output. The light receiving monitoring cell (514) is positioned in substantially the same plane as the light receiving surface of the photoelectric conversion cell (512) for power generation, but has a small light receiving area and an independent electrical terminal that are distinct from the photoelectric conversion cell (512) for power generation. The detection path of the light receiving monitoring cell (514) is connected to the photoresponse detection unit (560) without passing through the low-light harvesting circuit (520) and the recovery capacitor (530). Accordingly, changes corresponding to light identification modulation can be detected, unlike gradual changes in capacitor voltage.

[0052] The installation coordinates, light receiving surface normal direction, calibration coefficient, and maintenance history of each floor photoelectric conversion module (500) are stored in the storage unit (380). If contamination, condensation, snow accumulation, or damage to the light-transmitting layer of the floor module is detected, the corresponding module is excluded from the valid reference point for handover verification. The illuminance reference sensor (600) may be installed alongside the module or placed on the same light receiving surface as the module during installation and periodic calibration to be used for calibration.

[0053] 3. Video Tracking and Selection of Rear Streetlights

[0054] The control unit (300) of FIG. 3 includes a coordinate correction unit (310), a pedestrian tracking unit (320), a forward direction reversal determination unit (325), a rear light source selection unit (330), a light distribution planning unit (340), a handover control unit (345), a shadow analysis unit (350), a safety control unit (360), a storage unit (380), and a communication unit (390). These components may be implemented in a single control device or distributed across a control device and a local controller (150).

[0055] The coordinate correction unit (310) converts image coordinates into pedestrian path coordinates using the ground reference point surveyed at installation and the corresponding point of the image. In flat sections, a planar projection transformation is used, and in sections with slopes or steps, a section-specific planar or surveyed height map is used. The position of the light center of each street light and the position of the floor photoelectric conversion module (500) are also stored in the same coordinate system.

[0056] The pedestrian tracking unit (320) detects the person area and foot contact position in the image and maintains a tracking identifier using the position and movement characteristics of consecutive frames. The tracking identifier may be a temporary identifier that does not identify the actual name or identity. In overlapping camera sections, the tracking of the same pedestrian is linked using the consistency of position, time, and direction of movement, and duplicate assignment is prevented.

[0057] The pedestrian tracking unit (320) calculates position p, speed v, unit direction of travel d, position uncertainty, and reliability. It calculates the predicted position at the time when control is actually applied by reflecting the delay time for image acquisition, computation, communication, and motor response. If the speed is too low and the direction is unstable, the most recent direction of travel that was valid is maintained for only a limited time, and thereafter, it switches to a safe light distribution in a stationary state. However, even while the most recent direction of travel is temporarily maintained, the restriction of channels that collide with the direct light exclusion area due to the rotation of the body or head is performed separately. The direction determination by actual movement of the direction reversal determination unit (325) and the dangerous light restriction of the safety control unit (360) are performed independently of each other.

[0058] The rear light source selection unit (330) extracts candidate streetlights located behind the pedestrian's path position. As shown in FIG. 4, only candidates whose value obtained by projecting the vector obtained by subtracting the pedestrian's position p from the ground projection point l of the light center onto the unit direction of travel d is less than or equal to the negative value of the rear clearance distance b are allowed as rear-following main light sources. In Equation 1, p is the pedestrian's ground position corresponding to the measurement time of the image, and l and p are position vectors in the same ground coordinate system. The rear clearance distance b includes the basic clearance distance, the clearance for position error, and the travel distance during control delay. The predicted position at the time of control application is used to determine the forward target area and the direction of illumination, and the same delay travel distance is not added redundantly to the measurement position.

[0059]

[0060]

[0061] In mathematical formula 2, b0 is the basic margin, σ x ε₀ is the position standard deviation in the direction of travel or the corresponding error measure, z is the error margin factor, v is the speed for evaluating the distance traveled during control delay, and τ is the delay time from image acquisition to control application. b, b₀, σ x The unit of vτ is m, and z is dimensionless. zσ x When is determined statistically, it is used as an error margin corresponding to the selected confidence level and is not equated with the definitive maximum error. If the distribution of positional error cannot be verified or a definitive error limit is required, a verified upper error limit is used. If speed variation in the delay section is not ignored, v or a delay margin is set so that vτ does not underestimate the travel distance in that section. On curved roads, the path order and the projection conditions of Equation 1 are applied together, and visibility obstruction and the possibility of light traversal are also checked.

[0062] The rear light source selection unit (330) selects a main light source from among the candidates by considering the actual illumination range, rotation speed, battery level, presence of mechanical defects, and assignment to other pedestrians. If there is no rear street light at the entrance of the pedestrian walkway section or no candidate capable of reaching the required target area, the safety mode using the fixed basic lighting is used without forcibly establishing rear following.

[0063] 4. Forward Target Area and Glare Limitation

[0064] The light distribution planning unit (340) sets a forward target area F that extends a certain distance in the direction of travel from the predicted position. For example, it includes a short-range area in front of the feet and an obstacle identification area in front of it, and uses a rotatable main light unit (120) to illuminate the back or lower body of the pedestrian and the ground in front within a range that satisfies the limitations for the direct light exclusion area (G). The length and width of the area are determined according to walking speed, walking path width, and measured light distribution.

[0065] The light distribution planning unit (340) sets a direct light exclusion area G that includes the expected height and position of the eyes or head and uncertainty margin in the person detection area. The exclusion area includes not only the target pedestrian but also other pedestrians, opposing pedestrians, and the expected eye area of ​​a vehicle driver detected in the image. If the eye position is not accurately detected, a conservative area of ​​the head or vehicle interior is used.

[0066] By comparing the corrected light beam or light intensity distribution of each LED channel (121) with the direct light exclusion area G, channels predicted to exceed the allowable limit of direct light are dimmed or blocked. Physical shading of the shading unit (123) and electrical channel control are used together. If the light beam path during rotation crosses the direct light exclusion area G, the main light unit is moved in a dimmed or extinguished state, and after reaching the target angle, only safe channels are lit.

[0067] When a pedestrian turns toward the rear or side of a street light, crosses a pedestrian in the opposite direction, or a vehicle approaches, it is not considered safe solely because it is a rear light source. If the light distribution plan does not simultaneously satisfy all direct light exclusion areas G and necessary ground lighting, the corresponding main lighting is restricted and the safety light distribution of the basic lighting unit (130) is used.

[0068] The azimuth angle of the main light unit (120) is determined in the planar direction from the center of the light to the center of the forward target area F, and the downward elevation angle is defined as an angle measured downward from the horizontal plane and is determined according to the height difference and horizontal distance between the center of the light and the target point. The actual driving angle is corrected for the optical axis offset of the optical system, mechanical zero point, rotational range of motion, and ground height. The illuminance of the entire target area is estimated using the channel-specific light distribution map and floor detection values ​​measured at installation.

[0069] 5. Verified lighting handover after passing

[0070] The previous streetlight (100A) of FIG. 5 follows behind the pedestrian (P1), and the next streetlight (100B) is an adjacent streetlight in the direction of travel. When the pedestrian enters the pre-preparation section, the handover control unit (345) predicts the target angle of '100B' and aligns the main lighting unit of '100B' with the lights off. At this time, the fixed basic lighting unit of '100B' maintains the necessary basic lighting. The standard handover in the present invention is applied when the effective direction of travel is maintained. If a direction reversal of returning to the path taken is detected, the direction reversal procedure takes precedence.

[0071] While '100B' is still in front of the pedestrian, '100A' does not take over as the rear-following main light source. The illumination range of '100A' is designed to continuously illuminate not only when the pedestrian approaches '100B' but also through the section past '100B's' projection position to secure a rear clearance. If such an overlapping illumination range cannot be secured due to installation conditions, streetlights are placed or fixed basic lighting is supplemented.

[0072] When a pedestrian passes the projected position on the path of '100B' and '100B' satisfies the rear clearance condition, the handover control unit (345) lights up the main light of '100B' toward the current target area. At this time, the main light of '100A' does not return immediately, but waits for verification of the lighting of '100B' while safe illumination conditions are maintained.

[0073] The records used for handover verification include the pedestrian tracking identifier, previous streetlight identifier, next streetlight identifier, selected floor reference point identifier, control generation number, handover sequence number, command sequence number, and valid time. The control generation number is a value that distinguishes the control context based on re-initialization, etc., the handover sequence number is a value that distinguishes a single handover attempt, and the command sequence number is a value that distinguishes individual commands belonging to that handover attempt. The direction generation number is a value that distinguishes the determination context of the direction of travel within the same tracking identifier and is managed separately from the control generation number. Angle arrival responses and light reception detection responses must correspond to the corresponding records, and success responses from previous pedestrians or previous handovers / commands are not reused for the current handover. When entering a safe transition with a direction reversal candidate, the direction generation number and the direction transition reference time are updated. Only data from the angle and light reception measurement sections starting from the updated generation can be used for the handover of that generation.

[0074] The angle condition is a condition in which the error between the actual azimuth and elevation angles detected by the angle detection unit (143) and each target angle is within the allowable range, and the detection time is within the valid time. The position condition includes the rear clearance distance of '100B', tracking reliability, and the condition of light blockage by obstacles. The light intensity condition is a condition in which the set illuminance level of the front target area is satisfied by the basic lighting maintained with the main lighting of '100B' without the main light contribution of '100A', using the light response detection value and calibration information of the floor photoelectric conversion module (500) described below.

[0075] The transfer control unit (345) permits the transfer only when the position condition, angle condition, and light quantity condition are all established during a set number of consecutive detections or a maintenance time. After permission, it performs a cross-lighting operation in which the main light of '100A' is gradually lowered and the light quantity of '100B' is adjusted within the necessary range. Here, cross-lighting does not mean an operation to lower both light sources, but rather a transition that maintains the necessary illuminance with the next main light source and basic lighting while reducing the contribution of the existing main light source. During this process, the overall lighting level and glare limit are re-checked. If a reversal sign is detected, the progress of this normal transfer is stopped and switched to a direction reversal procedure. The direct light risk limit of the existing main light source takes precedence over the cross-lighting sequence of the normal transfer.

[0076] If the main lighting assignment for the corresponding pedestrian in '100A' is released and there are no assignments for other pedestrians, the main lighting section of '100A' is restored to its default position. If assignments for other pedestrians remain, the channels and positions required for lighting that pedestrian are maintained or replanned, and lighting for all pedestrians is not released collectively.

[0077] If verification fails or the number of valid reference points is insufficient, the existing lighting of '100A' is maintained within the range where safe illumination conditions are preserved, and it is not immediately restored. However, if the illumination range of '100A' reaches its limit or fails to satisfy the restrictions regarding the direct light exclusion zone, the corresponding main light is restricted, and the basic lighting of adjacent streetlights is controlled to a safe setting value. Handovers exceeding the designated maximum verification time are canceled, and the process restarts with new position, angle, and light reception values. If, due to inversion, the existing streetlight is positioned in front of the new direction of travel, rear tracking assignment for the pedestrian is stopped, and a new rear candidate is verified. In this case, existing channels that pose a risk of irradiating light exceeding the allowable limit in the direct light exclusion zone are restricted regardless of the verification results of the new candidate.

[0078] 6. Verification of floor light reception and light intensity by light source

[0079] In Fig. 7, the main light section of each street light forms light identification modulation by superimposing a small-amplitude modulation component onto the average driving current determined according to the safety light distribution. An average of zero represents the current modulation component of the detection interval, and does not mean that the average of the actual emitted light itself is zero. The average driving current after adding modulation is ensured not to increase compared to before modulation. Separable frequencies or codes are assigned to main light sources that are spatially adjacent and incident on the same floor module. If the driving range is exceeded or the waveform is clipped due to modulation, the correction information and separability of the corresponding state are re-verified.

[0080] For example, sinusoidal identification modulation of 4 kHz and 6 kHz can be applied to two adjacent main light sources, respectively, and the peak amplitude ratio of the light modulation to the average light amount can be set to 1%. The light receiving monitoring cell (514) and the preamplifier circuit are designed to have a bandwidth capable of detecting changes in the corresponding frequency, and for example, a sampling rate of 48 ksample / s and a synchronization detection interval of 20 ms or an integer multiple thereof can be used.

[0081] The above frequency, modulation amplitude ratio, sampling rate, and detection interval are design examples. For actual application, they are determined by verifying the response of the light source driving circuit and the light receiving circuit, the signal-to-noise ratio, and the effect on the camera image. The fact that the average driving current is the same does not mean that the average optical output or average power consumption is exactly the same.

[0082] The light response detector (560) converts the current signal of the light receiving monitoring cell (514) into a voltage and samples it, and then performs synchronous correlation with the assigned identification waveform or band-specific detection. As a result, even if light of '100A' and '100B' is simultaneously incident on the same floor reference point, the response amplitude of each main light source can be distinguished. If a code collision, saturation, high external light fluctuation, or an insufficient signal-to-noise ratio is detected, the corresponding detection value is invalidated.

[0083] The estimated average illuminance provided by the following main light source j to the floor reference point k is the response amplitude A per light source j,k , optical modulation amplitude ratio μ j and correction factor K j,k It can be calculated as shown in Equation 3 using . Here, j is the main light source identifier of the street light, and k is the ground reference point identifier. A j,k When is set as the peak amplitude (V) of the detector output voltage, K j,k is the response coefficient per unit illuminance (V / lx) according to the same amplitude definition, and μ j is a dimensionless quantity that is the ratio of the peak amplitude of light modulation to the average light intensity. μj and K j,k ... must be a positive valid value. The calibration coefficient reflects the spectral characteristics of the LED, the angle of incidence of light, the sensitivity of the light receiving and monitoring cell, the amplification gain, and the photoresponse of the actual driving point. The current modulation amplitude ratio is not considered as the light modulation amplitude ratio, but the photoresponse confirmed at the corresponding driving point is used, and the calibration coefficient is updated with the measurement value of the illuminance reference sensor (600) as needed.

[0084]

[0085]

[0086] The average illuminance estimate in Equation 3 and the lower limit of the illuminance estimate in Equation 4 are distinguished from each other. U j,k ε is a conservative error margin considering calibration, measurement, and model errors, and its unit is lx. Equation 4 represents U in the average roughness estimate. j,k The larger value between the result of subtracting and 0 is set as the lower limit for estimating the illuminance of the new main light source alone. This lower limit is applied within the error assumptions used and the valid calibration range. Since the product of the voltage and current of the power generation cell is the power value (W), it is not used directly as the illuminance value (lx). The conversion between the electrical response and the illuminance is performed by calibration of the defined spectral and incident angle conditions, and if it falls outside the calibration range, recalibration is performed or verification is stopped.

[0087] The transfer control unit (345) selects at least two floor reference points within the current forward target area that are not obscured by actual or expected shadows, human feet, objects, or severe contamination. For each reference point, it determines whether the sum of the lower illuminance limit of the new main light source and the conservative contribution of the maintained basic lighting is greater than or equal to the required illuminance set at that reference point. The modulation component and illuminance contribution of the previous main light source are excluded from this comparison.

[0088] The contribution of the maintained primary lighting is determined as a conservative illuminance contribution corresponding to the current primary lighting operation status and valid calibration information or photometric map. The total light reception value with the existing main lighting also turned on is not substituted for the primary lighting contribution, and if the contribution of the primary lighting cannot be effectively separated or calculated, an unverified amount of contribution is not used for the transfer authorization.

[0089] It is not concluded that all locations in the forward target area are sufficiently bright merely by satisfying multiple reference points. The light distribution planning unit (340) predicts the lower illuminance limit in the inspection grid of the target area using the channel-specific spatial light distribution map and ground shape verified at installation, and corrects the model with the measurement value of the floor reference point. It is determined that the light quantity condition is finally satisfied only when the minimum illuminance of the set grid and the necessary area-specific criteria are satisfied.

[0090] If the location of the floor reference point deviates from the target area or is obscured, it is replaced with another available reference point. If either of the two or more valid reference points or a valid light distribution model is not secured, the handover by light reception is not permitted, and a safety mode is used. The opening and shorting of the light reception monitoring cell (514), the omission of identification modulation of the main light source, and abnormal changes in the correction coefficient are handled in the same way.

[0091] 7. Detection of trailing vehicle's forward shadow and sharpening control by main lighting

[0092] In FIG. 8, the shadow analysis unit (350) predicts the position and range of the shadow using the position of the preceding pedestrian (P1), the following pedestrian (P2), the rear main light source, the height of the person area, and the shape of the pedestrian path ground. When the light source height is H on a flat surface and the representative height of the person is h, and H is greater than h, assuming the light source is approximated as a point light source and the representative height point of the person is vertically above the ground position p, the relationship between the ground projection point l of the light source, the ground position p of the person, and the shadow endpoint s corresponding to the representative height point is as follows. H and h are heights measured relative to the same flat surface, and l, p, and s are position vectors of that plane.

[0093]

[0094] Since real people have width and posture, the above equation is a descriptive equation for representative points. In actual control, rays are projected onto the ground from multiple height points of the detected person outline to calculate the shadow polygon, and on slopes, the intersection points with the surveyed ground are used. The overlap rate between the person's shadow and the follower's shadow is also calculated.

[0095] In the point light source approximation where the positions of the light source and the person are fixed, rotating the illumination direction of the main light does not move the geometric shadow endpoint of Equation 5. Rotation and LED channel control are used to adjust the illuminated area and brightness distribution. The actual shadow range and contrast are reconfirmed in the image, including the influence of light source selection, light source size, person posture, and other lighting.

[0096] The shadow analysis unit (350) checks whether the trailing pedestrian (P2) is located between the rear main light source and the leading pedestrian (P1). It detects the part of the trailing pedestrian's expected shadow (S2) that is located in the front observation area (F) of the leading pedestrian (P1) and does not overlap with the leading pedestrian's shadow (S1) by comparing it with the image. Brightness contrast can be determined by dividing the value obtained by subtracting the average brightness of the detected shadow part from the average brightness of the adjacent background by the average brightness of the adjacent background. Contrast is calculated from the same exposure and image processing conditions or from an image corrected for the difference, and if the background brightness is below the measurement lower limit, the corresponding contrast is not used.

[0097] The shadow analysis unit (350) controls the main lighting unit (120) so that when the shadow of a trailing pedestrian (P2) appears in the front observation area (F) of a leading pedestrian (P1), the shadow is clearly distinguishable. Specifically, if the brightness contrast is less than the set target contrast, the contrast is increased by adjusting the illumination direction of the main lighting unit (120) or the amount of light per LED channel (121). If it is greater than the target contrast, the contrast is maintained. The target contrast is pre-set in the storage unit (380) and distinguished from the shadow detection conditions. The shadow analysis unit (350) calculates a control value and executes it through the light distribution planning unit (340) and the local controller (150).

[0098] For example, the light intensity of the rear main light source forming the shadow is increased to illuminate the background adjacent to the shadow. Alternatively, the light intensity for the adjacent background is increased by adjusting the rotation angle of the main light unit (120) and the light intensity per LED channel. The adjustment values ​​are determined according to the light distribution map per channel and the positional relationship of the person. If necessary, another main light source satisfying the rear conditions is selected, or the main light channel illuminating the shadow from a different direction is dimmed. At this time, the lower limit of safety illumination required for the basic lighting unit (130) is maintained. The operation of directly illuminating only the interior of the shadow is not used as a means of increasing contrast. All adjustments are performed within the range that maintains safety illumination around the rear margin, the direct light exclusion area, the shadow area, and obstacles.

[0099] After adjustment, the image is analyzed again; if the contrast is greater than the target contrast, the lighting state is maintained, and if it is less than the target contrast, it is readjusted within the allowable range. If the target contrast is not reached within the set verification time, or if shadows are not detected, or if the contrast cannot be verified due to backlight, saturation, rain reflection, occlusion, etc., the sharpening control is stopped and the safe light distribution by the basic lighting unit (130) is maintained. At this time, stopping the sharpening control does not necessarily mean that the safe rear follow-up lighting is turned off. The same process is performed in cases where the safe illuminance cannot be maintained. During lighting handover or direction reversal, sharpening control is suspended, and the illuminance is checked again with the light distribution changed after adjustment.

[0100] This control is intended to help the leading pedestrian recognize the presence of the following pedestrian by using the shadow of the following pedestrian appearing ahead as a visual cue.

[0101] In other words, this is intended to allow the leading pedestrian to recognize that the following pedestrian is walking in the same direction in close proximity without having to look back, by means of the following pedestrian's shadow, thereby enabling them to prepare for any eventuality.

[0102] 8. Photovoltaic Energy Recovery and Charging Control

[0103] The power supply unit (400) of FIG. 9 includes a column solar panel (410), a main charging circuit (420), a main battery (430), a battery protection circuit (440), and a power bus (450). The low-light harvesting circuit (520) of the floor photovoltaic conversion module (500) includes a voltage / current detection unit (521), a low-light boosting unit (522), a reverse current blocking unit (523), and a charging permission switch (524), and is connected to a recovery storage unit (530).

[0104] The photoelectric conversion cell (512) for power generation converts a portion of the light actually incident from the basic lighting unit or main lighting unit at night, as well as sunlight during the day, into electrical output. Light recovery targets a portion of the light actually incident on the light-receiving surface of the floor module depending on the lighting, and does not divert necessary pedestrian lighting or front lighting to a separate receiver. Since the reflection characteristics of the ground may change due to the installation of the floor module, the required illuminance and visibility are checked through the light distribution and image of the installation state. The main lighting unit is not further rotated toward the floor panel or the average driving power of the LED is not increased for the reason of power recovery.

[0105] The circulating power recovery verification unit (550) calculates the circulating power recovery using the output voltage and output current of the photovoltaic conversion cell (512) for power generation, the power conversion efficiency under current load conditions, and additional power consumption. The additional power consumption includes the power consumption for detection, control, switching, and related light reception processing that occurs additionally due to the harvesting operation. Losses already included in the conversion efficiency are not subtracted again, and the starting energy supplied from the outside is divided and included in the evaluation interval.

[0106]

[0107] P in mathematical equation 6 net is the circulating power (W), V pv Wow I pv is the voltage (V) and current (A) measured at the output terminal of the photovoltaic conversion cell (512) for power generation, η is the power conversion efficiency from the corresponding output terminal to the input terminal of the energy recovery unit (530), Pext η is the power consumption (W) added due to the recovery operation but not already reflected in η. η is a value between 0 and 1 inclusive and is determined corresponding to the actual operating point. Starting energy supplied externally is included in the equivalent average power consumption of the same evaluation interval, and losses included in the conversion efficiency are not deducted twice. In cases where the power after conversion is directly measured at the storage stage, ηV pv The entire IPv6 is replaced with the actual value, and the power consumption included in the actual value is not deducted again. To reduce frequent switching due to short measurement fluctuations, the time-averaged power or cumulative energy of the same evaluation interval may be used.

[0108] When the circulating power exceeds a positive charging start threshold and the voltage of the recovery capacitor (530) is below the upper limit, the charging permission switch (524) is connected. During charging, if the circulating power becomes lower than the charging start threshold and falls below a positive charging maintenance threshold, or if the capacitor voltage reaches the upper limit, the switch is cut off. In the section where the circulating power is greater than the charging maintenance threshold and is lower than the charging start threshold, the previous charging permission state is maintained. However, if protection conditions such as overcharging, overcurrent, or temperature are established, the protection operation takes precedence over maintaining the state.

[0109] The recovery storage unit (530) includes a supercapacitor or an auxiliary battery. The power path from the recovery storage unit (530) to the low-power auxiliary load (570) and the power path to the auxiliary charge converter (540) are branched, and power is supplied first to the low-power auxiliary load (570). The low-power auxiliary load may include a bottom module status detection, limited-cycle communication, or a low-power monitoring circuit. Excess power is transferred to the main battery through the auxiliary charge converter (540) only when the storage voltage is above a separate excess transfer reference value and the main battery is allowed to charge.

[0110] The auxiliary charge converter (540) performs power conversion, current limiting, and reverse current blocking that match the charging voltage of the main battery. If the voltage of the recovery capacitor falls below the lower limit or if charging of the main battery is prohibited, the transfer is stopped. Overcharging, over-discharging, and temperature protection of the battery are performed separately by the battery protection circuit (440).

[0111] The minimum voltage at which a low-light harvesting circuit can be started and the minimum voltage at which it can be maintained after starting may differ. If power stored during the day in the recovery capacitor or limited main battery power is used to assist in starting, that energy is included in the consumption. Under conditions where the net recovered energy, including the energy required for starting and re-evaluation, becomes negative, the start attempt interval is increased or night harvesting is stopped.

[0112] Even if the charging path for recovery is blocked, the light receiving monitoring cell (514) and the light response detection unit (560) required for transfer verification can be maintained by receiving power from the main battery for safety control. In this case, the total power consumption of the floor module is not calculated as being lost simply because the harvesting circuit is turned off. The reliability of the lighting transfer takes precedence over the amount of power recovered.

[0113] 9. State Control and Exception Handling

[0114] In state S100 of Fig. 6, the primary lighting is maintained and image detection is performed. In state S200, a rear primary light source is assigned while tracking a valid pedestrian. In state S300, only the primary light section of the next street light is aligned to an off state, and the primary lighting section is maintained. In state S400, after the pedestrian's passage and rear conditions are met, the reception of light by light source is verified. In state S500, a handover is executed, and in state S600, the previous primary light section is restored or reassigned to another pedestrian.

[0115] The handover authorization of S500 is a logical authorization granted when all position, angle, and light intensity conditions are satisfied, and the transition to S600 is an operation performed after cross-photosensitization is completed. If a reversal indication is detected in any of the states from S100 to S600, the reversal procedures of S700 to S740 are applied first, and if a safety anomaly occurs, S900 is applied.

[0116] As shown in Fig. 10, when there are multiple pedestrians, the control unit calculates rear candidates and necessary target areas for each pedestrian and adjusts the system so that commands conflicting with a single street light or LED channel are not assigned. Pedestrians in the same direction can be grouped into a single extended target area, and pedestrians facing each other are assigned to different rear street lights if possible. If there is no available safe lighting distribution, a safety mode centered on basic lighting is used instead of rapidly cross-illuminating the person's face. When a pedestrian reverses, the direction and target area of ​​that pedestrian are recalculated first. Even if there are other pedestrians sharing the same channel, channels that encroach upon the direct light exclusion area of ​​the reversed pedestrian are restricted, and the necessary lighting for other pedestrians is replanned to a separate channel, street light, or basic lighting.

[0117] When a pedestrian stops or returns to the path they came from, the direction of travel reversal determination unit (325) distinguishes the state using position history, angle of change of direction, displacement in the opposite direction, speed and verification time. When there is a sign of reversal, the dangerous daylight is restricted first and the basic lighting is maintained, and when the reversal is confirmed, the rear streetlight of the new direction of travel is re-selected.

[0118] If the tracking identifier is exchanged or the location changes discontinuously, the direction and handover records are invalidated, and tracking is re-established in safe mode.

[0119] If camera obstruction, communication disconnection, old command, angle detection mismatch, driving overcurrent, posture instability due to wind load, or low battery level occurs, it switches to S900 safety mode. The local controller (150) checks the validity period of the recent command even without communication from the upper controller, stops dangerous main lighting operation, and applies safety settings for the fixed basic lighting.

[0120] In the event of a power shortage, prioritize suspending energy recovery or shadow contrast control, and prioritize essential basic lighting and abnormal notifications. Since lighting maintenance cannot be guaranteed if the battery's physical capacity is insufficient or the entire power supply is lost, ensure that the system is equipped with a storage capacity suitable for installation conditions and, if necessary, an external emergency power source. Upon recovery, check the angle, tracking, and calibration status, and then resume with a new handover record.

[0121] The storage of video and tracking information may be limited to the scope necessary for control and fault analysis. For example, after local analysis, only location, velocity, and temporary identifiers are transmitted, and the original video is managed separately according to a defined retention policy. This embodiment does not require the identification of specific individuals or facial recognition.

[0122] 10. Specific Design Examples and Verification Procedures

[0123] For example, streetlights '100A' and '100B' are installed at 0m and 15m respectively on a straight pedestrian walkway, and the light source height is set to 6m. Assuming a pedestrian speed of 1.2m / s, a basic clearance of 0.5m, a positional error scale of 0.15m, an error margin factor of 2, and a delay time of 0.25s, the calculated rear clearance is 1.1m. The allowable handover distance is set to 1.2m with a margin.

[0124] When the pedestrian reaches 13m, the pre-alignment of the '100B' light-off state begins, and when it reaches 16.2m and the rear condition of '100B' is met, the main light of '100B' is turned on. '100A' must be able to illuminate the necessary forward area even after this point, and, for example, it can be designed to secure an effective illumination range of up to 25m in a handover section where the end of the forward target area is within 23m.

[0125] While verifying the angle error of the next light source, the current handover sequence number, and the validity of the received light value, an example can be used in which judgments are made 10 times consecutively at 50ms intervals starting from the point when the first 50ms has elapsed after the start of verification. The verification time for this example is 0.5s, and if all judgments are valid, the handover is performed by cross-lighting for 0.3s. If the walking speed is constant at 1.2m / s, the total distance traveled during the 0.8s required for verification and cross-lighting is 0.96m. If verification is delayed, this value is not applied as is, and the irradiation range and safety mode based on the current location are re-determined.

[0126] Assuming a flat surface, a light source height of 6m, and a representative pedestrian height of 1.7m, the end of the representative shadow of a preceding pedestrian located 10m from the light source is at a position approximately 13.95m in the direction of travel from the light source's ground projection point. The end of the representative shadow of a following pedestrian located 8m is approximately 11.16m, so it can be reached ahead of the preceding pedestrian's position; however, the end of the representative shadow of a following pedestrian located 6m is approximately 8.37m, so this is not the case. Even in the former case, it is necessary to additionally verify whether there actually exists a part that does not overlap with the preceding pedestrian's own shadow and to check the contrast of that part. If the shadows completely overlap on the same straight line, it is not determined that a separate shadow of the following pedestrian has been identified.

[0127] In the example of light recovery, assuming an LED input power of 50W, a conversion ratio of the LED input power into synchrotron power of 0.35, a ratio of the emitted light incident on the bottom panel of 0.01, a photoelectric conversion efficiency of 0.18 under those incident conditions, and a storage unit conversion efficiency of 0.75, the power reaching the storage unit is approximately 0.0236 W. If the additional power consumption is 0.002 W, the net recovered power is approximately 0.0216 W, and if the same conditions are maintained for 12 hours, the net recovered energy is approximately 0.26 Wh. This is merely an arithmetic example based on assumed values, and if the actual incident light is small or the additional power consumption is large, the net recovered power may be negative.

[0128] Installation verification includes calibration of angle, current, and spatial illuminance for each main light source; separation and error detection of light identification modulation; verification of direct light in shaded areas; measurement of minimum illuminance and transient changes during transfer; simultaneous movement tests for people and vehicles; and tracking loss tests. For the floor module, output and additional power consumption are measured under dry, wet, contaminated, partially veiled, activated, and prolonged low-light conditions, and conditions are established where circular energy recovery is verified. Direction reversal tests include midpoints between streetlights, points adjacent to pillars, reversal during normal transfer verification, re-reversal immediately after reversal, head-only turning, stopping, crossing with an oncoming pedestrian, and returning to the previous camera section. It is verified whether new tracking is not permitted even when a successful response from the previous generation is injected with delay, and whether safe illuminance is maintained during switching using only basic lighting.

[0129] 11. Two-way rear-following lighting responding to pedestrians returning

[0130] The embodiments of FIGS. 11 to 13 cover the case where the same pedestrian moves in a first direction of travel, then turns their body to return to the path they came from in a second direction of travel. A distinction is made between the action of simply turning the head and the reversal of the actual walking direction. Even when the pedestrian walks backward while keeping the front of their body in the previous direction, the spatial reference of the rear is set to the actual direction of travel, but the direct light exclusion area of ​​the head and eyes is updated separately according to the actual posture.

[0131] The forward direction reversal determination unit (325) obtains a tracking identifier, foot contact position history on the ground, speed, tracking reliability, and position uncertainty from the pedestrian tracking unit (320), and stores the previously determined forward direction that was recently validly confirmed. Candidate forward directions are obtained by the position difference of multiple frames or regression estimation of the position history. If the magnitude of the position difference is below a set lower limit, the vector close to zero is not normalized and is treated as an unconfirmed direction state.

[0132] For example, if the position difference between the current time and the past time is valid, the candidate unit direction of travel can be calculated as shown in Equation 7. Here, p(t) is the corrected ground position, Δt is the positive time interval for calculating the position difference, and the norm in the denominator is the length of that position difference. For straight walkways, the reversal angle is evaluated using the inner product of this candidate direction and the previous direction of travel. For curved walkways, it is also determined whether the order of travel of the stored path segments has been reversed.

[0133]

[0134] Confirmation of inversion is performed when conditions are maintained for a set verification time in which the angle between the candidate direction and the previous direction is greater than or equal to the inversion entry angle and the speed and tracking reliability are greater than or equal to their respective lower limits, and at the end of the verification, the actual net displacement opposite to the previous direction is greater than or equal to the minimum inversion distance. The net displacement is calculated not as the sum of the absolute values ​​of frame displacements, but as the actual distance moved from the inversion start position to the opposite side of the previous direction, thereby preventing the inversion distance from accumulating solely due to positional instability.

[0135] Mathematical Equation 8 is the previous unit direction of travel d old and candidate unit direction of progress d c Angle condition and inversion starting position p turn Opposite net displacement Δs at rev It is an explanatory formula regarding. p turncan be updated to the filtered position corresponding to the foremost position on the previous direction of travel observed from immediately before the inversion candidate. θ on is the inversion entry angle and s min Δs is the minimum inversion distance. rev Wow s min The unit is m, and the angle condition is applied within the range where the angle between two unit vectors is 0° or greater and 180° or less. A separate cancellation angle is set smaller than the inversion entry angle to reduce frequent switching of judgments. Rotation of the head or body alone is not considered to satisfy this actual displacement condition.

[0136]

[0137] While stationary or when the direction of movement is undetermined, the most recent direction is referenced only for a limited time, and a new normal handover is not completed as if that direction were still the confirmed direction. However, if a direct light risk is anticipated due to body rotation, changes in the head area, or sudden changes in candidate directions, the corresponding channel is restricted even if the inversion distance or confirmation time has not yet been satisfied. In other words, while the confirmation time is applied to the actual direction confirmation, it is not applied as a waiting condition for restricting dangerous light.

[0138] S700 of FIG. 12 is in a state of detecting a reversal candidate, and S710 is in a safe transition state. In S710, the ongoing approach preparation, light reception verification, and cross-lighting are canceled or stopped, and the direct light exclusion area is expanded to include the uncertainty of the body and head positions being changed. Among the existing main lights, channels that encroach upon the exclusion area are first dimmed or turned off, and the safety illumination level set by the basic lighting unit (130) is maintained. After the reversal is confirmed, existing streetlights that have lost the rear condition are excluded from the rear-following main light source of the pedestrian.

[0139] When entering a safe transition with a reversal candidate, the handover control unit (345) increases the direction generation number corresponding to the tracking identifier and records the direction transition reference time. The handover reservation, lighting permission, cross-lighting command, and verification success records of the previous direction generation are invalidated. Even if the reversal candidate is cancelled and returns to the previous direction, the success records that were already cancelled are not restored, and verification is performed again with the updated generation. While the same candidate is maintained, the generation number is not unnecessarily increased for every video frame.

[0140] When the reversal is confirmed, the rear light source selection unit (330) in S720 recalculates the rear conditions with the new direction of travel and the pedestrian position at the updated measurement time, and plans the irradiation direction with the predicted position at the time of control application. The direction of travel in Equation 1 is changed to a new direction, and the rear margin distance in Equation 2 is re-set by considering the position uncertainty at the time of direction change and the distance traveled during the delay. A new rear street light is selected from among the street lights that satisfy the rear order on the path, the direct light exclusion area, the actual irradiation range, the mechanical operating range, and the assignment of other pedestrians together.

[0141] For example, if a pedestrian walking towards '100C' while receiving rear lighting from '100B' between '100B' and '100C' turns back, '100B' may become the front of the new direction of travel and '100C' the rear of the new direction of travel. In this case, since rear lighting is not established simply by reversing the lighting direction of '100B', the main light source is changed to a new rear candidate such as '100C'. If '100C' already satisfies the new rear clearance condition, safety alignment and light reception verification are initiated without waiting for the pedestrian to pass '100C' again.

[0142] The main light section of the new rear street light is aligned toward the new front target area while in the off state, and after checking the response of the angle detection unit (143) and all direct light exclusion areas, only the allowed channels are lit. Instead of forcing the immediate reuse of the same physical street light, other street lights further back are evaluated in cases where there is insufficient rear clearance, such as right next to the pole. Existing light dimming and shading controls are applied together to prevent the emission of main light that passes through the human eye area in the turning path.

[0143] The light distribution planning unit (340) is the forward target area F of the new direction of travel. R , updated direct light exclusion area G R and the set of valid floor reference points K within the target area R Calculate a new F R It includes the foot area in the new direction of travel and the front obstacle checking area, and the new front observation area is F R It is set as the area used for shadow detection and contrast evaluation. It is not assumed that the target area and reference point prior to inversion are valid in the current front, and at least two new reference points are selected that satisfy the current occlusion, contamination, and correction conditions. F R , G R and K R is control data that updates the existing F, G, and reference point sets for the new direction, respectively.

[0144] In S730, the optical identification modulation component of the ground is newly detected after the safety lighting of the new rear street light. The handover verification record combines the tracking identifier, direction generation number, handover sequence number, new street light identifier, K_R reference point identifier, measurement start and end times, and validity period. The angle response and light reception response must correspond to this record. Optical identification modulation itself is a means of distinguishing light sources, and the distinction of direction generations can be performed by the correspondence between the new measurement section and the control record.

[0145] As shown in FIG. 13, when the light response detection unit (560) receives a command to start detection for a new direction generation, it empties the previous cumulative / correlation detection buffer and starts a new light receiving section. Only samples of sections that start after the angle of the new street light is reached and safety lighting is activated and end within the validity period are used, and sections accumulated over the inversion are discarded. Old detection results are not used by simply attaching a new generation number or by changing the success response of the previous street light to the response of the new street light.

[0146] The position and angle conditions for the new rear streetlights, and the light contribution of the new streetlights and the contribution of the maintained basic lighting as F R If the light intensity conditions satisfying the required illuminance and the minimum illuminance of the inspection grid are met consecutively, reverse following is permitted. The contribution of the main lighting from the previous rear streetlights is excluded from this light intensity judgment. If verification fails or is delayed, the basic lighting is maintained and verified again with new data, and the failure is not compensated by relighting the existing hazardous main light located ahead of the new direction of travel.

[0147] In S740, the verified new rear streetlight is confirmed as the current rear-following main light source, and the release process regarding the corresponding pedestrian assignment to the previous streetlight, which was stopped due to the inversion confirmation, is completed. If there is no valid lighting assignment to another pedestrian for the previous streetlight, the main light unit is safely returned to the stored default position. Light emission restriction of the danger channel can be performed prior to new verification, and mechanical return to the original position and release of assignment to other pedestrians are determined separately. Therefore, safety restriction and mechanical return do not necessarily have to occur at the same time.

[0148] Once reverse tracking begins, the order of neighboring streetlights is reordered according to the new direction of travel. The order is not determined simply by the relative size of the streetlight identification numbers, but rather by pedestrian path information and the connection sequence of the current direction of travel. For example, if '100C' is the current rear main light source and '100B' is ahead of the pedestrian's direction of travel in the new direction, a standard verified handover from '100C' to '100B' is performed after the pedestrian passes '100B' and a rear clearance is secured. In this case, safe cross-lighting is applied only while both candidates are behind the new direction.

[0149] The shadow analysis unit (350) recalculates the order of the preceding and succeeding people, the positional relationship between the light source and the person, the person's own shadow, the shadow of the succeeding person, and the forward observation area in the new direction of travel. Since the previous succeeding person may be positioned in front after the reversal, the previous shadow comparison or observation success record is not used as is. After the reversal, when the light reception verification and basic safety light distribution are stabilized and the shadow of the succeeding person is detected in the new forward observation area, the illumination direction of the main light unit or the amount of light per LED channel is adjusted, and the brightness comparison is checked again.

[0150] When multiple pedestrians share the same main lighting channel and one of them reverses, the safety control unit (360) reflects both the G_R of the reversed pedestrian and the direct light exclusion areas of the other pedestrians. If only the danger channel can be independently restricted, the remaining safety channels are maintained, and if separation is impossible due to a common light axis or shared channel, the common main light is restricted while illuminating the necessary areas with other streetlights or basic lighting. Control to turn the light toward the face of the opposing pedestrian for the reversed pedestrian is not permitted.

[0151] If a pedestrian returns immediately after the reversal is confirmed or repeatedly travels back and forth over a short section, they are treated as a new reversal candidate, and the direction generation and verification targets are updated. History conditions for cancellation angle, confirmation time, and minimum reversal distance are used to reduce frequent reassignment, but hazardous light restrictions are not delayed for this reason. If the direction remains undetermined for a long time, a stop / safe state centered on the primary lighting is maintained.

[0152] When a pedestrian returns after crossing the boundary between cameras, the same tracking identifier is continued using the recent location, detection time, movement characteristics, and overlapping video segments. The pedestrian is not duplicated as a new pedestrian or the previous direction is not automatically restored simply because the previous camera is observing it again. If identity reliability is insufficient, the relevant direction and handover records are discarded, and tracking is reconfirmed while maintaining the primary lighting.

[0153] Installations intended to provide bidirectional rear following at any location shall be designed to ensure effective rear light sources and reachable illumination ranges in each direction of the relevant operational section. If no new rear candidates exist due to the end of the section, significant curvature, occlusion, failure, or mechanical limitations, the installation shall not be recorded as capable of rear following. In such cases, primary lighting shall be used, and the necessary installation performance shall be ensured through additional streetlights, additional fixed light sources, the addition of floor reference points, or adjustment of installation spacing.

[0154] In the numerical example of FIG. 11, '100A', '100B', and '100C' are placed at 0m, 15m, and 30m, respectively, and it is assumed that a pedestrian moves in a positive direction at 22m. The previous rear main light source is '100B'. If the pedestrian turns around at 22m and moves in a negative direction, the danger-following light of '100B' is limited upon the sign of reversal, and if actual movement in the opposite direction is confirmed, '100C' is selected as the new rear candidate. At this time, '100B' is located in front of the new direction of travel and is not treated as the rear main light source.

[0155] For example, a reversal approach angle of 150°, a cancellation angle of 110°, a minimum reversal distance of 0.6m, a lower limit for direction confirmation speed of 0.25m / s, and a confirmation time of 0.4s can be used. If it moves from 22m to 21.4m at 1.2m / s over 0.5s and the reversal angle is 180°, the angle, distance, time, and speed conditions of this example are satisfied. The new rear distance from '100C' is 8.6m, which is greater than the example rear clearance of 1.2m. These figures are not actual test values ​​or fixed standards applicable to all pedestrians, but are set according to movement characteristics and tracking precision.

[0156] F when a pedestrian is at 21.4m R It is defined to include the area in front of the pedestrian's feet and the obstacle verification area ahead of the direction of travel. For example, the area from 15.4m on the ground coordinates to just before the pedestrian's position is defined as FR, and within that, the area from 15.4m to 194m can be used as the front obstacle verification area. If there are valid floor modules at the 16m and 18m points of this area, K R It can be selected as a verification point, and the area in front of the foot from 194m to just before the pedestrian position is also checked to see if the required illumination is met using basic lighting and a corrected photometric map. Since the 24m and 26m reference points before the inversion are outside the new front area, their success values ​​are not reused. Subsequently, when the pedestrian moves 138m or less, the 15m '100B' secures a rear clearance of at least 12m in the new direction of travel, allowing the normal handover from '100C' to '100B' to be verified. The target area and verification points are continuously updated according to movement during verification.

[0157] Each component of the present invention may be distributed or integrated to the extent that the described functional relationships are maintained. However, specific components and control conditions in the claims are elements that determine the scope of rights according to the claims, and are not omitted from the claims or automatically replaced by other components merely because embodiments exist. Explanation of the symbols

[0158] 100 : Streetlight 110 : Pillar 120 : Casting List 130 : Lighting Department I Visited 140 : Rotary drive unit 150 : Local controller 200 ; Image acquisition unit 300 : Control unit 310 : Coordinate correction unit 320: Pedestrian tracking unit 325 : Direction of travel reversal judgment unit 330 : Rear light source selection unit 340 : Photometric Planning Department 345 : Transfer control unit 350 : Shadow Analysis Department 360 : Safety control unit 400 : Power supply unit 500 : Floor photovoltaic conversion module 512: Photovoltaic conversion cell for power generation 560 : Photoresponse detector 600 : Illumination reference sensor P1 / P2 : Leading / Following pedestrians S1 / S2: Shadows of preceding / following pedestrians F / F R : Forward target area / Forward target area after inversion G / G R : Direct light exclusion area / Direct light exclusion area after inversion K R Set of valid bottom reference points after inversion l, p, s : Ground projection point of the light center, pedestrian position, shadow endpoint d, H, h: Unit direction of travel, light source height, representative pedestrian height

Claims

Claim 1 A plurality of streetlights spaced apart from each other along the pedestrian walkway; an image acquisition unit for acquiring images of two opposite directions of the pedestrian walkway; a plurality of floor photoelectric conversion modules disposed on the floor of the pedestrian walkway; The system includes a plurality of streetlights, an image acquisition unit, and a control unit connected to the plurality of floor photoelectric conversion modules. Each streetlight comprises a pole, a main light unit including a plurality of independently driven LED channels and a light-blocking unit, a rotational drive unit for changing the azimuth and elevation angles of the main light unit, an angle detection unit for detecting the actual azimuth and elevation angles of the main light unit, a basic light unit fixed separately from the main light unit to provide downward basic lighting, a pole solar panel having a cylindrical outer shape surrounding the outer perimeter around the axis of the pole and fixed to the pole by an upper fixing ring and a lower fixing ring, independent of the rotation of the main light unit, and a main battery charged by the output of the pole solar panel. Each floor photoelectric conversion module comprises a power generation photoelectric conversion cell that converts light incident on the floor into electricity, a light receiving monitoring cell disposed on substantially the same plane as the light receiving surface of the power generation photoelectric conversion cell and having a separate electrical terminal, a recovery storage unit, and the recovery unit It includes a low-light harvesting circuit for charging a capacitor, and a light response detection unit for acquiring a signal from a light receiving monitoring cell that does not pass through the low-light harvesting circuit and the capacitor for recovery, and the control unit converts the position of a pedestrian in the image into a common ground coordinate system and calculates a predicted position reflecting the pedestrian's tracking identifier, direction of travel, and control delay, sets a rear margin including a basic margin, a margin for position error, and a travel distance due to the control delay, and selects as the previous street light among candidate street lights located behind the pedestrian's path the value obtained by projecting a vector from the pedestrian's ground position corresponding to the measurement time of the image toward the ground projection point of the main light center onto the unit vector of the direction of travel, such that the value is less than or equal to the negative value of the rear margin.The main light section of the aforementioned previous street light is rotated to track and illuminate the pedestrian's forward target area set according to the pedestrian and the predicted position, while setting a direct light exclusion area that includes the expected position of the pedestrian's or vehicle driver's eyes or head detected in the image and a margin of positional uncertainty, and limiting the light intensity of the LED channel where the direct light exclusion area and the illumination beam intersect so that the direct light in the direct light exclusion area does not exceed an allowable limit, and during a normal handover where the pedestrian's direction of travel is maintained, when the pedestrian approaches the next street light adjacent to the direction of travel, the main light section of the said next street light is pre-aligned in an off state, and after the pedestrian passes the projected position on the path of the said next street light and the rear margin distance for the said next street light is secured, the main light section of the said next street light is turned on while maintaining the main light of the said previous street light within a safe illumination range, and during the said normal handover, a modulation component in which the average of the detection section is zero is superimposed on the predetermined average driving current for the main light sections of the said previous street light and the next street light to form a distinguishable light identification modulation that does not increase the average driving current, and the Using a light response detection unit, at least two floor reference points within the forward target area that are free of obstruction and have valid calibration information detect the light response component corresponding to the light identification modulation of the next street light by separating it from the light response component of the previous street light; a position condition in which the next street light secures the rear clearance distance and satisfies conditions regarding tracking reliability and light shading by obstacles; an angle condition in which the error between the actual azimuth and elevation angles detected by the angle detection unit and each target angle is within an allowable range; and a lower limit of illuminance estimation calculated by applying the calibration information reflecting the light modulation amplitude ratio, spectral characteristics, and incident angle to the light response component of the next street light separated at each floor reference point, and reflecting a conservative error margin for calibration, measurement, and model errors, and the sum of the conservative illuminance contribution of the maintained basic lighting is greater than or equal to the required illuminance set at each floor reference point.The normal handover is authorized only when the light quantity condition, which satisfies the minimum illuminance and area-specific illuminance standards set by the lower limit of illuminance estimation of the inspection grid of the forward target area in the light distribution map corrected by the detection value of the floor reference point, while excluding the contribution of the main light of the previous street light, is met during the number of consecutive detections or the maintenance time determined by the detection value within the valid time corresponding to the tracking identifier, the identifiers of the previous street light and the next street light, the identifier of the selected floor reference point, the control generation number, the current handover sequence number, and the command sequence number; and when the normal handover is authorized, cross-lighting is performed to gradually dim the main light of the previous street light while adjusting the light quantity of the next street light within the necessary range; and even during the cross-lighting, the satisfaction of the lighting level of the forward target area and the restrictions on the direct light exclusion area is checked; and when the cross-lighting is completed and the lighting assignment to the corresponding pedestrian of the previous street light is released, and there is no lighting assignment to another pedestrian of the previous street light, the main light of the previous street light is returned to the stored default position; and if the verification of the normal handover fails or the If at least two valid floor reference points and either one of a valid light distribution map is not secured, the above-mentioned normal handover is not permitted; the lighting of the above-mentioned previous streetlight is maintained within the range where safe irradiation conditions are maintained, while ensuring safety lighting by the above-mentioned basic lighting unit; when signs of the pedestrian's direction reversal are detected and a safe transition for the reversal candidate is entered, the ongoing normal handover is stopped, the direction generation number corresponding to the above-mentioned tracking identifier is updated, and the direction transition reference time is recorded to invalidate the handover reservation, lighting permission, cross-lighting command, and verification success record of the previous direction generation; and the above-mentioned direct light exclusion area is updated by reflecting the position of the person's eye or head and positional uncertainty during the change.The existing main lighting channel where the direct light exclusion area and the illumination beam intersect is dimmed or turned off without waiting for the reversal of the direction of travel to be confirmed or the verification of the new rear street light to be completed, while maintaining the safety illumination level set by the basic lighting unit alone; the condition that the angle between the previous direction of travel and the candidate direction of travel in the pedestrian's position history is greater than or equal to the set reversal entry angle, and the speed and tracking reliability are each greater than or equal to the set lower limit, is maintained for a set verification time; and at the end of the verification, if the actual net displacement moved to the opposite side of the previous direction of travel relative to the reversal start position is greater than or equal to the set minimum reversal distance, the reversal of the direction of travel is confirmed, and rear tracking assignment for the corresponding pedestrian to the existing street light that has lost the rear condition in the changed direction of travel is stopped; the rear margin distance is re-set by reflecting the position uncertainty during the direction change and the distance traveled due to the control delay; and the street light that satisfies the rear margin distance condition and is available for illumination based on the changed direction of travel and the pedestrian's position at the updated measurement time is re-selected as the new rear street light, and if the new rear street light already satisfies the rear margin distance condition of the changed direction of travel, the pedestrian passing through the new rear street light again Perform the following reset and verification without waiting, update the predicted position by reflecting the changed direction of travel, re-establish the forward target area and the direct light exclusion area according to the changed direction of travel and the updated predicted position, and at least two floor reference points within the forward target area that are free of occlusion and have valid calibration information, align the main light of the new rear street light to an off state, check the response of the angle detection unit and whether the restriction on the direct light exclusion area is satisfied, and light a safe channel, form the light identification modulation that is distinguishable from other street lights without increasing the average driving current in the main light of the new rear street light, and initialize the previous light reception detection buffer.The photoresponse component corresponding to the light identification modulation of the new rear street light is detected solely by the detection value of the new light reception section that starts after the angle is reached and safety lighting of the new rear street light and ends within the validity period, while discarding the detection value of the light reception section accumulated before and after the inversion; and the sum of the position and angle conditions for the new rear street light, the light modulation amplitude ratio corresponding to the photoresponse component of the new rear street light, the lower limit of illuminance estimation applying the calibration information and conservative error margin, and the conservative illuminance contribution of the maintained basic lighting is greater than or equal to the required illuminance of each floor reference point, and the light quantity condition in which the lower limit of illuminance estimation of the inspection grid of the corrected light distribution map satisfies the set minimum illuminance and area-specific illuminance standards is all established during the number of consecutive detections or the maintenance time determined by the tracking identifier, the updated direction generation number, the current handover sequence number, the identifiers of the new rear street light and the floor reference point, and the valid detection value corresponding to the start and end times and validity period of the new light reception section, wherein the reverse rear tracking lighting of the new rear street light Confirm, and at this time, the contribution of the main lighting of the existing streetlight is excluded from the judgment of the above light intensity conditions; when the above reverse rear-following lighting is confirmed, the process of releasing the rear-following assignment for the corresponding pedestrian of the existing streetlight that stopped due to the loss of rear conditions in the changed direction of travel is completed, and if there is no lighting assignment for other pedestrians, the main lighting unit is returned to the saved basic posture; however, if there is no candidate to select the above new rear streetlight or if the verification of the above new rear streetlight fails, the safety lighting of the above basic lighting unit is maintained, and the main lighting channel that does not satisfy the restriction on the above direct light exclusion area of ​​the existing streetlight located in front of the new direction of travel is not relit; and after the reverse rear-following is confirmed, the order of neighboring streetlights is re-determined according to the pedestrian path information and the changed direction of travel, and the above normal handover is repeated.A street lighting system characterized by being configured such that when the circular recovered power, considering power conversion losses and power consumption added to the recovery operation at the output of the power generation photovoltaic conversion cell, exceeds a positive charging start threshold value and the voltage of the recovery capacitor is below a set upper limit, charging is initiated by the low-illumination harvesting circuit; during charging, if the circular recovered power decreases to a charging maintenance threshold value set as a positive value lower than the charging start threshold value or if the voltage of the recovery capacitor reaches the upper limit, the charging is stopped; in the section where the circular recovered power is greater than the charging maintenance threshold value and is below the charging start threshold value, the previous charging permission state is maintained, but charging is stopped if a protection condition is established; and for the purpose of recovering light energy, the irradiation direction of the main light unit is not changed or the average driving power of the LED is not increased. Claim 2 In claim 1, the control unit further includes a shadow analysis unit that calculates the shadow area of ​​each pedestrian using the position and height of the rear main light source, the position and height of the preceding and following pedestrians, and the shape of the ground of the walkway; when the reversal of the pedestrian's direction of travel is confirmed, the order of preceding and following, the shadow area, and the forward observation area used for shadow detection among the forward target area are recalculated based on the changed direction of travel, the record of successful shadow observation of the previous direction is invalidated, and the brightness contrast of the previous direction is not reused; the shadow analysis unit confirms whether the following pedestrian is located between the rear main light source and the preceding pedestrian, detects in the image a portion of the following pedestrian's expected shadow that is located in the forward observation area of ​​the preceding pedestrian and does not overlap with the shadow of the preceding pedestrian, calculates the brightness contrast between the detected portion and the adjacent background under the same exposure and image processing conditions or an image corrected for the difference, but if the brightness of the adjacent background is below the measured lower limit, the corresponding brightness contrast is not used for control; and if the portion is detected and the brightness contrast is less than the set target contrast, the shadow analysis unit increases the brightness contrast Calculate a control value that adjusts at least one of the illumination direction of the main light and the light intensity per LED channel to control the main light, and after adjustment, re-analyze the image and maintain the lighting state if the brightness contrast is greater than or equal to the target contrast, and readjust within an allowable range if it is less than the target contrast, while maintaining the restrictions on the rear clearance distance and the direct light exclusion area, and performing the adjustment only within a range where the lower limit of the estimated illuminance around the shadow area and obstacles is greater than or equal to the set safety illuminance, and re-check the illuminance with the changed light distribution after adjustment, and withhold adjustment to increase the brightness contrast while the normal handover or direction reversal procedure is in progress.A street light system characterized by being configured such that, after a reversal of direction, the light reception verification for the new rear street light and the basic safety light distribution are stabilized and the shadow of the following pedestrian is detected in the new forward observation area, the adjustment is resumed, but if the part or the brightness contrast cannot be verified, or if the target contrast is not reached within a set verification time, or if the safety illuminance cannot be maintained, the adjustment is stopped and the safety light distribution by the basic lighting unit is maintained. Claim 3 In claim 1, the column solar panel comprises a cylindrical support sleeve spaced apart from the outer circumference of the column and a plurality of curved panel pieces arranged on the outer circumference thereof, wherein the plurality of curved panel pieces are distinguished into electrical output zones corresponding to different orientations, and each electrical output zone is connected to a main charging circuit through an orientation-specific reverse current blocking circuit, and the main charging path from the column solar panel to the main battery and the recovery charging path from the power generation photovoltaic conversion cell to the recovery storage unit are distinguished from each other, and the low-light harvesting circuit comprises a voltage / current detection unit, a low-light boosting unit, a reverse current blocking unit, and a charging permission switch, and the recovery storage unit is respectively connected to an auxiliary charging conversion unit that performs unidirectional charging to a low-power auxiliary load and the main battery through mutually branching power paths, and the control unit applies the power conversion efficiency from the corresponding output terminal to the input terminal of the recovery storage unit to the product of the output voltage and output current of the power generation photovoltaic conversion cell detected by the voltage / current detection unit, and the The circular recovered power is evaluated by subtracting the power consumption that is added due to the recovery operation but is not reflected in the power conversion efficiency, without redundantly deducting losses already included in the power conversion efficiency; if the start is assisted by an external power source, the start energy is converted into the equivalent average power consumption of the same evaluation interval and included in the additional power consumption; if the circular recovered power exceeds the charging start threshold value and the voltage of the recovery capacitor is below the upper limit, the charging permission switch is connected; if the circular recovered power becomes below the charging maintenance threshold value or the voltage of the recovery capacitor reaches the upper limit, the charging permission switch is cut off; in the interval where the circular recovered power is greater than the charging maintenance threshold value and is below the charging start threshold value, the previous charging permission state is maintained, but charging is stopped if protection conditions regarding overcharging, overcurrent, or temperature are established, and power is preferentially supplied from the recovery capacitor to the low-power auxiliary load,A street light system characterized by being configured to transfer surplus power to the main battery through the auxiliary charge converter only when the voltage of the recovery capacitor is above a surplus transfer reference value and charging of the main battery is permitted, and to stop the transfer when the voltage of the recovery capacitor is below a lower limit or charging of the main battery is prohibited, and to supply power necessary for the monitoring and detection operations of the light receiving monitoring cell and the photoresponse detector from the main battery regardless of whether the recovery charging path is blocked, thereby maintaining verification of the lighting transfer.

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