Illumination system, lamplight illumination method and electronic device

Abstract

The present application belongs to the technical field of intelligent control. Disclosed are an illumination system, a lamplight illumination method and an electronic device. The illumination system comprises an illumination lamp and a processor, wherein the processor is connected to the illumination lamp, and the processor is used for: controlling the illumination lamp to perform illumination, so as to obtain an initial illumination pattern meeting an initial pattern display requirement; when an attitude change occurs in the illumination lamp, determining an illumination adjustment strategy on the basis of an attitude change amount of the illumination lamp, or determining an illumination adjustment strategy on the basis of a target pattern display requirement and the attitude change amount of the illumination lamp; and performing illumination adjustment on the illumination lamp on the basis of the illumination adjustment strategy, so as to obtain a target illumination pattern corresponding to the initial illumination pattern. The processor adjusts an illumination strategy in a timely manner on the basis of the attitude change amount of the illumination lamp, such that the target illumination pattern corresponding to the initial illumination pattern before the attitude change is obtained; and by means of illumination adjustment, the drift of an illumination pattern caused by the attitude change of the illumination lamp, e.g. the shaking of the illumination lamp, is reduced, and thus the illumination interaction experience is high.

Description

Lighting system, lighting method and electronic equipment

[0001] This application claims priority to Chinese patent application No. 202311692373.5 filed on December 8, 2023, entitled “Lighting system, lighting method and electronic device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of intelligent control technology, and in particular to a lighting system, a lighting method and an electronic device. Background Art

[0003] With the development of intelligent control technology, it is now possible to control the lighting systems of electronic devices while they are in motion. For example, when a vehicle is in motion, the headlights in the lighting system project light onto the road ahead, forming a lighting pattern that indicates the vehicle's trajectory and intentions, improving driving safety. Summary of the Invention

[0004] This application provides a lighting system, a lighting method, and an electronic device to control a lighting lamp for lighting. The technical solution is as follows:

[0005] In a first aspect, a lighting system is provided, comprising a lighting lamp and a processor, wherein the processor is connected to the lighting lamp; wherein the processor is used to control the lighting lamp to illuminate, obtain an initial lighting pattern that meets the initial pattern display requirement, and, in the case where the lighting lamp changes its posture during the lighting process, the processor is further used to determine a lighting adjustment strategy based on the amount of change in the lighting lamp's posture, or the processor is used to determine the lighting adjustment strategy based on a received target pattern display requirement and the amount of change in the lighting lamp's posture; after determining the lighting adjustment strategy, the processor is further used to adjust the lighting lamp according to the lighting adjustment strategy to obtain a target lighting pattern corresponding to the initial lighting pattern, wherein the initial lighting pattern is obtained earlier than the target lighting pattern. wherein the target pattern display requirement and the initial pattern display requirement indicate different lighting patterns to be displayed, i.e., determining the lighting adjustment strategy based on the target pattern display requirement and the amount of change in the lighting lamp's posture is a strategy for adjusting the lighting lamp when the lighting lamp changes its posture and the pattern formed by the lighting also changes.

[0006] When the posture of the lighting lamp changes, the processor will promptly adjust the lighting strategy according to the amount of posture change of the lighting lamp to obtain a target lighting pattern corresponding to the initial lighting pattern before the posture change. By adjusting the lighting, the drift of the lighting pattern caused by the posture change of the lighting lamp is reduced. For example, the jitter of the lighting pattern caused by the jitter of the lighting lamp is corrected, thereby providing a stable lighting pattern and improving the lighting interaction experience.

[0007] In one possible implementation, a lighting fixture includes multiple light sources; a processor is configured to control at least one of the multiple light sources to illuminate the fixture, thereby obtaining an initial lighting pattern. Furthermore, during lighting adjustment of the lighting fixture based on a lighting adjustment strategy, the processor may further adjust at least one of the number or brightness of the multiple light sources participating in the lighting according to the lighting adjustment strategy to obtain a target lighting pattern. The processor can synchronously manage the illumination of the multiple light sources, resulting in high management efficiency. Furthermore, by adjusting the number and / or brightness of the multiple light sources participating in the lighting, a target lighting pattern corresponding to the initial lighting pattern can be obtained, thereby reducing lighting adjustment complexity and increasing adjustment efficiency.

[0008] In one possible implementation, a lighting system is applied to an electronic device, and a processor is connected to at least one of a locator and an auxiliary system included in the electronic device, wherein the auxiliary system is used to assist in the movement of the electronic device. In this connection relationship, the processor can be used to obtain at least one of the first operating data of the locator and the second operating data of the auxiliary system, and determine the change in the posture of the lighting lamp based on at least one of the first operating data and the second operating data. The change in the posture of the lighting lamp can be determined using the operating data of different modules, which is a simple and efficient determination process. Furthermore, the processor can determine the change in the posture of the lighting lamp using either the first operating data of the locator, the second operating data of the auxiliary system, or both the first operating data and the second operating data, regardless of the operating data used, and is widely applicable.

[0009] In one possible implementation, the lighting system further includes a jitter detection module connected to the processor. The jitter detection module is configured to measure movement parameters of the jitter detection module and transmit the movement parameters to the processor. The processor is further configured to determine a posture change of the jitter detection module based on the movement parameters, and to convert the posture change of the jitter detection module based on a first transformation relationship between the jitter detection module and the lighting fixture to obtain the posture change of the lighting fixture. The jitter detection module, which is configured to perform jitter detection, has dynamic response capabilities and can automatically measure its own movement parameters in the presence of posture changes. The posture change of the lighting fixture determined based on the timely movement parameters output by the jitter detection module is highly accurate.

[0010] Moreover, the present application does not limit the process by which the processor determines the posture change of the lighting lamp. It can be determined based on the operating data of the locator and the auxiliary system, or based on the movement parameters of the jitter detection module. The lighting system can be applicable to a variety of scenarios with high flexibility and wide versatility.

[0011] In one possible implementation, the processor is configured to determine a first posture of the jitter detection module based on movement parameters of the jitter detection module, and determine a posture change of the jitter detection module based on historical postures of the jitter detection module and the first posture, wherein the historical posture is determined based on historical parameters of the jitter detection module, which are measured when the jitter detection module posture does not change. By comparing the historical postures with the first posture, the posture change of the jitter detection module can be determined, and the posture change determination process is simple and efficient.

[0012] In one possible implementation, a lighting system is applied to an electronic device, the electronic device further comprising an intermediate module, the intermediate module being associated with the posture of the lighting lamp and the shake detection module, respectively. The processor is further configured to obtain a first coordinate transformation relationship between the shake detection module and the intermediate module, obtain a second coordinate transformation relationship between the intermediate module and the lighting lamp, and determine a first transformation relationship based on the first coordinate transformation relationship and the second coordinate transformation relationship. Because the intermediate module is associated with the posture of the lighting lamp and the shake detection module, respectively, the coordinate transformation relationships between the intermediate module and the lighting lamp and between the intermediate module and the shake detection module are readily obtainable parameters. Indirect determination of the first transformation relationship between the lighting lamp and the shake detection module is achieved through the intermediate module, reducing the complexity of obtaining the first transformation relationship and improving acquisition efficiency.

[0013] In one possible implementation, taking the intermediate module as an image acquisition device connected to a processor, the processor is further configured to control the illumination of the marker by the light. The image acquisition device is configured to capture an image of the marker, obtain a captured image, and transmit the captured image to the processor. The captured image includes the marker and a projection of the marker's illumination. The processor is configured to determine the marker data and projection data based on the received captured image, and to determine a second coordinate transformation relationship based on the marker data and projection data. Dynamic calibration of the second coordinate transformation relationship is achieved through image acquisition, and the second coordinate transformation relationship can be dynamically adjusted based on the changes in the light's posture. The resulting second coordinate transformation relationship is more consistent with the current posture change scenario and has higher accuracy.

[0014] In one possible implementation, at least one of the jitter detection module and the intermediate module is disposed in the lighting lamp. This application does not limit the location of the jitter detection module and the intermediate module; both can be in the lighting lamp, or one of them can be in the lighting lamp, which is highly flexible.

[0015] In one possible implementation, the processor is configured to determine lighting compensation parameters based on a second transformation relationship between the lighting lamp and the projection surface on which the initial lighting pattern is located, as well as the change in the lighting lamp's posture. A lighting adjustment strategy is then determined based on the lighting compensation parameters. The lighting compensation parameters are used to correct changes in the lighting pattern formed by the lighting lamp under the lighting lamp's posture change, as predicted by the processor. By first predicting changes in the lighting pattern under the lighting lamp's posture change, and then determining the lighting compensation parameters based on the predicted lighting pattern, the lighting adjustment strategy determined based on the lighting compensation parameters can correct changes in the lighting pattern caused by the current posture change, providing a highly timely correction.

[0016] In one possible implementation, the processor is disposed in the lighting lamp. By disposing the processor in the lighting lamp, the connection between the processor and the lighting lamp is realized, the connection method is simple, and the lighting adjustment efficiency is higher.

[0017] In a second aspect, a lighting method is provided, which is applied to a lighting system, wherein the lighting system includes a lighting lamp and a processor, and the processor is connected to the lighting lamp. The method includes: controlling the lighting lamp to perform lighting by the processor to obtain an initial lighting pattern that meets the initial pattern display requirements; determining a lighting adjustment strategy based on the posture change of the lighting lamp when the posture of the lighting lamp changes, or determining the lighting adjustment strategy based on the received target pattern display requirements and the posture change of the lighting lamp; and adjusting the lighting of the lighting lamp according to the lighting adjustment strategy by the processor to obtain a target lighting pattern corresponding to the initial lighting pattern, wherein the initial lighting pattern is obtained earlier than the target lighting pattern.

[0018] In one possible implementation, the lighting lamp includes multiple light sources, and the processor controls the lighting lamp to perform lighting to obtain an initial lighting pattern that meets the initial pattern display requirements, including: controlling at least one light source among the multiple light sources to perform lighting by the processor to obtain the initial lighting pattern; and adjusting the lighting of the lighting lamp according to a lighting adjustment strategy by the processor to obtain a target lighting pattern corresponding to the initial lighting pattern, including: adjusting at least one of the number or brightness of the multiple light sources participating in the lighting by the processor according to the lighting adjustment strategy to obtain the target lighting pattern.

[0019] In one possible implementation, a lighting system is applied to an electronic device, and a processor is connected to at least one of a locator and an auxiliary system included in the electronic device, and the auxiliary system is used to assist the movement of the electronic device; before determining the lighting adjustment strategy based on the posture change of the lighting lamp, it also includes: obtaining at least one of the first operating data of the locator and the second operating data of the auxiliary system through the processor, and determining the posture change of the lighting lamp based on at least one of the first operating data and the second operating data.

[0020] In one possible implementation, the lighting system also includes a jitter detection module, which is connected to the processor; before determining the lighting adjustment strategy based on the posture change of the lighting lamp, it also includes: measuring the movement parameters of the jitter detection module through the jitter detection module, and sending the movement parameters to the processor; determining the posture change of the jitter detection module based on the movement parameters through the processor, and converting the posture change of the jitter detection module according to the first transformation relationship between the jitter detection module and the lighting lamp to obtain the posture change of the lighting lamp.

[0021] In one possible implementation, determining, by a processor, an amount of change in the posture of the jitter detection module based on movement parameters includes: determining, by the processor, a first posture of the jitter detection module based on the movement parameters of the jitter detection module; determining an amount of change in the posture of the jitter detection module based on a historical posture of the jitter detection module and the first posture, wherein the historical posture is determined based on historical parameters of the jitter detection module, and the historical parameters are measured when the posture of the jitter detection module does not change.

[0022] In one possible implementation, the lighting system is applied to an electronic device, which also includes an intermediate module, which is associated with the posture of the lighting lamp and the jitter detection module, respectively; before converting the posture change of the jitter detection module according to the first transformation relationship between the jitter detection module and the lighting lamp, it also includes: obtaining the first coordinate transformation relationship between the jitter detection module and the intermediate module through a processor, obtaining the second coordinate transformation relationship between the intermediate module and the lighting lamp, and determining the first transformation relationship based on the first coordinate transformation relationship and the second coordinate transformation relationship.

[0023] In one possible implementation, the intermediate module is an image acquisition device, which is connected to a processor; obtaining a second coordinate transformation relationship between the intermediate module and the lighting lamp includes: controlling the lighting lamp to illuminate the marker through the processor; performing image acquisition on the marker through the image acquisition device to obtain a captured image, and sending the captured image to the processor, wherein the captured image includes the marker and a projection generated by the illumination of the marker; determining the marker data and the projection data based on the received captured image through the processor, and determining the second coordinate transformation relationship based on the marker data and the projection data.

[0024] In a possible implementation, at least one of the vibration detection module and the intermediate module is configured in the lighting lamp.

[0025] In one possible implementation, a lighting adjustment strategy is determined based on the amount of change in the posture of the lighting lamp, including: determining, by a processor, a lighting compensation parameter based on a second transformation relationship between the lighting lamp and the projection surface where the initial lighting pattern is located, and the amount of change in the posture of the lighting lamp, and determining the lighting adjustment strategy based on the lighting compensation parameter, the lighting compensation parameter being used to correct the change in the lighting pattern formed by the lighting lamp when the posture changes, as predicted by the processor.

[0026] In a possible implementation, the processor is configured in the lighting lamp.

[0027] According to a third aspect, an electronic device is provided, on which a lighting system is installed, and the lighting system is used to execute the second aspect or any possible lighting method according to the second aspect.

[0028] In one possible implementation, the electronic device includes a vehicle, a drone, or a robot.

[0029] In a fourth aspect, a computer-readable storage medium is provided, in which at least one instruction is stored. The instruction is loaded and executed by a processor to implement the lighting method in the second aspect or any possible implementation of the second aspect.

[0030] In a fifth aspect, a computer program (product) is provided, which includes a computer program / instructions, and the computer program / instructions are executed by a processor to enable an electronic device to implement the lighting method in the second aspect or any possible implementation of the second aspect.

[0031] In a sixth aspect, a communication device is provided, comprising: a transceiver, a memory, and a processor. The transceiver, the memory, and the processor communicate with each other via an internal connection path; the memory is configured to store instructions; and the processor is configured to execute the instructions stored in the memory to control the transceiver to receive signals and to control the transceiver to transmit signals. When the processor executes the instructions stored in the memory, the processor performs the method according to the second aspect or any possible implementation of the second aspect.

[0032] Optionally, there are one or more processors and one or more memories.

[0033] Optionally, the memory may be integrated with the processor, or the memory may be provided separately from the processor.

[0034] In the specific implementation process, the memory can be a non-transitory memory, such as a read-only memory (ROM), which can be integrated on the same chip as the processor or be set on different chips. This application does not limit the type of memory and the setting method of the memory and the processor.

[0035] In a seventh aspect, a chip is provided, comprising a processor for calling and executing program instructions or codes stored in a memory, so that a communication device equipped with the chip executes the methods in the above aspects.

[0036] In an eighth aspect, another chip is provided, comprising: an input interface, an output interface, a processor and a memory, wherein the input interface, the output interface, the processor and the memory are connected through an internal connection path, and the processor is used to execute the code in the memory. When the code is executed, the processor is used to execute the methods in the above aspects.

[0037] It should be understood that the beneficial effects achieved by the technical solutions of the second to eighth aspects of this application and the corresponding possible implementation methods can be referred to the technical effects of the first aspect and its corresponding possible implementation methods mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIG1 is a schematic structural diagram of a lighting system provided in an embodiment of the present application;

[0039] FIG2 is a schematic structural diagram of another lighting system provided in an embodiment of the present application;

[0040] FIG3 is a schematic diagram showing an initial lighting pattern provided in an embodiment of the present application;

[0041] FIG4 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

[0042] FIG5 is a schematic structural diagram of another lighting system provided in an embodiment of the present application;

[0043] FIG6 is a schematic structural diagram of another lighting system provided in an embodiment of the present application;

[0044] FIG7 is a schematic diagram of a processing process of a processor provided in an embodiment of the present application;

[0045] FIG8 is a schematic diagram of a processing process of another processor provided in an embodiment of the present application;

[0046] FIG9 is a flow chart of a lighting method provided in an embodiment of the present application;

[0047] FIG10 is a flow chart of another lighting method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The terms used in the embodiments of this application are only used to explain the specific embodiments of this application and are not intended to limit this application. To make the purpose, technical solutions and advantages of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0049] With the development of intelligent control technology, it is now possible to control lighting lamps through intelligent control technology to improve the accuracy of the lighting pattern obtained. Taking the vehicle driving scene as an example, the headlights configured on the vehicle serve as lighting lamps. Through intelligent control technology, the headlights are controlled to illuminate the road surface to form different lighting patterns, so as to display the vehicle's driving trajectory and driving intention through the lighting pattern. For example, the headlights can emit light from the front to form a lighting pattern that matches the lane line to indicate the driving intention is to drive in a straight line, or the headlights can emit light from the front to form a lighting pattern with a turning arc. This lighting pattern matches the lane line of the current lane and the lane line of the lane to be changed, thereby indicating the driving intention is to change lanes. In some cases, the above-mentioned headlight lighting patterns can be called light carpets.

[0050] The embodiment of the present application provides a lighting system that can perform lighting to display a lighting pattern. Figure 1 is a structural schematic diagram of a lighting system provided by the embodiment of the present application. Referring to Figure 1, the lighting system 1 includes a lighting lamp 11 and a processor 12. The processor 12 can be a module with data processing functions such as a microcontroller unit (MCU) or a system on chip (SOC). Optionally, the lighting lamp 11 and the processor 12 are connected. The embodiment of the present application does not limit the connection method between the lighting lamp 11 and the processor 12. A communication connection can be established through a wired or wireless network as shown in Figure 1. Or as shown in Figure 2, the processor is configured in the lighting lamp, thereby realizing the connection between the processor and the lighting lamp.

[0051] Exemplarily, the processor 12 obtains an initial pattern display requirement, which indicates an initial pattern that needs to be formed by the illumination of the lighting lamp 11. For example, if the lighting lamp 11 is a headlight configured on a vehicle, and a pedestrian is detected passing in front of the vehicle, it is necessary to emit light on the road where the pedestrians are walking to form a zebra crossing pattern. In this case, the initial pattern is a zebra crossing. Alternatively, if the lighting lamp 11 is a machine light configured on a drone, the user of the lighting system 1 needs to emit light to performer A on the stage through the machine light to achieve a spotlight effect on performer A. In this case, the initial pattern display requirement is to form a circle within the reference area where performer A is located, and the initial pattern is a circle located in the reference area.

[0052] Optionally, the processor 12 can receive an initial pattern display requirement input by a user of the lighting system 1. Taking the drone lighting in the above embodiment as an example, the user inputs the object identification of the tracking object and the shape information of the reference area through the terminal connected to the drone. The terminal determines the initial pattern display requirement based on the received information and sends the initial pattern display requirement to the lighting system 1 in the drone. The processor 12 in the lighting system 1 thus receives the initial pattern display requirement. Alternatively, the processor 12 can obtain environmental information of the operating environment of the lighting system 1 and determine the initial pattern display requirement based on the environmental information. For example, for the above-mentioned scenario where the vehicle lights form a zebra crossing, the processor 12 receives the environmental information of the vehicle, determines that a pedestrian is passing in front based on the environmental information, and automatically triggers the zebra crossing lighting requirement of the lighting lamp 11. That is, the processor 12 determines the initial pattern display requirement based on the environmental information to display a zebra crossing pattern on the moving surface of the pedestrian in front.

[0053] Regardless of the method used by processor 12 to obtain the initial pattern display requirements, after obtaining the initial pattern display requirements, processor 12 can control illuminator 11 to illuminate based on its connection with illuminator 11, thereby obtaining an initial lighting pattern that meets the initial pattern display requirements. For example, processor 12 determines the coordinate points of the initial pattern on the projection surface and controls illuminator 11 to emit light toward the determined coordinate points, thereby obtaining an initial lighting pattern composed of at least one coordinate point. The initial lighting pattern has the same shape as the initial pattern and can be the same or different in size. For example, the initial lighting pattern is a proportionally enlarged version of the initial pattern.

[0054] In one possible scenario, the lighting fixture 11 includes multiple light sources, any of which can be used to emit light. The light source can be a light-emitting diode (LED) or other device with a light-emitting function. The controller 12 controls at least one of the multiple light sources to illuminate and obtain an initial lighting pattern. For example, the controller 12 determines a target light source from the multiple light sources that needs to emit light, as well as the light emission angle of each target light source. The controller 12 determines the origin of the light through the specified light source from the target light source, and then limits the light emission angle of the origin to control the light to fall on a specified coordinate point.

[0055] Exemplarily, the controller 12 controls the lighting fixtures 11 to form an initial lighting pattern that satisfies the initial pattern display requirements, meaning that the initial lighting pattern satisfies at least one of the display requirements for pattern display position, shape, and brightness. For example, the shape difference between the initial lighting pattern and the initial pattern is within a tolerance range, meaning that the shape difference between the initial lighting pattern and the initial pattern is less than a shape threshold. This shape threshold can be set based on experience or adjusted based on the application scenario. For example, taking the aforementioned initial lighting pattern of a zebra crossing as an example, when the overlap between the zebra crossing light and the pedestrian's movement trajectory is greater than a first threshold, the initial lighting pattern's lighting position satisfies the position display requirement. For example, taking a drone tracking performer A as an example, the lighting fixtures 11 emit light toward performer A, forming a circle centered at performer A's feet. An image capture device captures an image of performer A, and the brightness of performer A in the captured image is determined. If the brightness is not less than a second threshold, the initial lighting pattern's brightness satisfies the brightness display requirement. The first and second thresholds can be set based on experience or adjusted based on the application scenario.

[0056] During the process of lighting by the lighting lamp 11, the lighting lamp 11 may change its posture. For example, the lighting system 1 may shake or move due to the operator's operation, causing the lighting lamp 11 to change its posture. Alternatively, the lighting lamp 11 is configured on an electronic device, and the electronic device is moving. During the movement, the lighting lamp 11 may change its posture. Taking the electronic device as the drone in the above embodiment as an example, the drone may change its motion trajectory during operation, thereby causing the headlight on the drone to change its posture. Taking the electronic device as a vehicle as an example, when the vehicle is traveling on an unstructured road or the vehicle itself accelerates and decelerates, it will cause the vehicle to shake, and the headlights configured on the vehicle will also shake and change their posture. Among them, the unstructured road surface refers to a non-flat road surface with speed bumps, potholes, etc.

[0057] The embodiments of the present application do not limit the relationship between the driving surface and the projection surface of the electronic device. The driving surface and the projection surface can be the same surface, that is, the electronic device moves on the projection surface. For example, the electronic device is a vehicle as shown in Figure 3. The vehicle is driving on the road. During the driving process, the vehicle turns on the headlights to project light onto the road, forming an initial lighting pattern in the shape of a cloud. In this case, the driving surface is the road surface and the projection surface is also the road surface. Optionally, the driving surface and the projection surface can also be different surfaces. For example, in the above embodiment, the drone emits light to performer A. The projection surface is the stage surface where performer A is located, and the driving surface is the drone's flight surface.

[0058] Regardless of the circumstances causing the position change of the lighting fixture 11, the processor 12 will detect the position of the lighting fixture 11 and, if a position change is detected, adjust the lighting. In one possible implementation, the processor 12 obtains the position change of the lighting fixture 11. When the position change is greater than zero or greater than an error threshold, the processor 12 determines that a position change has occurred and triggers the lighting adjustment of the lighting fixture 11. The error threshold can be set based on experience or adjusted according to the application scenario. The processor 12 can obtain the position change of the lighting fixture 11 through two methods, including but not limited to the following:

[0059] Acquisition method 1: When the processor 12 is connected to at least one of the locator and the auxiliary system included in the electronic device, the processor 12 obtains at least one of the first operating data of the locator and the second operating data of the auxiliary system, and determines the posture change of the lighting lamp 11 based on at least one of the first operating data and the second operating data.

[0060] FIG4 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Referring to FIG4 , the electronic device includes an illumination system 1, a locator, and an auxiliary system, each of which is connected to the illumination system 1. For example, the locator refers to a device capable of determining the location of the electronic device, and may be a global positioning system (GPS) or a laser radar. Because the location of an electronic device can also be determined using a simultaneous localization and mapping (SLAM) algorithm for images, the locator may, in some cases, also be a camera or other device used for image acquisition.

[0061] In one possible implementation, the first operating data output by the locator is the position information of the electronic device. For example, describing the positioning of an object in three-dimensional space requires six degrees of freedom: three degrees of freedom for position and three degrees of freedom for attitude. The three degrees of freedom for position include waist, shoulder, and elbow, and the three degrees of freedom for attitude include pitch, yaw, and roll. Therefore, the processor 12 can determine the parameters of the three degrees of freedom corresponding to the attitude based on the six degrees of freedom of the first operating data, thereby obtaining the current attitude of the electronic device.

[0062] Exemplarily, the auxiliary system is used to assist the movement of the electronic device. Taking the electronic device as a vehicle as an example, the auxiliary system is, for example, an advanced driving assistance system (ADAS). The auxiliary system includes various sensors to sense the surrounding environment of the electronic device in real time, collect environmental data to sense the movement state of the electronic device, and the second operating data output by the auxiliary system indicates the movement state of the electronic device. The processor 12 can determine the current posture of the electronic device based on the second operating data. For example, the angle between the electronic device and the horizontal plane is determined based on the movement direction to obtain the pitch included in the current posture.

[0063] The processor 12 can determine the current posture of the vehicle based on the operating data of at least one of the auxiliary system or the locator. Thereafter, based on the posture correspondence between the lighting lamp 11 and the electronic device, the second posture of the electronic device and the posture correspondence can be determined when the electronic device is in the current posture. Thereafter, the absolute value between the current second posture of the lighting lamp 11 and the reference posture is calculated to obtain the posture change of the lighting lamp 11. Among them, the reference posture indicates the initial state of the lighting lamp 11 in which the posture has not changed. The meaning of the unchanged posture of the lighting lamp 11 is similar to the meaning of the unchanged posture of the jitter detection module. Please refer to the relevant description in the second acquisition method, which will not be repeated here.

[0064] Acquisition method two: For the case where the lighting system 1 also includes a jitter detection module, the processor 12 determines the posture change of the jitter detection module based on the movement parameters of the jitter detection module measured by the jitter detection module, and converts the posture change of the jitter detection module according to the first transformation relationship between the jitter detection module and the lighting lamp 11 to obtain the posture change of the lighting lamp 11.

[0065] Figure 5 is a structural diagram of a lighting system provided in an embodiment of the present application. Referring to Figure 5, the lighting system 1 also includes a shake detection module 13, and the shake detection module 13 is connected to the processor 12. The shake detection module 13 can be any device that can measure the shake of the lighting system 1, including but not limited to an inertial measurement unit (IMU), a gyroscope or a suspension system. Figure 6 shows the connection relationship of the modules in the lighting system 1 when the electronic device to which the lighting system 1 is applied is a vehicle. In Figure 6, the shake detection module 13 is an IMU, and the lighting lamp 11 is a car lamp. Referring to Figure 6, the car lamp and the IMU respectively establish communication connections with the processor 12.

[0066] Because the jitter detection module 13 and the headlight 11 are configured within the same lighting system 1, any change in the posture of the headlight 11 will also cause the jitter detection module 13 to change its posture. For example, when a vehicle jolts over a speed bump, the headlights in the vehicle will vibrate, and the IMU in the vehicle will also vibrate. This means that there is a correlation between the posture change of the jitter detection module 13 and the posture change of the headlight 11. Therefore, the processor 12 can determine the posture change of the headlight 11 based on the posture change of the jitter detection module 13.

[0067] Exemplarily, after the jitter detection module 13 measures the movement parameters of the jitter detection module 13, it sends the movement parameters to the processor 12, and the processor 12 determines the posture change of the jitter detection module 13 based on the movement parameters of the jitter detection module 13. In one possible case, the processor 12 can directly perform speed measurement through the jitter detection module 13 to obtain the movement parameters indicating the posture. The processor 12 can also first calibrate the jitter detection module 13 and use the calibrated jitter detection module 13 to perform speed measurement to obtain the movement parameters. Among them, calibrating the jitter detection module 13 includes estimating the zero bias and noise matrix of the jitter detection module 13, as shown in Figure 7, for example. In Figure 7, the jitter detection module 13 is an IMU. Before using the IMU for measurement, the processor 12 will also estimate the zero bias of the IMU to determine the initial posture of the IMU when it is stationary. The processor 12 can use the error state Kalman filter algorithm to fuse the IMU estimated zero bias and noise matrix, or use other methods to estimate the zero bias and noise matrix of the IMU. The above process of estimating the zero bias and the noise matrix may be referred to as internal parameter calibration of the jitter detection module 13 in some cases.

[0068] Regardless of whether the processor 12 calibrates the jitter detection module 13, the movement parameters of the jitter detection module 13 can be obtained based on the jitter detection module 13. In one possible scenario, the movement parameters include a reference acceleration and a reference angular velocity. The reference acceleration indicates the speed change of the jitter detection module 13, and the reference angular velocity indicates the angle change of the jitter detection module 13. The reference angular velocity can be the angular velocity of the pitch angle and the angular velocity of the roll angle of the jitter detection module 13. The pitch angle indicates the angle between the jitter detection module 13 and the horizontal plane, which is used to determine the vertical jitter of the jitter detection module 13. The roll angle indicates the angle between the jitter detection module 13 and the plumb bob plane, which is used to determine the left and right jitter of the jitter detection module 13. The plumb bob plane refers to a plane perpendicular to the ground.

[0069] Continuing with the example of a vehicle's IMU as the shake detection module 13, the IMU includes an accelerometer and a gyroscope. The accelerometer measures acceleration, and the gyroscope measures angular velocity. During the movement of the lighting system 1, the IMU observes the acceleration and angular velocity to obtain initial acceleration and initial angular velocity.

[0070] For example, as shown in FIG8 , the processor 12 in FIG8 includes a posture estimation module, an illumination compensation module, and an external parameter estimation module. The posture estimation module is used to obtain the posture change of the jitter detection module 13. In FIG8 , the IMU that completes the zero bias estimation will output acceleration data, which is also the initial acceleration. Since the jitter detection module 13 has a dynamic response characteristic and will measure the movement, the jitter detection module 13 will continuously measure and obtain the initial acceleration and initial angular velocity. The processor 12 obtains the initial acceleration and initial angular velocity sent by the jitter detection module 13 based on the communication connection with the jitter detection module 13, and determines the movement parameters based on the received initial acceleration and initial angular velocity.

[0071] Optionally, the processor 12 may use the received initial acceleration and initial angular velocity as movement parameters, that is, directly use the initial acceleration as a reference acceleration and the initial angular velocity as a reference angular velocity, thereby obtaining movement parameters. In one possible scenario, the processor 12 may also verify the received initial acceleration and initial angular velocity to obtain movement parameters with higher accuracy. Exemplarily, the processor 12 mutually verifies the initial acceleration and initial angular velocity to obtain a reference acceleration and a reference angular velocity. Mutual verification refers to the processor 12 using acceleration to verify angular velocity drift.

[0072] Since the direction of gravity remains vertically downward, when the shake detection module 13 is located on a non-horizontal plane, the gravitational acceleration generated by gravity can be decomposed into horizontal acceleration and vertical acceleration, and the magnitude of the horizontal acceleration and the vertical acceleration is related to the angle between the shake detection module 13 and the horizontal plane, that is, the magnitude of the pitch angle. Therefore, the pitch angle of the shake detection module 13 can be determined by the gravitational acceleration, and then the angular velocity of the shake detection module 13, that is, the initial angular velocity, can be optimized based on the determined pitch angle. Exemplarily, the process of the processor 12 verifying and obtaining the movement parameters includes but is not limited to: verifying the initial acceleration to obtain a reference acceleration; obtaining the movement acceleration of the electronic device; determining the gravitational acceleration of the shake detection module 13 based on the reference acceleration and the movement acceleration; verifying the initial angular velocity based on the gravitational acceleration to obtain a reference angular velocity.

[0073] For example, the processor 12 can determine the abnormal acceleration in the initial acceleration, remove the abnormal acceleration, and obtain a reference acceleration. Since the accelerometer used by the jitter detection module 13 is a multi-axis accelerometer, the measured acceleration is the acceleration component of each axis in multiple axes. The processor 12 can determine the abnormal acceleration in the acceleration component and remove the abnormal acceleration, and obtain a reference acceleration value based on the removed acceleration components. The process of removing the abnormal acceleration can be implemented by using a chi-square check. For example, the abnormal acceleration is filtered through a threshold through a chi-square check, thereby avoiding a reduction in the calibration accuracy caused by the abnormal acceleration. The threshold used for filtering can be set based on experience or by setting the implementation environment.

[0074] After the processor 12 verifies the initial acceleration and obtains the reference acceleration, it can verify the initial angular velocity through the reference acceleration. In one possible implementation, since the acceleration of the shake detection module 13 includes the gravitational acceleration caused by gravity and the movement acceleration of the shake detection module 13, and the movement of the shake detection module 13 is generated based on the movement of the electronic device, for example, the movement acceleration of the IMU in the vehicle is equal to the movement acceleration of the vehicle itself. Therefore, the movement acceleration of the electronic device can be determined as the movement acceleration of the shake detection module 13, thereby removing the movement acceleration in the reference acceleration and obtaining an accurate gravitational acceleration. Optionally, after obtaining the reference acceleration, the processor 12 determines the difference between the reference acceleration and the gravitational acceleration constant. When the difference is not greater than the error threshold set based on experience, it is determined that there is no movement acceleration in the shake detection module 13, that is, the shake detection module 13 is in a stationary or uniformly moving state, and the reference acceleration can be directly determined as the gravitational acceleration. If the difference is greater than the error threshold, the shake detection module 13 determines that there is movement acceleration, such as accelerating forward or decelerating forward. In this case, the movement acceleration included in the reference acceleration needs to be eliminated. The gravitational acceleration constant is, for example, 9.8 meters per second squared (m / s2).

[0075] The embodiment of the present application does not limit the process of the processor 12 obtaining the movement acceleration of the electronic device. Taking the electronic device as a vehicle as an example, the processor 12 can access the center console of the vehicle to obtain the movement acceleration of the vehicle. Alternatively, the processor 12 obtains the movement acceleration sent by other speed measuring devices. The other speed measuring devices are, for example, radar speed measuring instruments configured on the side of the road. The processor 12 provides the device identification of the electronic device, such as the license plate number, and accesses the radar speed measuring instrument according to the license plate number to determine the movement acceleration of the electronic device. Alternatively, the processor 12 uses the decomposition vectors of the different axial directions of the reference acceleration as the decomposition vector consistent with the movement direction of the electronic device as the movement acceleration. Taking the decomposition of the reference acceleration into the horizontal rightward x-axis vector and the vertical downward y-axis direction as an example, since the electronic device moves to the right, the movement direction is consistent with the x-axis direction, so the x-axis vector is determined as the movement acceleration.

[0076] After determining the mobile acceleration, the processor 12 can decompose the reference acceleration along different axes and subtract the value of the mobile acceleration direction to obtain the gravitational acceleration. After obtaining the gravitational acceleration, the processor 12 determines the pitch angle of the jitter detection module 13 based on the decomposition vector of the gravitational acceleration, verifies the initial angular velocity based on the pitch angle, corrects the drift of the initial angular velocity, and obtains the reference acceleration. In one possible case, the influence of mobile acceleration on gravitational acceleration can be suppressed by adjusting the complementary filtering method. That is, as shown in Figure 8, after performing the chi-square verification of the initial acceleration, the complementary fusion factor is also adjusted according to the magnitude of the mobile acceleration, thereby suppressing the influence of mobile acceleration on the verification result.

[0077] After obtaining the movement parameters, the processor 12 can estimate the posture of the jitter detection module 13 based on the movement parameters and determine the posture change of the jitter detection module 13. In one possible implementation, the process of the processor 12 determining the posture change of the jitter detection module 13 includes: determining the first posture of the jitter detection module 13 based on the movement parameters of the jitter detection module 13, and determining the posture change of the jitter detection module 13 based on the historical posture and the first posture of the jitter detection module 13. The historical posture is determined based on the historical parameters of the jitter detection module 13, and the historical parameters are measured when the posture of the jitter detection module 13 does not change. The process of determining the historical posture of the jitter detection module 13 based on the historical parameters is similar to the process of determining the first posture of the jitter detection module 13 based on the movement parameters. Please refer to the relevant content of determining the first posture based on the movement parameters, and will not be repeated here.

[0078] In one possible implementation, the processor 12 determines a quaternion based on a reference acceleration and a reference angular velocity, where the quaternion indicates the rigid body rotation of the shake detection module 13. The processor 12 determines the first posture of the shake detection module 13 at the moment when the initial acceleration and initial angular velocity are output using the quaternion. Subsequently, the processor 12 obtains the historical posture of the shake detection module 13, where the historical posture indicates the posture of the shake detection module 13 at a non-shaking moment. A non-shaking moving moment can be a non-moving moment, i.e., a stationary moment, or a moment when there is no shaking during movement, such as a moment of constant speed driving on a structured road. The definition of a structured road corresponds to the definition of an unstructured road in the above embodiment, and refers to a flat road surface without potholes, speed bumps, or the like. The processor 12 calculates the absolute value between the first posture and the historical posture, and determines the absolute value as the posture change of the shake detection module 13, thereby determining the change in posture of the shake detection module 13 when shaking occurs relative to when there is no shaking.

[0079] After determining the amount of change in the posture of the shake detection module 13, the processor 12 may perform a conversion based on the first transformation relationship between the shake detection module 13 and the lighting lamp 11, thereby obtaining the amount of change in the posture of the lighting lamp 11. For example, the processor 12 may directly calibrate the first transformation relationship between the shake detection module 13 and the lighting lamp 11, or may perform indirect calibration through other intermediate modules. In one possible case, the electronic device using the lighting system 1 further includes an intermediate module, and the intermediate module is associated with the postures of the lighting lamp 11 and the shake detection module 13, respectively. The processor 12 may then obtain the first coordinate transformation relationship between the shake detection module 13 and the intermediate module, obtain the first coordinate transformation relationship between the intermediate module and the lighting lamp 11, and determine the first transformation relationship based on the first coordinate transformation relationship and the second coordinate transformation relationship.

[0080] The posture association between two modules means that the coordinate transformation relationship between the two modules can be calibrated. For example, in the case of a vehicle, as shown in Figure 7, the intermediate module can be a camera installed on the vehicle. Since the light 11 emits light and the camera records images by receiving light, the camera and light 11 complement each other. The coordinate transformation relationship between the camera and light 11 can be calibrated, and the camera and light 11 are posture-associated.

[0081] In a possible implementation, the transformation relationship between different modules can be obtained by calibrating the extrinsic parameter matrix. The extrinsic parameter matrix of any module is used to describe the position and posture of any module in the world coordinate system, including a rotation matrix and a translation vector. The rotation matrix indicates the direction and orientation of any module, that is, the posture, and the translation vector indicates the position of any module. By calibrating the extrinsic parameter matrices between different modules, the transformation relationship between the position and posture of different modules can be obtained, that is, the rigid body transformation relationship. The embodiment of the present application does not limit the world coordinate system involved, and it can be a northeast celestial coordinate system, a north-east celestial coordinate system, or other types of world coordinate systems. The northeast celestial coordinate system refers to a coordinate system in which the x-axis points to the east, the y-axis points to the north, and the z-axis points to the sky. The north-east celestial coordinate system refers to a coordinate system in which the x-axis points to the north, the y-axis points to the east, and the z-axis points to the sky.

[0082] Optionally, the transformation relationship between different modules can be obtained by offline calibration of the external parameter matrix. Taking the transformation relationship between different modules as the first coordinate transformation relationship between the jitter detection module 13 and the intermediate module, the jitter detection module 13 is an IMU, and the intermediate module is a camera as an example, in the field of intelligent driving, the vehicle is usually jointly calibrated with the IMU and the camera to determine the driving intention based on the current driving condition and driving environment of the vehicle. Before the joint calibration, the external parameter matrix between the IMU and the camera needs to be calibrated first. Therefore, based on the vehicle operation requirements, the vehicle manufacturer will offline calibrate the external parameter matrix of the camera and IMU before the vehicle leaves the factory to obtain the first coordinate transformation relationship. The subsequent processor 12 can access the storage space storing the performance parameters in the process of obtaining the first coordinate transformation relationship, and extract the first coordinate transformation relationship included in the performance parameters, that is, the IMU-camera external parameter transformation obtained by the optimal external parameter estimation shown in Figure 7.

[0083] In one possible scenario, the transformation relationship between different modules can also be obtained by online calibration of the extrinsic parameter matrix. Taking the transformation relationship between different modules as the second coordinate transformation relationship between the intermediate module and the illuminator 11, where the intermediate module is an image acquisition device, as an example, the process of determining the second coordinate transformation relationship includes but is not limited to: the processor 12 controls the illuminator 11 to illuminate the marker; the image acquisition device captures an image of the marker to obtain a captured image, which is sent to the processor 12. The captured image includes the marker and the projection of the marker illumination; the processor 12 determines the marker data and projection data based on the received captured image, and determines the second coordinate transformation relationship based on the marker data and projection data.

[0084] Referring to FIG8 , in FIG8 , the electronic device used in the lighting system 1 is a vehicle, the lighting lamp 11 is a headlight, and the image acquisition device is a camera on the vehicle. When the vehicle turns on the headlights while driving, the light from the headlights will fall on some markers, obtaining the headlight projection corresponding to the markers. The markers and the headlight projections are photographed by the camera on the vehicle to obtain marker data and projection data. The processor 12 obtains the captured image captured by the camera, determines the marker data and projection data based on the captured image, adopts the method of minimizing the reprojection error, establishes an extrinsic parameter optimization equation based on the marker data and projection data, solves the extrinsic parameter matrix between the headlight and the camera through the extrinsic parameter optimization equation, and obtains the second coordinate transformation relationship. Among them, the extrinsic parameter optimization equation can be a nonlinear optimization equation for optimizing extrinsic parameters. The process of calibrating the extrinsic parameter matrix through the reprojection error can be called motion compensation based on image input in some cases as shown in FIG7 , and the camera-headlight extrinsic parameter transformation is determined through motion compensation.

[0085] The embodiments of the present application do not limit the markers involved in the calibration of the external parameter matrix. During the movement of the electronic device, the markers may be road signs and trees that are moved past. When the above-mentioned online calibration process occurs in the detection phase, the markers may be patterns such as a checkerboard used for external parameter calibration. In addition, the multiple projections obtained during the external parameter calibration process may be obtained by illuminating multiple markers, or by illuminating the same marker at different angles. In one possible case, at least one of the jitter detection module 13 and the intermediate module is configured in the lighting lamp 11.

[0086] After obtaining the first coordinate transformation relationship and the second coordinate transformation relationship, the processor 12 may determine the first transformation relationship based on the first coordinate transformation relationship and the second coordinate transformation relationship. For example, the determination process may include multiplying the first coordinate transformation relationship and the second coordinate transformation relationship and determining the resulting product as the first transformation relationship. Because the first transformation relationship indicates the posture correspondence between the shake detection module 13 and the lighting fixture 11, if the posture change of the shake detection module 13 is known, the posture change of the lighting fixture 11 in this case can be determined based on the posture change of the shake detection module 13 and the first transformation relationship. Optionally, the process of converting the posture change of the shake detection module 13 using the first transformation relationship may be multiplying the first transformation relationship and the posture change of the shake detection module 13, and determining the resulting product as the posture change of the lighting fixture 11.

[0087] In addition, the processor 12 can first determine the posture change of the shake detection module 13, and then determine the posture change of the lighting lamp 11 based on the posture change of the shake detection module 13. The processor 12 can also first determine the first posture of the shake detection module 13, determine the second posture of the lighting lamp 11 based on the first posture of the shake detection module 13, and then calculate the absolute value between the second posture of the lighting lamp 11 and the reference posture to obtain the posture change of the lighting lamp 11. Exemplarily, the processor 12 converts the first posture according to the first transformation relationship to obtain the second posture. The conversion process can be the matrix multiplication of the above embodiment. Afterwards, the processor 12 obtains the reference posture of the lighting lamp 11 when the posture has not changed, and determines the posture change of the lighting lamp 11 based on the reference posture and the second posture. The reference posture can also be obtained by converting the historical posture of the shake detection module 13 through the first transformation relationship.

[0088] Exemplarily, the processor 12 may select either acquisition method 1 or acquisition method 2 to determine the attitude change of the lighting lamp 11 based on the structure of the lighting system 1. For example, when the electronic device using the lighting system 1 only includes a locator, acquisition method 1 is selected to obtain the attitude change of the lighting lamp 11. Alternatively, when a shake detection module 13 is configured in the lighting system 1, acquisition method 2 is selected as shown in FIG7 to perform IMU attitude estimation based on the movement parameters output by the shake detection module 13 to obtain the first attitude of the IMU, thereby obtaining the attitude change of the lighting lamp 11 based on the first attitude. The processor 12 may also combine acquisition method 1 and acquisition method 2 to obtain the attitude change of the lighting lamp 11. For example, as shown in FIG8 , in the process of performing IMU attitude estimation based on the movement parameters, the attitude estimated based on the movement parameters is also verified with reference to the operating data output by the locator or the auxiliary system to obtain the first attitude. In FIG8 , the locator is GPS and the auxiliary system is ADAS.

[0089] After obtaining the amount of change in the posture of the lighting lamp 11, the processor 12 can determine whether the posture of the lighting lamp 11 has changed based on the amount of change in the posture of the lighting lamp 11, and make lighting adjustments if a posture change has occurred. Due to the posture change of the lighting lamp 11, the light emitted by the lighting lamp 11 and falling on the projection surface will be offset. For example, if the lighting lamp 11 shakes to the right, the light emitted by the lighting lamp 11 will shift to the right. In this case, the projection position of the light shifted to the right on the projection surface will also shift to the right, and the lighting pattern formed by the multiple beams of light will also shift to the right, and the shape may be distorted. Therefore, the processor 12 needs to adjust the lighting of the lighting lamp 11 when the posture of the lighting lamp 11 changes to avoid the lighting pattern on the projection surface from shifting and shaking, which in turn reduces the interactive experience.

[0090] For example, processor 12 can determine a lighting adjustment strategy based on the change in the posture of lamp 11. This strategy can be used to adjust the lighting of lamp 11, ensuring that a target lighting pattern corresponding to the initial lighting pattern can be successfully displayed even if the posture of lamp 11 changes. The target lighting pattern can be the same as or different from the initial lighting pattern. The following examples illustrate the process of obtaining the lighting adjustment strategy for the target lighting pattern in each of these two scenarios.

[0091] Case 1: The target lighting pattern is the same as the initial lighting pattern.

[0092] Scenario 1 refers to the situation where the target pattern to be displayed by the lighting fixture 11 is the same as the initial pattern. This means that the pattern display requirement for the lighting fixture 11 has not changed, and the initial pattern display requirement associated with displaying the initial lighting pattern remains unchanged. In one possible implementation, the processor 12 determines a lighting adjustment strategy based on the change in the posture of the lighting fixture 11. The processor 12 may determine lighting compensation parameters based on the second transformation relationship between the lighting fixture 11 and the projection surface on which the initial lighting pattern is located, as well as the change in the posture of the lighting fixture 11. The lighting adjustment strategy is determined based on the lighting compensation parameters. The lighting compensation parameters are used to correct the changes predicted by the processor 12 in the lighting pattern formed by the lighting fixture 11 in the event of a posture change.

[0093] Optionally, processor 12 predicts the lighting pattern formed on the projection surface by lamp 11 when the posture of lamp 11 changes based on the initial pattern display requirements and the amount of posture change of lamp 11, obtains first shape parameters, and then determines lighting compensation parameters required to correct the lighting pattern. For example, as shown in Figure 8, after determining the vehicle's posture and obtaining the amount of posture change of lamp 11, processor 12 can perform lighting shape calculation based on the posture change of lamp 11 to obtain the first shape parameters.

[0094] Exemplarily, the process by which the processor 12 obtains the first shape parameters includes, but is not limited to, obtaining a second transformation relationship between the lighting lamp 11 and the projection surface; determining a transformation matrix of the lighting shape based on the second transformation relationship and the change in the posture of the lighting lamp 11; and determining the first shape parameters based on the transformation matrix and the initial pattern. The second transformation relationship has a similar meaning to the first transformation relationship and is used to indicate the transformation of the posture and position between the lighting lamp 11 and the projection surface. The second transformation relationship can be used to determine the coordinate position of the light emitted by the lighting lamp 11 falling on the projection surface. Optionally, the processor 12 can directly calibrate the second transformation relationship between the lighting lamp 11 and the projection surface, or indirectly calibrate the second transformation relationship between the lighting lamp 11 and the projection surface through other modules configured on the electronic device. For example, the processor 12 obtains a third transformation relationship between the lighting lamp 11 and a reference module, and determines the third transformation relationship as the second transformation relationship, where the reference module is parallel to the projection surface.

[0095] The embodiments of the present application do not limit the reference module. The reference module can be any module parallel to the projection surface. Taking the electronic device as a vehicle and the projection surface as the road surface as an example, the reference module can be the vehicle chassis parallel to the road surface. Taking the electronic device as a drone and the projection surface as the stage surface below as an example, the reference module can be the bottom of the fuselage parallel to the stage surface. Since the reference module is parallel to the projection surface, the difference between the reference module and the projection surface in the world coordinate system is the distance in the z-axis direction, and the shapes of the lighting patterns formed on planes at different z-axis heights correspond. Since the processor 12 refers to the shape during the anti-shake correction process, the third transformation relationship between the lighting lamp 11 and the reference module can be determined as the second transformation relationship between the lighting lamp 11 and the projection surface. The process by which the processor 12 obtains the third transformation relationship between the lighting lamp 11 and the reference module is similar to the process of obtaining the first coordinate transformation relationship and the second coordinate transformation relationship in the above-mentioned embodiment. It can be obtained by accessing the storage space to obtain the offline calibration value in the storage space, or it can be obtained by online calibration of the external parameter matrix.

[0096] In one possible scenario, after obtaining the second transformation relationship, processor 12 may determine the offset of the light emitted by lighting lamp 11 based on the change in the posture of lighting lamp 11, and determine the offset of the light falling on the projection surface based on the second transformation relationship and the offset of the light, thereby obtaining a transformation matrix used to represent the offset of the light on the projection surface. After obtaining the transformation matrix, processor 12 determines an initial pattern based on the initial pattern display requirements, and determines the coordinate points of the light on the projection surface after the light used to form the initial pattern is emitted toward the projection surface based on the initial pattern and the transformation matrix, thereby obtaining the illumination pattern formed by at least one coordinate point, i.e., the first shape parameter used to describe the illumination pattern.

[0097] In one possible implementation, the processor 12 determines an illumination compensation parameter based on the first shape parameter and the initial illumination pattern. Since the initial illumination pattern meets the initial pattern display requirements, the processor 12 calculates the difference between the first shape parameter and the initial illumination pattern to determine the difference between the illumination pattern indicated by the first shape parameter and the initial pattern display requirements. This difference represents the coordinate points that need to be added and removed. Subsequently, the processor 12 determines an illumination compensation parameter based on the difference between the illumination patterns. The illumination compensation parameter indicates the coordinate points on the projection surface that need to be moved, such as the coordinate points that need to be supplemented with light or the coordinate points that need to be removed.

[0098] After determining the lighting compensation parameters, the processor 12 may determine a lighting adjustment strategy based on the lighting compensation parameters. The processor 12 may determine the lighting adjustment strategy directly based on the lighting compensation parameters to achieve shape correction of the lighting pattern. For the case where the lighting lamp 11 includes multiple light sources as shown in the above embodiment, and the initial lighting pattern is obtained by illumination by at least one light source, the lighting adjustment strategy may indicate an adjustment to at least one of the number or brightness of the multiple light sources participating in the illumination. For example, for the case where the first shape parameter indicates that the lighting pattern is offset to the right, the lighting adjustment strategy includes turning on the light source emitting light toward the left coordinate point and turning off the light source emitting light toward the right coordinate point. Alternatively, for the case where jitter of the lighting lamp 11 causes multiple light sources to overlap, the lighting adjustment strategy includes adjusting the brightness of the overlapping multiple light sources.

[0099] In one possible scenario, the lighting adjustment strategy may also instruct adjustment of the light source emission angle of the lighting lamp 11. Because the jitter in the lighting pattern is caused by the angular deviation of the light emitted by the lighting lamp 11, the processor 12 may determine the light source emission angle that needs to be supplemented based on the lighting compensation parameters to correct the angular deviation of the emitted light, thereby returning the light emission of the lighting lamp 11 to the state before the jitter.

[0100] Optionally, the processor 12 may also determine a lighting adjustment strategy based on the lighting compensation parameters and the angle-cut compensation amount. For example, the projection shape corrected by the processor 12 based on the lighting compensation parameters may have issues with edge contours. Taking Figure 3 as an example, the light blanket formed by a vehicle's headlights emitting light onto the road surface comprises a light curtain and a pattern. The light curtain, illustrated in Figure 3 as a rectangular frame, is used to present the pattern. However, when the processor 12 corrects the lighting pattern based on the lighting compensation parameters, the light curtain may not align with the lane markings. For example, the left edge may extend beyond a portion of the lane markings, while the right edge may be partially missing, resulting in a non-rectangular light curtain. Therefore, when determining the lighting adjustment strategy based on the lighting compensation parameters, the processor 12 may predict the angle-cut characteristics of the corrected lighting pattern based on the lighting compensation parameters, determine the angle-cut transformation parameters based on the angle-cut characteristics and the transformation matrix, determine the angle-cut compensation amount based on the angle-cut transformation parameters, and determine the lighting adjustment measurement based on the angle-cut compensation amount and the lighting compensation parameters.

[0101] Exemplarily, the processor 12 predicts the coordinate points where the light emitted based on the lighting compensation parameters falls on the projection surface based on the lighting compensation parameters according to the lighting compensation parameters and the change in the posture of the lighting lamp 11, and obtains a corrected lighting pattern formed by the coordinate system. The cutting angle feature of the lighting pattern is obtained, and the edge contour of the predicted lighting pattern is corrected according to the cutting angle feature to obtain the cutting angle transformation parameter, which indicates the edge shape of the lighting pattern. The cutting angle compensation amount is then determined according to the edge shape of the lighting pattern, that is, the coordinate points that need to be supplemented or eliminated, and the lighting adjustment strategy is determined according to the cutting angle supplement amount and the lighting supplement parameter. Optionally, the process by which the processor 12 determines the lighting adjustment strategy based on the lighting compensation parameters and the cutting angle compensation amount is similar to the process of determining the lighting adjustment strategy based on the lighting compensation parameters. Please refer to the relevant description in the above embodiment and will not be repeated here.

[0102] Case 2: The target lighting pattern is different from the initial lighting pattern.

[0103] Situation 2 refers to the situation where the target pattern that needs to be displayed by the lighting lamp 11 has changed and is different from the initial pattern. Continuing with Figure 3 as an example, when the vehicle is moving forward and passes through a speed bump, the vehicle shakes, and the lighting pattern in front of the vehicle changes from a cloud shape to an exclamation mark shape based on the presence of the speed bump, to remind the driver that he is passing through a speed bump and to be careful of the bumps. In this case, the target pattern display requirement obtained by the processor 12 indicates the display of an exclamation mark. The embodiment of the present application does not limit the process of the processor 12 receiving the target pattern display requirement, which is similar to the process of obtaining the initial pattern display requirement. Please refer to the relevant content about the initial pattern display requirement in the above embodiment, which will not be repeated here.

[0104] In one possible implementation, the processor 12 may determine a lighting adjustment strategy based on the received target pattern display requirements and the change in the posture of the lighting fixture 11. Similar to the process in scenario 1, the processor 12 first determines a transformation matrix based on the change in the posture of the lighting fixture 11 and the second transformation relationship. Next, the processor 12 determines a first light emission strategy for the lighting fixture 11 based on the target pattern display requirements and the transformation matrix. For example, the processor 12 determines the coordinate position of the light projection point in the current frame based on the pattern display requirements and determines the first light emission strategy based on the coordinate position and the transformation matrix. The current frame is the moment when the posture of the lighting fixture 11 changes. Subsequently, the processor 12 also obtains a second light emission strategy corresponding to the initial target pattern and determines a lighting adjustment strategy based on the first and second light emission strategies. For example, the first light emission strategy indicates that light source A should emit light at 30 degrees northeast, light source B at 31 degrees northeast, and light source C at 32 degrees northeast. The second light emission strategy indicates that light source A should emit light at 29 degrees northeast. In this case, the lighting adjustment strategy is to adjust light source A toward the northeast and add light sources B and C.

[0105] In either scenario 1 or 2, after obtaining the lighting adjustment strategy, processor 12 can adjust the lighting of lamp 11 according to the lighting adjustment strategy to obtain a target lighting pattern corresponding to the lighting pattern. The initial lighting pattern is obtained before the target lighting pattern is obtained. Processor 12 controls lamp 11 to emit light according to the lighting adjustment strategy to obtain the target lighting pattern corresponding to the initial lighting pattern. For example, as shown in Figures 7 and 8, processor 12 controls the intelligent headlights to emit light through the lighting compensation module, forming a light carpet projection.

[0106] Optionally, the target lighting pattern corresponds to the initial lighting pattern, which means that the target lighting pattern corresponds to the lighting range of the initial lighting pattern. Taking the example of case 1 in which the target lighting pattern for required lighting is displayed according to the initial pattern, the relative distance between the target lighting pattern and the electronic device is equal to the relative distance between the initial lighting pattern and the electronic device, so that the user of the electronic device does not perceive the movement of the lighting pattern during the interaction. Taking the example of case 2 in which the target lighting pattern for required lighting is displayed according to the target pattern, although the pattern changes, the lighting range does not change. For example, in Figure 3, the exclamation mark and the clouds are in the same light curtain, and the position of the light curtain relative to the vehicle remains unchanged, and the light curtain does not drift. In this case, although the posture of the lighting lamp 11 changes, the user does not perceive the jitter of the lighting pattern.

[0107] In summary, in the lighting system provided by the embodiment of the present application, when the posture of the lighting lamp changes, the processor will promptly adjust the lighting strategy according to the amount of change in the posture of the lighting lamp, and obtain a target lighting pattern corresponding to the initial lighting pattern before the posture change. By adjusting the lighting, the drift of the lighting pattern caused by the posture change of the lighting lamp is reduced, thereby providing a stable lighting pattern and improving the interactive lighting experience. There is no limit to the way in which the processor obtains the amount of change in the posture of the lighting lamp. It can be obtained through operating data such as a locator, or it can be calculated based on the movement parameters measured by the jitter detection module, which is highly flexible. In the process of posture estimation based on the movement parameters measured by the jitter detection module, the influence of the movement acceleration of the jitter detection module on the posture estimation will be considered, thereby improving the real-time accuracy and long-term stability of the estimated first posture.

[0108] The present invention provides a lighting method. The method can be performed by a lighting system, including a lighting lamp and a processor, the lighting lamp and the processor being connected. The lighting system can be the lighting system 1 shown in Figures 1, 2, and 4-6 above. The method flowchart is shown in Figure 9, including S901-S903.

[0109] S901, controlling the lighting lamp through the processor to illuminate, and obtaining an initial lighting pattern that meets the initial pattern display requirements.

[0110] Exemplarily, the processor and the lighting lamp are connected, for example, a communication connection is established between the processor and the lighting lamp via a wired or wireless network. Alternatively, the processor is configured in the lighting lamp, thereby achieving connection. In one possible case, the processor obtains an initial pattern display requirement, and controls the lighting lamp to emit light toward the projection surface according to the initial pattern display requirement, so as to display an initial lighting pattern on the projection surface. The process of the processor obtaining the initial pattern display requirement and controlling the lighting lamp to illuminate according to the initial pattern display requirement is similar to the process of the processor 12 obtaining the initial pattern display requirement and controlling the lighting lamp 11 to illuminate according to the initial pattern display requirement in the embodiment shown in FIG1 above. Taking the lighting lamp as an example, which includes multiple light sources, the lighting system can control at least one of the multiple light sources through the processor to illuminate and obtain an initial lighting pattern. A detailed description can be found in the embodiment shown in FIG1 , which will not be repeated here.

[0111] S902: When the posture of the lighting lamp changes, the processor determines a lighting adjustment strategy based on the amount of posture change of the lighting lamp, or determines the lighting adjustment strategy based on the received target pattern display requirement and the amount of posture change of the lighting lamp.

[0112] In one possible implementation, a lighting system uses a processor to detect the posture of a lighting fixture and obtain a change in the lighting fixture's posture. This information can be used to determine a lighting adjustment strategy when the lighting fixture changes posture. Depending on the configuration of the lighting system, the lighting system may use different methods to obtain the change in posture through the processor.

[0113] Structure 1: The lighting lamp is applied to an electronic device, and the processor is connected to at least one of a locator and an auxiliary system included in the electronic device.

[0114] The auxiliary system is used to assist in the movement of the electronic device. For a description of the electronic device, locator, and auxiliary system, please refer to the description of the electronic device, locator, and auxiliary system in the embodiment shown in FIG4 , and will not be repeated here. In this connection relationship, the lighting system can obtain at least one of the first operating data of the locator and the second operating data of the auxiliary system through the processor, and determine the change in the posture of the lighting lamp based on at least one of the first operating data and the second operating data. The process of determining the change in the posture of the lighting lamp based on at least one of the first operating data and the second operating data can be referred to the acquisition method 1 in the above embodiment, and will not be repeated here.

[0115] Structure 2: The lighting system further includes a jitter detection module, which is connected to the processor.

[0116] For a description of the jitter detection module, please refer to the embodiments shown in Figures 5 and 6. The lighting system can measure the movement parameters of the jitter detection module through the jitter detection module and send the movement parameters to the processor; the processor determines the posture change of the jitter detection module based on the movement parameters, and converts the posture change of the jitter detection module according to the first transformation relationship between the jitter detection module and the lighting lamp to obtain the posture change of the lighting lamp.

[0117] Optionally, the process of acquiring the movement parameters is similar to the process by which the processor 12 acquires the movement parameters of the shake detection module 13 in the above-described embodiment, and the process of determining the posture change of the shake detection module based on the movement parameters is similar to the process by which the processor 12 determines the posture change of the shake detection module 13 based on the movement parameters in the above-described embodiment. In one possible implementation, the lighting system may, through the processor, determine a first posture of the shake detection module based on the movement parameters of the shake detection module, and determine the posture change of the shake detection module based on historical postures of the shake detection module and the first posture, where the historical posture is determined based on historical parameters of the shake detection module, and the historical parameters are measured when the posture of the shake detection module remains unchanged.

[0118] Exemplarily, the process by which the lighting system determines the posture change of the lighting lamp based on the posture change of the jitter detection module via a processor is similar to the process by which the processor 12 determines the posture change of the lighting lamp 11 based on the posture change of the jitter detection module 13 in the above-mentioned embodiment, and also includes obtaining a first transformation relationship, converting the posture change of the jitter detection module based on the first transformation relationship, and obtaining the posture change of the lighting lamp. Optionally, the process by which the lighting system obtains the first transformation relationship includes, but is not limited to: obtaining, via the processor, a first coordinate relationship between the jitter detection module and the intermediate module, obtaining a second coordinate transformation relationship between the intermediate module and the lighting lamp, and determining the first transformation relationship based on the first coordinate transformation relationship and the second coordinate transformation relationship. The intermediate module is a module included in an electronic device to which the lighting system is applied, and the intermediate module is associated with the posture of the lighting lamp and the jitter detection module, respectively. Exemplarily, at least one of the intermediate module and the jitter detection module is configured within the lighting lamp.

[0119] In one possible implementation, when the intermediate module is an image acquisition device, the process of the lighting system acquiring the second coordinate transformation relationship includes but is not limited to: controlling the lighting lamp to illuminate the marker through the processor; performing image acquisition on the marker through the image acquisition device to obtain a captured image, and sending the captured image to the processor, wherein the captured image includes the marker and the projection generated by the illumination of the marker; determining the marker data and projection data based on the received captured image through the processor, and determining the second coordinate transformation relationship based on the marker data and the projection data. After acquiring the second coordinate transformation relationship, the lighting system can determine the first transformation relationship based on the second coordinate transformation relationship and the first coordinate transformation relationship, and determine the posture change of the lighting lamp based on the first transformation relationship. The detailed process of determining the posture change of the lighting lamp through the jitter detection module can be found in the relevant description of the acquisition method 2 in the above embodiment, and will not be repeated here.

[0120] The lighting system can select the acquisition method corresponding to structure one or structure two based on the structure, or it can combine at least one of the first operating data and the second operating data with the movement parameters to obtain the first posture of the jitter detection module when both structures are satisfied at the same time, determine the posture change of the jitter detection module based on the first posture, and then determine the posture change of the lighting lamp based on the posture change of the jitter detection module.

[0121] Regardless of the method used to obtain the attitude change of the lighting lamp, the lighting system can obtain a lighting adjustment strategy based on the attitude change of the lighting lamp when the attitude change of the lighting lamp indicates that the lighting lamp has changed its attitude, such as when shaking occurs. Optionally, when the pattern display requirement has not changed, that is, when the target pattern to be displayed is the same as the initial pattern, the lighting system can determine the lighting adjustment strategy based on the attitude change of the lighting lamp through the processor. For example, the processor determines the lighting compensation parameters based on the second transformation relationship between the lighting lamp and the projection surface where the initial lighting pattern is located, and the attitude change of the lighting lamp, and determines the lighting adjustment strategy based on the lighting compensation parameters. The lighting compensation parameters are used to correct the change in the lighting pattern formed by the lighting lamp when the attitude changes, as predicted by the processor. When the pattern display requirement changes, and the target pattern to be displayed is different from the initial pattern, the lighting system can determine the lighting adjustment strategy based on the target pattern display requirement and the attitude change of the lighting lamp through the processor.

[0122] S903: The processor adjusts the lighting of the lighting lamp according to the lighting adjustment strategy to obtain a target lighting pattern corresponding to the initial lighting pattern, wherein the initial lighting pattern is obtained earlier than the target lighting pattern.

[0123] In one possible implementation, in the case where the lighting lamp shown in S901 includes multiple light sources, the lighting system, through the processor, performs lighting adjustment on the lighting lamp. For example, the processor adjusts at least one of the number or brightness of the multiple light sources participating in the lighting according to a lighting adjustment strategy to obtain a target lighting pattern. The process of obtaining the target lighting pattern by lighting according to the lighting adjustment strategy is similar to the process of the processor 12 controlling the lighting lamp 11 to perform lighting adjustment in the embodiment shown in FIG. 1 , and thus is not repeated here.

[0124] In summary, the lighting method provided in the embodiments of the present application promptly adjusts the lighting strategy based on the amount of change in the lamp's posture when the lamp undergoes a posture change, obtaining a target lighting pattern corresponding to the initial lighting pattern before the posture change. This lighting adjustment reduces the drift of the lighting pattern caused by the lamp's posture change, thereby providing a stable lighting pattern and improving the interactive lighting experience. The method for obtaining the amount of the lamp's posture change is not limited and can be obtained through operating data such as a locator or calculated based on motion parameters measured by a jitter detection module, providing high flexibility.

[0125] Figure 10 is a flowchart of another lighting method provided in an embodiment of the present application. Figure 10 shows how the processor in the lighting system controls the lighting of the headlights to form a light blanket when the electronic device of the lighting system is a vehicle, the lighting lamp is a headlight, and the jitter detection module is an IMU.

[0126] S1001, obtain IMU data and ADAS data.

[0127] The IMU data corresponds to the movement parameters of the vibration detection module 13 in the above embodiment, and the ADAS data corresponds to the second operating data of the auxiliary system in the above embodiment. During vehicle movement, the processor receives IMU data sent by the IMU and ADAS data sent by the ADAS based on the communication connection with the IMU and ADAS.

[0128] S1002: Estimate the IMU posture based on the IMU data and ADAS data.

[0129] Exemplarily, the IMU includes an accelerometer and a gyroscope, wherein the accelerometer is used to measure the initial acceleration, and the gyroscope is used to measure the initial angular velocity. After acquiring the IMU data, the processor can mutually verify the initial acceleration and initial angular velocity included in the IMU data. For example, the initial acceleration can be calibrated online using a chi-square test to obtain a reference acceleration, thereby suppressing the impact of acceleration on the accuracy of attitude estimation and improving the accuracy of the estimated attitude. The gravitational acceleration, i.e., the gravity component, is determined based on the reference acceleration. The initial angular velocity is verified based on the gravitational acceleration to obtain a reference angular velocity, and the gravity component is then corrected based on the reference angular velocity. After verifying the reference acceleration and reference angular velocity, the IMU's attitude can be estimated based on the reference acceleration, reference angular velocity, and the corrected gravity component based on the adaptive complementary filtering algorithm. During the estimation process, the estimated attitude is verified in conjunction with the ADAS data to obtain the IMU's attitude. The IMU's attitude corresponds to the first attitude of the shake detection module 13 in the above-mentioned embodiment.

[0130] S1003: Determine the attitude change of the headlight according to the attitude of the IMU.

[0131] For example, the process in which the processor determines the posture change of the headlight based on the posture of the IMU is similar to the process in which the processor 12 determines the posture change of the lighting lamp 11 based on the first posture of the jitter detection module 13 in the above embodiment. Please refer to the relevant content in the acquisition method 2, and no further explanation will be given here.

[0132] S1004 , calculating the lighting shape transformation of the light blanket during the dithering process based on the posture change of the headlight and the headlight-chassis calibration data, and correcting the lighting shape cut angle.

[0133] In one possible case, the headlight-chassis calibration data corresponds to the second transformation relationship in the above embodiment, the calculated lighting shape transformation corresponds to the transformation matrix in the above embodiment, and the corrected lighting shape cutting angle corresponds to the lighting compensation parameters and cutting angle compensation amount determined according to the transformation matrix in the above embodiment. For detailed description, please refer to the relevant content of the above embodiment case one, and will not be repeated here.

[0134] S1005 , based on the working conditions and the change in the vehicle's posture, calculate the position of the projection point of the lighting shape cut angle in the current frame, and control the lighting module to illuminate the ground.

[0135] For example, determining the position of the projection point in the current frame corresponds to the process of determining the lighting adjustment strategy based on the lighting compensation parameters in the above-mentioned embodiment. Please refer to the relevant content of Case 1 in the above-mentioned embodiment and will not be repeated here. After determining the position where the light falls in the current frame, the processor controls the vehicle lights to emit light according to the lighting adjustment strategy so that the emitted light falls at the calculated position, thereby obtaining the target lighting pattern.

[0136] In one possible scenario, the processor and the lighting can be integrated into a lighting system, or configured in different systems of the same device. For example, if the electronic device is a vehicle and the lighting is the headlight on the vehicle, the processor can be a mobile data center (MDC) which is a computing platform on the vehicle.

[0137] The present application also provides an electronic device having a lighting system installed thereon, the lighting system being used to execute the lighting method provided in the present application. Optionally, the electronic device includes a vehicle, a drone, or a robot.

[0138] An embodiment of the present application further provides a computer-readable storage medium, wherein the storage medium stores at least one instruction, which is loaded and executed by a processor to enable an electronic device to implement any of the lighting methods described above.

[0139] The embodiments of the present application also provide a computer program (product), which, when executed by a computer, can enable a processor or electronic device to execute the corresponding steps and / or processes in the above method embodiments.

[0140] An embodiment of the present application also provides a chip, which includes a processor for calling and executing instructions stored in a memory from the memory, so that an electronic device equipped with the chip executes any of the lighting methods described above.

[0141] An embodiment of the present application also provides another chip, including: an input interface, an output interface, a processor and a memory, wherein the input interface, the output interface, the processor and the memory are connected via an internal connection path, and the processor is used to execute the code in the memory. When the code is executed, the processor is used to execute any of the lighting methods described above.

[0142] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described herein are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive).

[0143] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the posture changes involved in this application are all obtained with full authorization.

[0144] Those skilled in the art will appreciate that the various method steps and modules described in conjunction with the embodiments disclosed herein can be implemented in software, hardware, firmware, or any combination thereof. In order to clearly illustrate the interchangeability of hardware and software, the steps and components of each embodiment have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0145] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0146] When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer program instructions. As an example, the method of the embodiment of the present application can be described in the context of a machine executable instruction, and the machine executable instruction is such as included in the program module executed in the device on the real or virtual processor of the target. Generally speaking, a program module includes a routine, a program, a library, an object, a class, a component, a data structure, etc., which performs a specific task or realizes a specific abstract data structure. In various embodiments, the function of the program module can be merged or split between the described program modules. The machine executable instruction for the program module can be executed in a local or distributed device. In a distributed device, the program module can be located in both a local and a remote storage medium.

[0147] The computer program code for implementing the method of the embodiment of the application can be written in one or more programming languages. These computer program codes can be provided to the processor of a general-purpose computer or a special-purpose computer so that when the program code is executed by the computer, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on a computer, partially on a computer, as an independent software package, partially on a computer and partially on a remote computer, or entirely on a remote computer or server.

[0148] In the context of the embodiments of the present application, computer program code or related data may be carried by any suitable carrier to enable a device, apparatus, or processor to perform the various processes and operations described above. Examples of carriers include signals, computer-readable media, and the like.

[0149] Examples of signals may include electrical, optical, radio, acoustic or other forms of propagated signals, such as carrier waves, infrared signals, etc.

[0150] A machine-readable medium may be any tangible medium that contains or stores a program for or in connection with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination thereof. More detailed examples of machine-readable storage media include an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0151] Those skilled in the art will clearly understand that, for the sake of convenience and brevity of description, the specific working processes of the above-described systems, devices, and modules can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0152] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, or can be electrical, mechanical or other forms of connection.

[0153] Modules described as separate components may or may not be physically separate, and components displayed as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0154] In addition, the functional modules in the various embodiments of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module. The above-mentioned integrated modules may be implemented in the form of hardware or software functional modules.

[0155] If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0156] In this application, the terms "first", "second", etc. are used to distinguish between identical or similar items that have substantially the same effects and functions. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor is there any limitation on quantity or order of execution. It should also be understood that although the following description uses the terms first, second, etc. to describe various elements, these elements should not be limited by the terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of the various described examples, a first image may be referred to as a second image, and similarly, a second image may be referred to as a first image. Both the first image and the second image may be images, and in some cases, may be separate and different images.

[0157] It should also be understood that in the various embodiments of the present application, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0158] In this application, the term "at least one" means one or more, and the term "plurality" means two or more. For example, "plurality of second messages" means two or more second messages. The terms "system" and "network" are often used interchangeably herein.

[0159] It should be understood that the terminology used in the description of the various examples herein is for the purpose of describing particular examples only and is not intended to be limiting. As used in the description of the various examples and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0160] It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the listed items. The term "and / or" describes an association between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this application generally indicates that the associated objects are in an "or" relationship.

[0161] It will also be understood that the term “comprise” (also known as “includes,” “including,” “comprises,” and / or “comprising”) when used in this specification specifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0162] It should also be understood that the terms “if” and “if” may be interpreted to mean “when” or “upon” or “in response to determining” or “in response to detecting.” Similarly, the phrases “if it is determined that ” or “if [stated condition or event] is detected” may be interpreted to mean “upon determining ” or “in response to determining ” or “upon detecting [stated condition or event]” or “in response to detecting [stated condition or event],” depending on the context.

[0163] It should be understood that determining B based on A does not mean determining B based solely on A. B can also be determined based on A and / or other information.

[0164] It should also be understood that references throughout this specification to "one embodiment," "an embodiment," or "one possible implementation" mean that specific features, structures, or characteristics associated with that embodiment or implementation are included in at least one embodiment of the present application. Therefore, the appearance of "in one embodiment," "in an embodiment," or "one possible implementation" throughout this specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

Claims

1. A lighting system, characterized in that: The lighting system comprises a lighting lamp and a processor, wherein the processor is connected to the lighting lamp; The processor is used to control the lighting lamp to illuminate and obtain an initial lighting pattern that meets the initial pattern display requirements; The processor is further configured to determine a lighting adjustment strategy based on the amount of change in the posture of the lighting lamp when the posture of the lighting lamp changes, or determine the lighting adjustment strategy based on the received target pattern display requirement and the amount of change in the posture of the lighting lamp; The processor is further configured to perform lighting adjustment on the lighting lamp according to the lighting adjustment strategy to obtain a target lighting pattern corresponding to the initial lighting pattern, wherein the initial lighting pattern is obtained earlier than the target lighting pattern.

2. The lighting system according to claim 1, characterized in that The lighting lamp comprises a plurality of light sources; The processor is used to control at least one of the plurality of light sources to perform illumination to obtain the initial illumination pattern; The processor is used to adjust at least one of the number or brightness of the light sources participating in the illumination among the multiple light sources according to the illumination adjustment strategy to obtain the target illumination pattern.

3. The lighting system according to claim 1 or 2, characterized in that: The lighting system is applied to an electronic device, the processor is connected to at least one of a locator and an auxiliary system included in the electronic device, and the auxiliary system is used to assist the movement of the electronic device; The processor is further configured to obtain at least one of first operating data of the positioner and second operating data of the auxiliary system, and determine a posture change amount of the lighting lamp according to at least one of the first operating data and the second operating data.

4. The lighting system according to claim 1 or 2, characterized in that: The lighting system further comprises a jitter detection module, wherein the jitter detection module is connected to the processor; The jitter detection module is used to measure the movement parameters of the jitter detection module and send the movement parameters to the processor; The processor is further used to determine the posture change amount of the jitter detection module according to the movement parameter, and convert the posture change amount of the jitter detection module according to the first transformation relationship between the jitter detection module and the lighting lamp to obtain the posture change amount of the lighting lamp.

5. The lighting system according to claim 4, characterized in that: The processor is used to determine a first posture of the jitter detection module according to the movement parameters of the jitter detection module, and determine a posture change amount of the jitter detection module according to a historical posture of the jitter detection module and the first posture, wherein the historical posture is determined according to the historical parameters of the jitter detection module, and the historical parameters are measured when the posture of the jitter detection module does not change.

6. The lighting system according to claim 4 or 5, characterized in that: The lighting system is applied to an electronic device, and the electronic device further comprises an intermediate module, and the intermediate module is respectively associated with the postures of the lighting lamp and the jitter detection module; The processor is further used to obtain a first coordinate transformation relationship between the jitter detection module and the intermediate module, obtain a second coordinate transformation relationship between the intermediate module and the lighting lamp, and determine the first transformation relationship according to the first coordinate transformation relationship and the second coordinate transformation relationship.

7. The lighting system according to claim 6, characterized in that The intermediate module is an image acquisition device, and the image acquisition device is connected to the processor; The processor is further used to control the lighting lamp to illuminate the marker; The image acquisition device is used to acquire an image of the marker to obtain an acquired image, and send the acquired image to the processor, wherein the acquired image includes the marker and a projection generated by illuminating the marker; The processor is used to determine the marker data and the projection data according to the received acquired image, and determine the second coordinate transformation relationship according to the marker data and the projection data.

8. The lighting system according to any one of claims 4 to 7, characterized in that: At least one of the vibration detection module and the intermediate module is configured in the lighting lamp.

9. The lighting system according to any one of claims 1 to 8, characterized in that: The processor is used to determine the lighting compensation parameters based on the second transformation relationship between the lighting lamp and the projection surface where the initial lighting pattern is located, and the posture change of the lighting lamp, and determine the lighting adjustment strategy based on the lighting compensation parameters, and the lighting compensation parameters are used to correct the change of the lighting pattern formed by the lighting lamp when the posture changes, which is predicted by the processor.

10. The lighting system according to any one of claims 1 to 9, characterized in that: The processor is configured in the lighting lamp.

11. A lighting method, characterized in that: The method is applied to a lighting system, the lighting system comprising a lighting lamp and a processor, the processor being connected to the lighting lamp, and the method comprising: The processor controls the lighting lamp to illuminate, thereby obtaining an initial lighting pattern that meets the initial pattern display requirements; Determining, by the processor, a lighting adjustment strategy based on the amount of change in the posture of the lighting lamp when the posture of the lighting lamp changes, or determining the lighting adjustment strategy based on the received target pattern display requirement and the amount of change in the posture of the lighting lamp; The processor performs lighting adjustment on the lighting lamp according to the lighting adjustment strategy to obtain a target lighting pattern corresponding to the initial lighting pattern, and the initial lighting pattern is obtained earlier than the target lighting pattern.

12. The method according to claim 11, characterized in that The illuminating lamp comprises a plurality of light sources, and the illuminating lamp is controlled by the processor to illuminate, so as to obtain an initial illuminating pattern that meets the initial pattern display requirement, including: Controlling at least one of the plurality of light sources to illuminate by the processor to obtain the initial illumination pattern; The step of adjusting the lighting of the lighting lamp according to the lighting adjustment strategy by the processor to obtain a target lighting pattern corresponding to the initial lighting pattern includes: The processor adjusts at least one of the number or brightness of the light sources participating in the illumination among the multiple light sources according to the illumination adjustment strategy to obtain the target illumination pattern.

13. The method according to claim 11 or 12, characterized in that: The lighting system is applied to an electronic device, the processor is connected to at least one of a locator and an auxiliary system included in the electronic device, and the auxiliary system is used to assist the movement of the electronic device; Before determining the lighting adjustment strategy based on the posture change amount of the lighting lamp, the method further includes: At least one of first operating data of the positioner and second operating data of the auxiliary system is acquired by the processor, and a posture change amount of the lighting lamp is determined according to at least one of the first operating data and the second operating data.

14. The method according to claim 11 or 12, characterized in that: The lighting system further comprises a jitter detection module, wherein the jitter detection module is connected to the processor; Before determining the lighting adjustment strategy based on the posture change amount of the lighting lamp, the method further includes: measuring a movement parameter of the jitter detection module by the jitter detection module, and sending the movement parameter to the processor; The processor determines the posture change amount of the shake detection module according to the movement parameter, and converts the posture change amount of the shake detection module according to a first transformation relationship between the shake detection module and the lighting lamp to obtain the posture change amount of the lighting lamp.

15. The method according to claim 14, characterized in that The determining, by the processor, the amount of change in the posture of the shaking detection module according to the movement parameter comprises: The processor determines a first posture of the jitter detection module according to movement parameters of the jitter detection module, and determines a posture change amount of the jitter detection module according to a historical posture of the jitter detection module and the first posture, wherein the historical posture is determined according to historical parameters of the jitter detection module, and the historical parameters are measured when the posture of the jitter detection module does not change.

16. The method according to claim 14 or 15, characterized in that The lighting system is applied to an electronic device, and the electronic device further comprises an intermediate module, and the intermediate module is respectively associated with the postures of the lighting lamp and the jitter detection module; Before converting the posture change amount of the jitter detection module according to the first transformation relationship between the jitter detection module and the illuminating lamp, the method further includes: The processor obtains a first coordinate transformation relationship between the jitter detection module and the intermediate module, obtains a second coordinate transformation relationship between the intermediate module and the lighting lamp, and determines the first transformation relationship according to the first coordinate transformation relationship and the second coordinate transformation relationship.

17. The method according to claim 16, characterized in that The intermediate module is an image acquisition device, and the image acquisition device is connected to the processor; The obtaining of a second coordinate transformation relationship between the intermediate module and the lighting lamp comprises: Controlling the lighting lamp to illuminate the marker through the processor; Capturing an image of the marker by the image acquisition device to obtain a captured image, and sending the captured image to the processor, wherein the captured image includes the marker and a projection generated by illuminating the marker; The processor determines marker data and projection data according to the received acquisition image, and determines the second coordinate transformation relationship according to the marker data and the projection data.

18. The method according to any one of claims 14 to 17, characterized in that: At least one of the vibration detection module and the intermediate module is configured in the lighting lamp.

19. The method according to any one of claims 11 to 18, characterized in that: The determining of the lighting adjustment strategy based on the posture change amount of the lighting lamp comprises: The processor determines lighting compensation parameters based on a second transformation relationship between the lighting lamp and the projection surface where the initial lighting pattern is located, and an amount of change in the posture of the lighting lamp. The lighting adjustment strategy is determined based on the lighting compensation parameters. The lighting compensation parameters are used to correct changes in the lighting pattern formed by the lighting lamp when the posture changes, as predicted by the processor.

20. The method according to any one of claims 11 to 19, characterized in that: The processor is configured in the lighting lamp.

21. An electronic device, characterized in that: The electronic device is equipped with a lighting system, and the lighting system is used to execute the lighting method as described in any one of claims 11-20.

22. The electronic device according to claim 21, characterized in that: The electronic device includes a vehicle, a drone or a robot.

Images