WO2010146446A1 - Appareil d'éclairage robotisé et procédé de commande - Google Patents

Appareil d'éclairage robotisé et procédé de commande Download PDF

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Publication number
WO2010146446A1
WO2010146446A1 PCT/IB2010/001454 IB2010001454W WO2010146446A1 WO 2010146446 A1 WO2010146446 A1 WO 2010146446A1 IB 2010001454 W IB2010001454 W IB 2010001454W WO 2010146446 A1 WO2010146446 A1 WO 2010146446A1
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WO
WIPO (PCT)
Prior art keywords
head
sensors
light beam
hand
gestures
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Ceased
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PCT/IB2010/001454
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English (en)
Inventor
Davide Girlando
Andrea Mangone
Luca Carlone
Matteo Bianchi
Andrea Bonarini
Basilio Bona
Matteo Matteucci
Italo Belmonte
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Individual
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Individual
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Priority to EP10740260A priority Critical patent/EP2443388A1/fr
Publication of WO2010146446A1 publication Critical patent/WO2010146446A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V23/00—Arrangement of electric circuit elements in or on lighting devices
    • F21V23/04—Arrangement of electric circuit elements in or on lighting devices the elements being switches
    • F21V23/0442—Arrangement of electric circuit elements in or on lighting devices the elements being switches activated by means of a sensor, e.g. motion or photodetectors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S6/00—Lighting devices intended to be free-standing
    • F21S6/002—Table lamps, e.g. for ambient lighting
    • F21S6/003—Table lamps, e.g. for ambient lighting for task lighting, e.g. for reading or desk work, e.g. angle poise lamps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V19/00—Fastening of light sources or lamp holders
    • F21V19/02—Fastening of light sources or lamp holders with provision for adjustment, e.g. for focusing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V21/00—Supporting, suspending, or attaching arrangements for lighting devices; Hand grips
    • F21V21/14—Adjustable mountings
    • F21V21/15—Adjustable mountings specially adapted for power operation, e.g. by remote control
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B45/00—Circuit arrangements for operating light-emitting diodes [LED]
    • H05B45/10—Controlling the intensity of the light
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/105—Controlling the light source in response to determined parameters
    • H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
    • H05B47/12—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings by detecting audible sound
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/105—Controlling the light source in response to determined parameters
    • H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
    • H05B47/125—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings by using cameras
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S6/00—Lighting devices intended to be free-standing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V21/00—Supporting, suspending, or attaching arrangements for lighting devices; Hand grips
    • F21V21/14—Adjustable mountings
    • F21V21/26—Pivoted arms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
    • F21V33/0004—Personal or domestic articles
    • F21V33/0052—Audio or video equipment, e.g. televisions, telephones, cameras or computers; Remote control devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO THE FORM OR THE KIND OF THE LIGHT SOURCES OR OF THE COLOUR OF THE LIGHT EMITTED
    • F21Y2115/00—Light-generating elements of semiconductor light sources
    • F21Y2115/10—Light-emitting diodes [LED]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection

Definitions

  • the present invention refers to an innovative robotized lighting apparatus, which allows an innovative interactive control by the user.
  • Lighting apparatuses provided with sensors to react to external stimuli are known from the prior art.
  • lamps provided with ON and OFF sensors sensitive to movement, sound or voice are currently available in the market.
  • lamps have a limited degree of interaction with the user, in that they solely eliminate the need for the user to manually manoeuvre the ON/OFF switch.
  • Lamps motorised and controlled electronically to perform the movement of special emitter devices or markers were also proposed.
  • the emitter devices for example may be worn on the wrist, so that the lamp apparently follows the movement of the hand with the light beam.
  • this system is uncomfortable (it requires wearing a special control device) and scarcely flexible. Interaction with the user is however poor. For example, the lamp actually interacts with the device which it is programmed to follow and not the user actually.
  • the general object of the present invention is that of overcoming the abovementioned drawbacks by providing a control method and a robotized lighting apparatus with an innovative gesture control which allows an actual interaction between the user and the light.
  • a lighting apparatus comprising a head with a light source directed in a light beam, a motorised kinematic structure for spatially directing the head, sensors for detecting control stimuli and an electronic control system which receives signals from said sensors and controls the movement of the head according to the detected stimuli, characterised in that it comprises an image sensor arranged in the head and directed in the direction of the light beam, and electronic processing means suitable for processing the images taken by the image sensor to distinguish at least one hand of a user inserted into the beam, to distinguish a gesture therein from among a predetermined series of preset gestures in the control system and control a corresponding interactive behaviour of the light source selecting it from among a series of behaviours which are stored in the control system associated with the gestures of the pre
  • Still according to the principles of the invention also proposed was a method for controlling a lighting apparatus comprising a head with a light source directed in a light beam and a motorised kinematic structure for spatially directing the head, in which an image, detected by an image sensor arranged in the head and directed in the direction of the light beam, is electronically processed to: recognise at least one hand of a user inserted into the beam; distinguish a gesture from among a predetermined series of gestures of the hand; control a corresponding interactive behaviour of the light source selecting it from among a series of associated gestures of the predetermined series of gestures.
  • -figure 1 represents a partly sectional schematic view of a lighting apparatus according to the invention
  • -figure 2 represents an enlarged view of the lighting head of the apparatus of figure 1
  • -figure 3 schematically represents means for the variation of the light beam in the apparatus of figure
  • figure 1 shows, schematically and in perspective view, a lighting apparatus, generally indicated with 10, provided according to the principles of the invention, having a beam lighting head 14 and a motorised kinematic structure 35 for spatially directing the head.
  • the lighting apparatus was provided in form of a desk lamp.
  • Other forms may however be conceived according to specific needs.
  • the principles of the invention may be easily applied to ceiling lamps or with ground base, suspended lights, lighting structures such as those of a dental unit, etc) .
  • the robot lamp was conceived as similar as possible to the general form of a conventional desk lamp, so as not to distract the user and make the use of the lamp as natural as possible.
  • the apparatus 10 comprises a support base 11 and an articulated kinematic chain, in turn comprising two articulated arms 12, 13 which end with a lighting head 14 which emits a directive light beam.
  • Respective joints which are motorised to rotate on command according to horizontal parallel axes 15, 16, 17 are present between the base and the first arm, between the two arms and between the second arm and the head.
  • a further motorised axis 18, with vertical rotation, is provided between the base and the first arm.
  • the head 14 may also rotate around a second motorised axis 19 which is transverse to the axis 17.
  • the lamp has six degrees of freedom which guarantee good flexibility.
  • the lamp is externally similar to most conventional manual desk lamps available in the market and the high complexity that makes them different from any other lamp are well concealed therein.
  • the structure of an innovative lamp according to the invention can be similar to a robotic arm. From a geometric point of view, the arm may be seen as a kinematic chain, constituted by connections and joints. Each joint adds a degree of movement to the robot. The concept of the degree of movement is different from that of the degrees of freedom which represents the number of coordinates that uniquely identifies the laying of a solid element in space. The number of degrees of movement is related to the ability of the robot . It was found advantageous to maintain the degrees of movement of the lamp 10 identical to that of common desktop lamps .
  • the structure of the lamp 10 is basically made of two layers: the internal mechatronic structure and the outer aesthetic cover.
  • the internal structure constitutes the actual robot and it is made up of a structure (for example, metallic) which supports the motors, the encoders, the gears and the sensors.
  • the aesthetic cover may instead be formed by light shells, as easily imaginable by a man skilled in the art.
  • the cover is indicated with a dashed line, being of any desired aesthetic aspect.
  • Various materials such as, for example, plastic, aluminium, carbon fibre etc may be used for the aesthetic cover.
  • the structure of the lamp may however be of the totally or partly self -bearing type.
  • a control system or main electronic unit 25 for the intelligent control of the lamp and which shall be connected to the sensors and to the actuators present in the lamp is also accommodated in the base 11 of the lamp (connected to the power supply network through a cable not shown) .
  • Such unit 25 may also be a known microprocessor controller, suitably programmed, as clear to a man skilled in the art from the explanations that follow.
  • each motorised axis 15, 16, 17, 18, 19 has its own electric gear motor, respectively indicated with 20, 21, 22, 23, 24.
  • the gear motor 20 which is kinematically connected to the first horizontal axis 15 and which must bear the higher stress, is provided having two motors connected in parallel in the base for doubling the torque.
  • This allows using electric motors (advantageously, DC motors) identical to those of the axes 16 and 18.
  • DC motors DC motors
  • gear motors 22 and 24 which control the two movement axes of the head 14 are instead much smaller in size, given that they are required to move a minimum load, and lighter, so as to weigh less on the motors of the joints of the arms.
  • each gear motor has an associated position encoder, as easily imaginable by a man skilled in the art, which provides the position information to the control board.
  • the exact technology for controlling the position of the motorised axes may obviously vary depending on the specific practical implementation requirements and desired costs.
  • the gear motors may be, all or partly of the known pulse width controlled type (in the figures, the gear motors 22 and 24 are, for example of this type) .
  • the coordinated robotized control of the joints of a kinematic chain (for example, by using the inverse kinematics) to reach with an end head the desired points in space is known.
  • the lamp also comprises a further actuator to allow the controlled variation of the width of the light beam.
  • such actuator, indicated with 26, is advantageously arranged over a parabolic reflector 27 of the lamp and, as schematically shown in figure 3, controls the movement of the light source 28 with respect to the focus of the reflector.
  • This solution was found advantageous in that it allows an easy, progressive and accurate control of the width of the beam, simultaneously maintaining the light intensity quite constant. Furthermore, such solution allows energy saving with respect to systems based on the occlusion of the beam, such as for example the diaphragm systems.
  • figure 3a shows the most receded position of the source, corresponding to the narrowest beam
  • figure 3b shows the most advanced position of the source, corresponding to the widest beam.
  • the opening angle of the light beam may vary from about 23° to about 100°.
  • the light source may be constituted by one or more power LEDs, which have high efficiency and also allow an easy electronic control of the luminosity through well known methods. Totally electronic systems for the variation of the
  • Q _ width of the beam may however be used.
  • several concentric LED rings may be used and the width of the beam may be carried out by changing the number of lit rings.
  • This solution allows providing an extremely thin head exploiting the LED technology, but it reveals some drawbacks. As a matter of fact, it complicates the control, producing an interaction between the width of the beam and the lighting intensity, hence forcing to modify the luminosity of the LEDs according to the number of lit rings in a coordinated manner.
  • the lighting apparatus also comprises a given number of sensors to allow the control interaction with the user.
  • sensors do not require a particular structuring of the environment.
  • the robot lamp may be seen as an interactive agent which acquires information from the normal environment, interprets it (extracting the characteristics of interest) and obtains a desired output .
  • the lamp is advantageously provided with three types of sensor systems, with each sensor system providing a different and particular sensorial channel and which regards a different type of response in the behaviour of the lamp.
  • an image sensor herein represented by a camera 30, which has a direction of vision substantially coincident with the direction of the light beam emitted by the lamp is above all present in the head 14.
  • This image sensor alongside associated means for electronically processing the image, provides the main gesture control system of the lamp.
  • the vision angle of the camera is such that the taken image contains (with, for example, just a slight margin) the area 31 lighted by the light beam to the maximum width thereof.
  • this allows an innovative interaction with the user based on "a gesture interacting with the light” and which makes the use of the lamp according to the invention surprisingly simple and natural.
  • the fact that the field of vision of the camera is identified by the light cone projected by the lamp not only allows easy interaction between the user and the lamp but also allows a simpler and more reliable operation of the view system which, as explained hereinafter, must recognize the hands placed by the user within it and on the edges of the light cone in the acquired images .
  • Vision systems are often used in robotics for the identification of objects and for the calculation of the movement and posture thereof and a detailed description of the operation thereof is not required herein.
  • a known so-called "smart camera” i.e. a camera also integrating an artificial vision system, comprising, alongside the image capturing systems, its own specific processing unit (which may extract information from the images without requiring an external processing unit) and interface devices used for sending the results of the processing to other devices (the main processing unit 25 in this case) .
  • the smart camera allows easy processing of images and the camera may identify the position and the dimensions of the user's hands and communicate it to the central control unit 25 which, as observable, consequently controls the movement of the lamp, thus providing an interface with the user that is inexpensive and efficient for "modelling" light.
  • the unit for processing the images may obviously be contained in the main unit.
  • the head 14 also contains some known sensors for the distance detection of objects around the head, indicated with 32.
  • the distance sensors are of the infrared type. Such sensors allow measuring the distances of the objects arranged along the line or vision cone thereof.
  • the operation thereof is based on the emission of an infrared light pulse (by means of an infrared emitter Led present in the sensor) which when reflected by an object is detected by a suitable infrared detector of the sensor.
  • a triangle is formed between the reflection point, the emitter and the detector.
  • the sensor provides in output an electrical dimension (for example, an electric voltage) which is a function of the distance of the object from the sensor itself, by means of a suitable triangulation technique.
  • the infrared sensors are arranged in the head 14 to create a detection area 33 around the head 14.
  • three sensors are used for radially "looking" towards the external of the lighting head and a fourth sensor is used for looking upwards.
  • the detection angle of the sensors allows detecting a relatively small object approaching the head of the lamp from the various directions .
  • any other number of sensors may be provided for, even dependent from the type of sensor used in practice, to have a suitable covering of the space around the head of the lamp. For example, should one decide to use an ultrasonic sensor as a distance sensor, this may require different mounting and/or positioning.
  • the sensors 32 are used both for a "touchless” interaction with the user and for avoiding impacts against obstacles during the robotized movement of the lamp.
  • the sensors located in the head of the lamp are capable of detecting a hand of the user (or any other object) allowing not only the gesture interaction but also preventing an unwanted contact with objects of the environment .
  • the lamp 14 also comprises acoustic sensors, advantageously provided with several microphones 34, for spatial identification of sounds.
  • acoustic sensors are advantageously arranged in the base 11. Suitable openings shall thus be provided in the covering of the base (not shown in figure 4) .
  • the acoustic sensors are important both for a localisation of the user and for acoustic interaction.
  • the lamp may be actuated by clapping the hands.
  • the presence of microphones makes the platform expandable (for example, for the speech recognition, allowing further increasing the level of interaction) .
  • the field of sound source localisation has been studied over the decades and thus further details shall not be provided herein. As a matter of fact, a man skilled in the art may easily imagine how it is possible to identify the spatial position of a sound source starting from the signal captured by some microphones suitably arranged.
  • the advantage of positioning the microphones at the base 11 lies in the fact that this allows considering the position of the microphones fixed in the origin of the spatial reference system of the lamp and the calculations are thus simplified.
  • the short distance at which the microphones must be positioned to remain in the base may create some problems related to an accurate identification of the sound source.
  • an error of even tenths of centimetres in the spatial identification of the sound source may still be acceptable, as observable hereinafter.
  • the difference between the times of arrival of the sound to the four microphones thus provides information on the position of the source and, if the microphones are not coplanar, the point is determined uniquely.
  • the microphone system may also be extended to allow greater robustness with respect to the surrounding sound.
  • the first method of interaction is gestural and it allows an easy and complete control of various aspects of the light ray, thus avoiding forcing the user, for example, to regulate a set of knobs and buttons whose meaning and function are often complex and counterintuitive .
  • the recognition of the gestures is obtained through the camera 30 which is always directed towards the light beam, so that the user always knows how he is seen by the lamp. Furthermore, the objects subject of recognition (the hands) are thus definitely always well lighted and contrasted and, thus, easier to recognise.
  • the artificial vision system (connected to the camera or directly present therein) is herein provided or programmed to substantially distinguish three types of gestures according to the shape of the hand and the movement thereof under the camera (and, thus, in the light cone projected by the lamp) . The control system then consequently reacts to the three types of gestures.
  • the head of the lamp may be controlled by the control system so that it just rotates and it shall not move as long as it can still reach the desired point with the relative light.
  • the arms of the lamp may be actuated by the system to displace the head to a more favourable position.
  • Two hands inserted entirely (or even partly, if far enough to be recognised) into the light cone and moving away from each other control the light spot to become larger, while the two hands moving close to each other make it smaller. This is observable in figure 6.
  • Such behaviour could be useful, for example, if the user is reading or working while the roommate is sleeping, or for any other reason.
  • a recognition operation by means of a computerised vision system may be a complex operation.
  • the background conditions for example, the desk surface
  • the objects to be recognised, the hands are not always of the same colour and may also vary considerably from one person to another.
  • characteristics that make a hand easily recognizable and which may be sufficient in this case the shape, the dimension, the relative uniformity of colour (the skin of the people in question may be darker or lighter, but the two types are usually not found on the same hand) .
  • the fact that the images are taken under the directed light cone of the lamp makes the shooting conditions much more suitable for quick and reliable recognition of the contour of the hands .
  • the selected gestures are not only intuitive for the user intending to interact with the lamp but they are also easily distinguishable according to the shape of the hand and the relative movement.
  • an open hand has five fingers which are recognizable by means of a simple shape analysis. When the fingers are clenched, the hand acquires an approximately ellipsoidal shape with the "peaks" of the fingers still easily identifiable in the contour. It is even easy to identify the hand which becomes larger or smaller in the image when it moves up and down (towards and away from the camera) .
  • two hands moving away from each other may be easily detected by means of an inter-frame analysis.
  • a process for detecting a light spot may be applied to find all the sets of adjacent pixel that meet the colour requirements necessary for a human hand.
  • the zones that do not represent considerable colour differences and which have a minimum dimension compatible with the image of a hand at a predictable maximum shooting distance may be selected.
  • Luminosity normalisation may also be required to compensate the general luminosity variation.
  • the contours thereof may be analysed to see whether they meet the characteristics set up to represent a hand exemplified in one of the gestures defined considerable for the system for controlling the lamp. For example, if the spot is an open hand, a low-pass filtered version of the distance between the centroid and the contour points reveals the five large peaks, corresponding to the fingers. Other simple similar filtering processes allow distinguishing the other gestures.
  • the lamp follows it constantly to keep the centroid at the centre of the image (which more or less coincides with the centre of the light spot projected by the lamp) .
  • the movement of the two hands is the main element: if a difference analysis between the frames reveals a movement that mainly moves outwards (or, on the contrary, towards the centre) the distance between the two hands is measured and the lamp behaves consequently .
  • a further "key” gesture which could advantageously be a closed fist, to be performed to start and conclude each process for identifying a command gesture. This allows preventing the user from inadvertently commanding the lamp by performing - under the camera - some simple gesture (for example, extending the hand to pick a pen) that the system could erroneously detect as a command gesture.
  • a second method of interaction with the lamp referred to as "touchless movement” , exploits the infrared sensors to detect an object, outside the light cone, which nears the head of the lamp.
  • This method of operation is not suitably aimed at controlling the light independently from the physical object represented by the lamp, contrary to the case of the gestural method obtained by means of the camera and in which the hands "interact" with the light cone and with the spot thereof projected on a surface.
  • the "touchless movement” allows moving the head of the lamp without touching it and “pushing” or “pulling” it virtually in any direction by simply moving the hand towards or away from the head of the lamp.
  • the lamp moves and rotates to compensate the "touchless” movement and still continue lighting the same area.
  • This is schematically shown in figure 8 for a repulsion movement of the lamp.
  • the user may move the body of the lamp to a more comfortable configuration using the hands to command the
  • the "communication channel” provided by means of the infrared sensors is different from the previous one for gesture visual movement in that, while the gesture under the camera allows changing the light conditions, the "touchless” interaction allows modifying the position of the lamp without moving the lighted area, with the control system of the lamp set to compensate the relocation.
  • the two systems are complementary to allow a complete interaction with the lamp. Normally, when the position of a conventional lamp creates discomfort due to the shadow or due to the fact that it hinders some movements one would like to perform, one should grasp it, move it and then rotate the light again where required. The touchless interaction makes the whole of this boring process even closer to an instinctive gesture of pushing it away, almost easily done as thought.
  • the sensors of proximity ignore any information when the hands or any other body are too far. Furthermore, a tolerance time interval should be set, so that sudden movements of the user do not cause sudden changes and that the lamp does not try to follow the hand when it is moving away, once the position has been adjusted satisfactorily.
  • the indication of the distance between an obstacle on the line of vision of the sensor and the sensor itself can be obtained from the electric dimension at the output of infrared sensors (for example, the rising and falling output voltage) . Such measurement of the distance is the input for the touchless movement.
  • a possible innovative system for providing the touchless interaction is based on the fusion of the information of the sensors IR by means of the "fuzzy" logic.
  • Fuzzy logic is a per se known multiple value logic, derived from the theory of fuzzy sets and which deals with approximate logic instead of precise logic.
  • the logic associates a value to a variable of interest. This value, often referred to as degree of truth, may vary (overall) between 0 and 1 and it indicates the correspondence between a proposition and the observed phenomena .
  • degree of truth of a proposition may vary at several levels between 0 and 1 and it is not restricted to the two values ⁇ true, false ⁇ of the classic binary logic.
  • an area of interest in which the user may interact with the lamp and is yet to be detected by the sensors, and an external area, where no interaction may occur, may be conceptually distinguished. This distinction is carried out to prevent an unwanted interaction and leave the hands of the user free when no interaction is required.
  • a two- level conventional logic in and out of the area of interest
  • the lamp has a more satisfactory behaviour if there is a further partitioning into areas which are defined by progressively increasing distances from the sensor, like onion layers.
  • the actual distances for example in centimetres from the head) which identify the borders of each layer or area may be practically defined according to the exact desired behaviour and according to a compromise between the desired maximum control distance and the probability of having false detections.
  • the areas may be defined (from that closest to the head outwards) as:
  • Near area the measurement of the distance obtained by the infrared sensors is lower than a minimum threshold value within which the lamp reacts moving away from the objects that get into such area. This also inherently guarantees avoiding an obstacle.
  • the near area is thus a repulsion area. In a conventional lamp this movement is obtained by physically pushing the head of the lamp using a hand;
  • Figure 9 shows a possible example of correlation of the areas according to the "fuzzy" logic. As observable in the figure, the various areas do not have sharp borders .
  • Figure 10 schematically shows the third method of interaction which uses the microphones system for spatial identification of sounds.
  • a sound of predetermined characteristics and which thus identifies a "sound signal" for example, snapping fingers or clapping hands
  • the source point is localised and the lamp directs the light beam towards such point, advantageously without moving the head of the lamp, but solely rotating it, unless the movement is required.
  • Such operating method is useful, for example, when the light, for whatever reason, is required on the other side of the desk and dragging it over the entire distance may be uncomfortable or complicated.
  • the sound signal provides a more instantaneous signal for the light at the desired point. If required, possible accurate adjustment of the position may subsequently be performed through the gesture command method.
  • a second camera may be provided to frame other details, such as the face of the user, present in the surrounding area.
  • Luminosity sensors may also be provided to adjust the light intensity of the lamp to the surrounding one .
  • the same camera may be used to serve such purpose.
  • the possible "key" activation gesture of the gestural recognition may also be a command coming from another sensorial channel, for example the acoustic one, through a voice command or preset sound. Other distance sensors may be provided for.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Circuit Arrangement For Electric Light Sources In General (AREA)

Abstract

L'invention porte sur un appareil d'éclairage qui comprend une tête (14) avec une source de lumière dirigée en un faisceau lumineux et une structure cinématique motorisée (25) pour diriger spatialement la tête. Un capteur d'image (30) est agencé dans la tête et est dirigé dans la direction du faisceau lumineux. Des moyens de traitement électroniques (25, 30) traitent les images prises par le capteur d'image (30) pour distinguer au moins une main d'un utilisateur introduite dans le faisceau, pour distinguer un geste dans celui-ci parmi une série de gestes prédéfinis prédéterminés dans le système de commande et commander un comportement interactif correspondant de la source de lumière. De plus, des capteurs de distance et des capteurs pour identifier la position de sources acoustiques sont disposés pour d'autres comportements interactifs supplémentaires de l'appareil.
PCT/IB2010/001454 2009-06-16 2010-06-16 Appareil d'éclairage robotisé et procédé de commande Ceased WO2010146446A1 (fr)

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ITMI2009A001066A IT1394314B1 (it) 2009-06-16 2009-06-16 Apparato di illuminazione robotizzato e metodo di comando
ITMI2009A001066 2009-06-16

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WO2010146446A1 true WO2010146446A1 (fr) 2010-12-23

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EP2434202A1 (fr) * 2010-09-28 2012-03-28 TRUMPF Medizin Systeme GmbH + Co. KG Lampe d'opération dotée d'un dispositif de commande stérile
US8159156B2 (en) 2009-08-10 2012-04-17 Redwood Systems, Inc. Lighting systems and methods of auto-commissioning
GB2489394A (en) * 2011-02-07 2012-10-03 Alistair Allan Macfarlane Smart Lighting
WO2013169635A1 (fr) 2012-05-07 2013-11-14 Chia Ming Chen Systèmes et procédés de commande de lumière
US8759734B2 (en) 2012-02-23 2014-06-24 Redwood Systems, Inc. Directional sensors for auto-commissioning lighting systems
DE102013215337A1 (de) * 2013-08-05 2015-02-05 Trilux Medical Gmbh & Co. Kg OP-Leuchte mit Steuerung
EP2902698A1 (fr) * 2014-02-03 2015-08-05 Regent Beleuchtungskörper AG Éclairage
WO2015144405A1 (fr) * 2014-03-26 2015-10-01 Steinel Gmbh Dispositif d'éclairage commandé
EP3021641A1 (fr) 2014-11-12 2016-05-18 Electrolux Appliances Aktiebolag Unité de cuisine pourvue d'un système d'éclairage
WO2016117593A1 (fr) * 2015-01-20 2016-07-28 バルミューダ株式会社 Dispositif d'éclairage
WO2017003931A1 (fr) * 2015-06-27 2017-01-05 Brown Gregory A M Luminaires, systèmes, et procédés de fonctionnement et/ou de commande de luminaires
WO2018095861A1 (fr) * 2016-11-28 2018-05-31 Philips Lighting Holding B.V. Procédé de guidage de lumière à l'aide d'une surveillance sonore
US10406967B2 (en) 2014-04-29 2019-09-10 Chia Ming Chen Light control systems and methods
FR3100869A1 (fr) * 2019-09-16 2021-03-19 Grégoire Popineau Dispositif d’éclairage pour bouteilles, synchronisé avec les sons environnants
AT17107U3 (de) * 2020-06-11 2022-04-15 Nanjing Ruixiang Information Tech Co Ltd Intelligentes Haushaltslicht und Steuerverfahren davon
CN115474320A (zh) * 2022-08-15 2022-12-13 深圳市尚为国际照明工程有限公司 一种基于物联网的工业照明装置

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GB2381979A (en) * 2001-10-18 2003-05-14 Robert William Chandler Intruder tracking and illuminating system
JP2003197006A (ja) * 2001-12-28 2003-07-11 Hitachi Koki Co Ltd 投光器
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Cited By (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8159156B2 (en) 2009-08-10 2012-04-17 Redwood Systems, Inc. Lighting systems and methods of auto-commissioning
US8710772B2 (en) 2009-08-10 2014-04-29 Redwood Systems, Inc. Orbing and lighting systems
US8729835B2 (en) 2009-08-10 2014-05-20 Redwood Systems, Inc. Group creation in auto-commissioning of lighting systems
EP2434202A1 (fr) * 2010-09-28 2012-03-28 TRUMPF Medizin Systeme GmbH + Co. KG Lampe d'opération dotée d'un dispositif de commande stérile
CN102537796A (zh) * 2010-09-28 2012-07-04 通快医疗系统两合公司 具有无菌操作装置的外科手术灯具
US8833953B2 (en) 2010-09-28 2014-09-16 Trumpf Medizin Systeme Gmbh + Co. Kg Surgical lamps and related systems and methods
GB2489394A (en) * 2011-02-07 2012-10-03 Alistair Allan Macfarlane Smart Lighting
US8759734B2 (en) 2012-02-23 2014-06-24 Redwood Systems, Inc. Directional sensors for auto-commissioning lighting systems
WO2013169635A1 (fr) 2012-05-07 2013-11-14 Chia Ming Chen Systèmes et procédés de commande de lumière
US9587804B2 (en) 2012-05-07 2017-03-07 Chia Ming Chen Light control systems and methods
EP2848094A4 (fr) * 2012-05-07 2016-12-21 Chia Ming Chen Systèmes et procédés de commande de lumière
CN105658171A (zh) * 2013-08-05 2016-06-08 特里吕克瑟医疗两合公司 具有控制的手术灯
DE102013215337A1 (de) * 2013-08-05 2015-02-05 Trilux Medical Gmbh & Co. Kg OP-Leuchte mit Steuerung
CN105658171B (zh) * 2013-08-05 2018-09-21 特里吕克瑟医疗两合公司 具有控制的手术灯
US10709519B2 (en) 2013-08-05 2020-07-14 Trilux Medical Gmbh & Co. Kg Surgical lamp having control
WO2015018830A3 (fr) * 2013-08-05 2015-04-09 Trilux Medical Gmbh & Co. Kg Lampe de bloc opératoire à commande
EP2902698A1 (fr) * 2014-02-03 2015-08-05 Regent Beleuchtungskörper AG Éclairage
CH709254A1 (de) * 2014-02-03 2015-08-14 Regent Beleuchtungskörper Ag Leuchte.
CN106465516A (zh) * 2014-03-26 2017-02-22 斯坦内尔有限公司 可控式灯具
WO2015144405A1 (fr) * 2014-03-26 2015-10-01 Steinel Gmbh Dispositif d'éclairage commandé
US10129953B2 (en) 2014-03-26 2018-11-13 Steinel Gmbh Controlled lamp device
US10953785B2 (en) 2014-04-29 2021-03-23 Chia Ming Chen Light control systems and methods
US10406967B2 (en) 2014-04-29 2019-09-10 Chia Ming Chen Light control systems and methods
WO2016075023A1 (fr) 2014-11-12 2016-05-19 Electrolux Appliances Aktiebolag Élément de cuisine équipée d'un système d'éclairage
EP3021641A1 (fr) 2014-11-12 2016-05-18 Electrolux Appliances Aktiebolag Unité de cuisine pourvue d'un système d'éclairage
US10539330B2 (en) 2014-11-12 2020-01-21 Electrolux Appliances Aktiebolag Kitchen unit provided with a lighting system
WO2016117593A1 (fr) * 2015-01-20 2016-07-28 バルミューダ株式会社 Dispositif d'éclairage
US10349490B2 (en) 2015-01-20 2019-07-09 Balmuda Inc. Illumination device
US10561001B2 (en) 2015-01-20 2020-02-11 Balmuda Inc. Illumination device
JPWO2016117593A1 (ja) * 2015-01-20 2017-12-14 バルミューダ株式会社 照明装置
WO2017003931A1 (fr) * 2015-06-27 2017-01-05 Brown Gregory A M Luminaires, systèmes, et procédés de fonctionnement et/ou de commande de luminaires
WO2018095861A1 (fr) * 2016-11-28 2018-05-31 Philips Lighting Holding B.V. Procédé de guidage de lumière à l'aide d'une surveillance sonore
FR3100869A1 (fr) * 2019-09-16 2021-03-19 Grégoire Popineau Dispositif d’éclairage pour bouteilles, synchronisé avec les sons environnants
AT17107U3 (de) * 2020-06-11 2022-04-15 Nanjing Ruixiang Information Tech Co Ltd Intelligentes Haushaltslicht und Steuerverfahren davon
CN115474320A (zh) * 2022-08-15 2022-12-13 深圳市尚为国际照明工程有限公司 一种基于物联网的工业照明装置

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IT1394314B1 (it) 2012-06-06
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