CN110553727B - Ground photometric measurement device, photometric measurement system and measurement method - Google Patents
Ground photometric measurement device, photometric measurement system and measurement method Download PDFInfo
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- CN110553727B CN110553727B CN201910952338.XA CN201910952338A CN110553727B CN 110553727 B CN110553727 B CN 110553727B CN 201910952338 A CN201910952338 A CN 201910952338A CN 110553727 B CN110553727 B CN 110553727B
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- 238000005375 photometry Methods 0.000 title claims abstract description 81
- 238000000691 measurement method Methods 0.000 title claims description 3
- 239000000523 sample Substances 0.000 claims abstract description 90
- 238000000034 method Methods 0.000 claims abstract description 25
- 238000005259 measurement Methods 0.000 claims description 33
- 238000009434 installation Methods 0.000 claims description 24
- 238000012360 testing method Methods 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000009826 distribution Methods 0.000 abstract description 10
- 238000005286 illumination Methods 0.000 description 3
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/02—Details
- G01J1/0271—Housings; Attachments or accessories for photometers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Electromagnetism (AREA)
- Navigation (AREA)
- Photometry And Measurement Of Optical Pulse Characteristics (AREA)
Abstract
The invention relates to the technical field of photometric measurement devices, in particular to a ground photometric measurement device, a photometric measurement system and a photometric measurement method. The ground photometric measurement device comprises a mounting bracket, an illuminometer body and an illuminometer probe electrically connected with the illuminometer body; the mounting bracket comprises a horizontal chassis, a telescopic middle column assembly and a probe mounting elastic rope, wherein the telescopic middle column assembly is vertically arranged on the horizontal chassis, two ends of the probe mounting elastic rope are respectively connected to the top end of the telescopic middle column assembly and the horizontal chassis, and the probe mounting elastic rope, the horizontal chassis and the telescopic middle column assembly are arranged in a triangular mode; the plurality of illuminometer probes are arranged on the probe mounting elastic rope at intervals. The invention relates to a ground photometric measurement device and a ground photometric measurement system, which can measure photometric of different height distributions. The ground photometric measurement method can be used for measuring the photometric of the curved road.
Description
Technical Field
The invention relates to the technical field of photometric measurement devices, in particular to a ground photometric measurement device, a photometric measurement system and a photometric measurement method.
Background
The patent application with publication number of CN106767779 discloses an automatic measuring device and a measuring method for road illumination, which mainly provide technical schemes of automatic measurement, automatic navigation, accurate positioning and the like, but have the problems that the device and the method cannot be applied to a curved road, only can measure the luminosity of fixed height and cannot measure the luminosity of different height distribution, so that it is necessary to provide a ground luminosity measuring device capable of measuring the luminosity of different height distribution, and a luminosity measuring system and a measuring method applicable to the measurement of the curved road.
Disclosure of Invention
The invention aims to provide a ground photometric measurement device, a photometric measurement system and a photometric measurement method, which can measure photometric of different height distribution and can be suitable for measuring photometric of a curved road.
In order to achieve the above object, the present invention provides a ground photometric measurement device, comprising a mounting bracket, a illuminometer body and an illuminometer probe electrically connected with the illuminometer body; the mounting bracket comprises a horizontal chassis, a telescopic middle column assembly and a probe mounting elastic rope, wherein the telescopic middle column assembly is vertically arranged on the horizontal chassis, two ends of the probe mounting elastic rope are respectively connected to the top end of the telescopic middle column assembly and the horizontal chassis, and the probe mounting elastic rope, the horizontal chassis and the telescopic middle column assembly are arranged in a triangular mode; the plurality of illuminometer probes are arranged on the probe mounting elastic rope at intervals.
Preferably, the probe also comprises a telescopic slide bar for supporting the probe to mount the elastic rope, the telescopic slide bar comprises a first slide tube and a second slide tube, one end of the first slide tube is hinged with the horizontal chassis, one end of the second sliding tube is hinged to the top end of the telescopic middle column assembly, and the other end of the first sliding tube is in sliding connection with the other end of the second sliding tube; the illuminometer probe is arranged on the telescopic slide rod in a sliding way.
Preferably, the device further comprises a probe mounting sliding table and a sliding connector, wherein the probe mounting sliding table is provided with a sleeve part and a horizontal support, the horizontal support is rotatably arranged on the sleeve part, the sleeve part is slidably arranged on the telescopic sliding rod, and the illuminometer probe is horizontally arranged on the horizontal support; the body of first slide pipe and second slide pipe is provided with the spout, and probe installation elastic rope wears to locate the lumen of first slide pipe and second slide pipe, and the slip joint piece slides and sets up in the spout, and probe installation slip table passes through slip joint piece fixed connection in probe installation elastic rope.
Preferably, two probe installation elastic ropes and two telescopic slide bars are respectively arranged, and the two probe installation elastic ropes are respectively arranged at two sides of the telescopic middle column assembly and are arranged in an isosceles triangle with the horizontal chassis; the two ends of the connecting telescopic rod are respectively pivoted to the two horizontal support tables which are positioned at the same height and are respectively connected with the two probe installation elastic ropes.
Preferably, the telescopic middle column assembly comprises a first middle column, a second middle column, a screw and a motor, wherein the first middle column and the second middle column are hollow pipe bodies, the first middle column is fixed on a horizontal chassis, the second middle column is slidably arranged at one end of the first middle column, one end of the second middle column is provided with an internal thread part in transmission connection with the screw, and the probe is provided with an elastic rope connected to the other end of the second middle column; the screw rod is rotatably arranged on the horizontal chassis and is arranged in the hollow tube cavities of the first middle column and the second middle column, and the motor drives the screw rod to rotate and is arranged on the horizontal chassis.
In order to achieve the purpose, the intelligent ground photometric measurement system comprises an upper computer, a path information acquisition unmanned aerial vehicle and a mobile photometric measurement vehicle, wherein the mobile photometric measurement vehicle is provided with a ground photometric measurement device, the path information acquisition unmanned aerial vehicle and the mobile photometric measurement vehicle are both provided with radio communication modules, and the mobile photometric measurement vehicle and the path information acquisition unmanned aerial vehicle are respectively connected with the upper computer through radio signals; the path information acquisition unmanned aerial vehicle is provided with a machine vision imaging module, and the mobile photometric measuring vehicle is provided with a steering servo motor and a GPS navigation module.
In order to achieve the above object, the present invention provides a ground photometric measurement method, which uses a ground photometric intelligent measurement system, comprising the following measurement steps:
A. the method comprises the steps that a path information acquisition unmanned plane flies through a curved road to be measured to acquire road image information and transmit the road image information to an upper computer;
B. c, the upper computer carries out gray level identification on the graphic information acquired in the step A to generate simulated road curve graphic information of the edges of the two sides of the road;
C. b, placing the mobile photometric measurement vehicle at the starting point of the road to be measured, measuring the vertical distances A1 and A2 between the mobile photometric measurement vehicle and the two side edges of the road to generate starting point coordinates A (A1 and A2), transmitting the coordinate information of A (A1 and A2) to an upper computer, simulating the relative positions of the starting point coordinates from the two side edges of the road to be measured according to the starting point to the simulated road curve graph information generated in the step B to generate simulated starting points O (X0 and Y0), and generating a navigation path by the upper computer by referring to the relative positions of the simulated starting points from the simulated road side edge curves and referring to longitude and latitude data of the starting points;
and D, the GPS navigation module is used for measuring longitude and latitude data of the mobile photometric measurement vehicle at all times and transmitting the longitude and latitude data to the upper computer, and the upper computer is used for comparing the difference between the longitude and latitude data and the simulated navigation path information and controlling the mobile photometric measurement vehicle to move along the navigation path generated in the step C, and the illuminometer probe is used for measuring the luminosity of the passing region to generate illuminance data.
In order to achieve the above purpose, the indoor ground photometric measurement method of the invention utilizes a positioning system and a mobile photometric measurement vehicle, wherein the mobile photometric measurement vehicle is provided with a ground photometric measurement device, the positioning system comprises a first base station, a second base station, a third base station and a first mobile tag arranged on the mobile photometric measurement vehicle, the first base station is provided with a bracket, a transverse laser ranging device and a longitudinal laser ranging device which are arranged on the bracket and are mutually and vertically arranged, and the transverse laser ranging device and the longitudinal laser ranging device are in communication connection with an upper computer; the mobile photometric measuring vehicle is provided with an STM32 micro-processing controller electrically connected with a first mobile tag, and comprises the following measuring steps:
A. the first base station is placed at the initial position of a test place, the height H of the laser ranging device is measured, and the laser is emitted by the transverse laser ranging device and the longitudinal laser ranging device;
B. placing the second base station and the third base station along lasers emitted by a transverse laser ranging device and a longitudinal laser ranging device respectively, measuring the distance X, Y between the laser emitted by the transverse laser ranging device and the longitudinal laser ranging device and the second base station and the third base station, and transmitting the distances X, Y to an upper computer to generate coordinates (X, 0, H), (0, Y, H) of the second base station and the third base station;
C. the upper computer generates a measurement area formed by limiting a first base station, a second base station, a third base station and coordinates (X, Y and H), and a plurality of road surface test target points positioned in the measurement area are manually input or automatically generated by the upper computer;
D. c, placing a mobile photometric measuring vehicle in the measuring area in the step C;
E. the upper computer generates position coordinates of the first mobile tag, the upper computer compares the position coordinates of the first mobile tag with road surface test target points one by one, calculates differences by utilizing an algorithm, controls the mobile photometric measuring vehicle to move to the plurality of road surface test target points, and the illuminometer probe (3) measures illuminance of the road surface test target points and transmits the illuminance to the upper computer.
The positioning system further comprises a fourth base station, wherein the fourth base station is provided with a bracket, a transverse laser ranging device and a longitudinal laser ranging device which are arranged on the bracket and are mutually and vertically arranged, after the step B, the fourth base station is sequentially placed at an obstacle position in a measuring area, and coordinates of the obstacle position measured by the second base station, the third base station and the fourth base station along the transverse direction and the longitudinal direction are transmitted to an upper computer; and C, generating coordinates of the obstacle avoidance position when the road surface is tested to the target point.
Further, the positioning system further comprises a second mobile photometric measuring vehicle and a second mobile tag arranged on the second mobile photometric measuring vehicle, and the second mobile photometric measuring vehicle and the first mobile photometric measuring vehicle are used for simultaneous measurement.
The invention has the beneficial effects that: according to the ground photometric measurement device, the height of the telescopic middle column assembly can be changed in the vertical direction, when the telescopic middle column assembly stretches, the probe is pulled to install the elastic rope to be pulled to generate uniform elastic deformation, and the position of the illuminometer probe in the vertical direction can be changed, so that the photometric measurement of different height distributions is convenient. The ground photometric measurement device can measure photometric of different height distributions.
The ground luminosity intelligent measurement system can collect path information of an unmanned plane through path information, the path information is transmitted to an upper computer through a radio communication module to generate simulated navigation path information, the upper computer controls a steering servo motor to realize regulation and control of the moving direction of a mobile luminosity measuring vehicle, a GPS navigation module measures longitude and latitude data of the mobile luminosity measuring vehicle at all times, the upper computer compares the difference between the longitude and latitude data and the simulated navigation path information, and the mobile luminosity measuring vehicle is controlled to move along the simulated navigation path to realize measurement of luminosity of different positions and different heights.
The ground photometric measurement method can utilize pattern acquisition and recognition to generate the simulated road curve pattern information of the curved road, and utilizes the upper computer to generate the navigation path and simultaneously control the measurement mobile photometric measurement vehicle to move along the navigation path so as to realize the photometric measurement of the curved road.
The indoor ground photometric measurement method can automatically measure the coordinate information of the region to be measured in the environment without satellite navigation, and realize automatic navigation measurement of illuminance data of road surface test target points.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic cross-sectional view of the present invention.
Fig. 3 is a schematic view of a partial enlarged structure at a in fig. 1.
The reference numerals include:
1-mounting bracket
11-horizontal chassis 12-probe mounting elastic rope
13-telescoping slide bar 131-chute
14-connecting telescopic rod
15-Probe mounting slip 151-Sleeve portion 152-horizontal support
2-telescoping center post assembly
21-first center pillar
22-second center post 23-screw 24-motor
3-illuminometer probe.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 3, the ground photometric measurement device of the present invention comprises a mounting bracket 1, a illuminometer body and an illuminometer probe 3 electrically connected with the illuminometer body; the mounting bracket 1 comprises a horizontal chassis 11, a telescopic middle column assembly 2 and a probe mounting elastic rope 12, wherein the telescopic middle column assembly 2 is vertically mounted on the horizontal chassis 11, two ends of the probe mounting elastic rope 12 are respectively connected to the top end of the telescopic middle column assembly 2 and the horizontal chassis 11, and the probe mounting elastic rope 12, the horizontal chassis 11 and the telescopic middle column assembly 2 are arranged in a triangle; the plurality of illuminometer probes 3 are provided at intervals on the probe mounting elastic cord 12. According to the ground photometric measurement device, the height of the telescopic middle column assembly 2 can be changed in the vertical direction, when the telescopic middle column assembly 2 stretches, the probe installation elastic rope 12 is pulled to be pulled to generate uniform elastic deformation, and the position of the illuminometer probe 3 in the vertical direction can be changed, so that the photometric measurement of different height distributions is facilitated. The ground photometric measurement device can measure photometric of different height distributions.
Preferably, the probe comprises a probe mounting elastic rope 12, and further comprises a telescopic slide bar 13 for supporting the probe mounting elastic rope 12, wherein the telescopic slide bar 13 comprises a first slide tube and a second slide tube, one end of the first slide tube is hinged to the horizontal chassis 11, one end of the second slide tube is hinged to the top end of the telescopic middle column assembly 2, and the other end of the first slide tube is in relative sliding connection with the other end of the second slide tube; the illuminometer probe 3 is slidably disposed on the telescopic slide bar 13. According to the ground photometric measurement device, the telescopic slide rod 13 is used for providing good support for the probe to be provided with the elastic rope 12, so that the shaking of the illuminometer probe 3 is reduced or avoided, and the accuracy of photometric measurement is ensured; the telescopic middle column assembly 2 drives the telescopic slide rod 13 to stretch when stretching, and can provide good support for the probe mounting elastic rope 12 when stretching.
Preferably, the device further comprises a probe mounting sliding table 15 and a sliding connector, wherein the probe mounting sliding table 15 is provided with a sleeve part 151 and a horizontal support 152, the horizontal support 152 is rotatably arranged on the sleeve part 151, the sleeve part 151 is slidably arranged on the telescopic sliding rod 13, and the illuminometer probe 3 is horizontally arranged on the horizontal support 152; the body of first slide pipe and second slide pipe is provided with spout 131, and probe installation elastic rope 12 wears to locate the lumen of first slide pipe and second slide pipe, and the slip joint piece slides and sets up in spout 131, and probe installation slip table 15 passes through slip joint piece fixed connection in probe installation elastic rope 12 to probe installation slip table 15 can synchronous slip when guaranteeing that probe installation elastic rope 12 takes place to extend. According to the ground photometric measurement device, the horizontal support 152 can be rotatably arranged on the sleeve part 151 so as to adjust the angle of the horizontal support 152, and the illuminometer probe 3 is horizontally arranged on the horizontal support 152 so as to receive illumination, so that photometric measurement accuracy is ensured.
Preferably, two probe installation elastic ropes 12 and two telescopic slide rods 13 are respectively arranged, and the two probe installation elastic ropes 12 are respectively arranged at two sides of the telescopic middle column assembly 2 and are arranged in an isosceles triangle with the horizontal chassis 11; the probe mounting device further comprises a connecting telescopic rod 14 for maintaining the horizontal support 152 to be horizontal, wherein two ends of the connecting telescopic rod 14 are respectively pivoted to two horizontal support 152 which are positioned at the same height and are respectively connected with the two probe mounting elastic ropes 12. According to the ground photometric measurement device, the illuminometer probe 3 is wide in distribution and high in illumination data acquisition efficiency; when the telescopic middle column assembly 2 stretches, the connecting telescopic rod 14 stretches synchronously and can be kept horizontal all the time, and meanwhile, the horizontal support 152 pivoted at the two ends of the connecting telescopic rod 14 can be kept horizontal all the time.
Preferably, the telescopic middle column assembly 2 comprises a first middle column 21, a second middle column 22, a screw rod 23 and a motor 24, wherein the first middle column 21 and the second middle column 22 are hollow pipe bodies, the first middle column 21 is fixed on the horizontal chassis 11, the second middle column 22 is slidably arranged at one end of the first middle column 21, one end of the second middle column 22 is provided with an internal thread part in transmission connection with the screw rod 23, and the probe installation elastic rope 12 is connected to the other end of the second middle column 22; the screw 23 is rotatably provided to the horizontal chassis 11 and disposed in the hollow lumens of the first and second center posts 21 and 22, and the motor 24 drives the screw 23 to rotate and is provided to the horizontal chassis 11. According to the ground photometric device, the motor 24 drives the screw rod 23 to rotate, the screw rod 23 rotates to push the second center pillar 22 to move up and down so as to change the height of the telescopic center pillar assembly 2, and the ground photometric device is stable in structure and easy to adjust the height of the telescopic center pillar assembly 2.
The invention discloses a ground luminosity intelligent measurement system, which comprises an upper computer, a path information acquisition unmanned aerial vehicle and a mobile luminosity measurement vehicle, wherein the path information acquisition unmanned aerial vehicle and the mobile luminosity measurement vehicle are respectively provided with a radio communication module, and the mobile luminosity measurement vehicle and the path information acquisition unmanned aerial vehicle are respectively connected with the upper computer through radio signals; the path information acquisition unmanned aerial vehicle is provided with a machine vision imaging module, and the mobile photometric measuring vehicle is provided with a steering servo motor and a GPS navigation module. The ground luminosity intelligent measurement system can collect path information of an unmanned plane through path information, the path information is transmitted to an upper computer through a radio communication module to generate simulated navigation path information, the upper computer controls a steering servo motor to realize regulation and control of the moving direction of a mobile luminosity measuring vehicle, a GPS navigation module measures longitude and latitude data of the mobile luminosity measuring vehicle at all times, the upper computer compares the difference between the longitude and latitude data and the simulated navigation path information, and the mobile luminosity measuring vehicle is controlled to move along the simulated navigation path to realize measurement of luminosity of different positions and different heights. Specifically, the radio communication module may be a 2.4G communication device, a bluetooth communication device, or a wifi module for near field communication.
The invention relates to a ground photometric measurement method, which utilizes a ground photometric intelligent measurement system, and comprises the following measurement steps:
A. the method comprises the steps that a path information acquisition unmanned plane flies through a curved road to be measured to acquire road image information and transmit the road image information to an upper computer;
B. c, the upper computer carries out gray level identification on the graphic information acquired in the step A to generate simulated road curve graphic information of the edges of the two sides of the road;
C. b, placing the mobile photometric measurement vehicle at the starting point of the road to be measured, measuring the vertical distances A1 and A2 between the mobile photometric measurement vehicle and the two side edges of the road to generate starting point coordinates A (A1 and A2), transmitting the coordinate information of A (A1 and A2) to an upper computer, simulating the relative positions of the starting point coordinates from the two side edges of the road to be measured according to the starting point to the simulated road curve graph information generated in the step B to generate simulated starting points O (X0 and Y0), and generating a navigation path by the upper computer by referring to the relative positions of the simulated starting points from the simulated road side edge curves and referring to longitude and latitude data of the starting points; specifically, the ratio of A1 to A2 is equal to the ratio of X0 to Y0. Specifically, the points O1 (X1, Y1), O2 (X2, Y2) on the navigation path satisfy that the ratio of X1 to Y1 is equal to the ratio of X2 to Y2 and equal to the ratio of X0 to Y0.
And D, the GPS navigation module is used for measuring longitude and latitude data of the mobile photometric measuring vehicle at all times and transmitting the longitude and latitude data to the upper computer, and the upper computer is used for comparing the difference between the longitude and latitude data and the simulated navigation path information and controlling the mobile photometric measuring vehicle to move along the navigation path generated in the step C, and the illuminometer probe 3 is used for measuring the luminosity of the passing area to generate illuminance data.
The ground photometric measurement method can utilize pattern acquisition and recognition to generate the simulated road curve pattern information of the curved road, and utilizes the upper computer to generate the navigation path and simultaneously control the measurement mobile photometric measurement vehicle to move along the navigation path so as to realize the photometric measurement of the curved road. Meanwhile, the upper computer can control the motor 24 to adjust the height of the telescopic middle column assembly 2 so as to adjust the distribution of the illuminometer probe 3 in the vertical space, and realize the photometric measurement of the three-dimensional space of the region to be measured. Specifically, the upper computer comprises an STM32 micro-processing controller.
The invention relates to an indoor ground photometric measurement method, which utilizes a positioning system and a mobile photometric measurement vehicle, wherein the mobile photometric measurement vehicle is provided with a ground photometric measurement device, the positioning system comprises a first base station, a second base station, a third base station and a first mobile tag arranged on the mobile photometric measurement vehicle, the first base station is provided with a bracket, a transverse laser ranging device and a longitudinal laser ranging device which are arranged on the bracket and are mutually and vertically arranged, and the transverse laser ranging device and the longitudinal laser ranging device are in communication connection with an upper computer; the mobile photometric measuring vehicle is provided with an STM32 micro-processing controller electrically connected with a first mobile tag, and comprises the following measuring steps:
A. the first base station is placed at the initial position of a test place, the height H of the laser ranging device is measured, and the laser is emitted by the transverse laser ranging device and the longitudinal laser ranging device;
B. placing the second base station and the third base station along lasers emitted by a transverse laser ranging device and a longitudinal laser ranging device respectively, measuring the distance X, Y between the laser emitted by the transverse laser ranging device and the longitudinal laser ranging device and the second base station and the third base station, and transmitting the distances X, Y to an upper computer to generate coordinates (X, 0, H), (0, Y, H) of the second base station and the third base station;
C. the upper computer generates a measurement area formed by limiting a first base station, a second base station, a third base station and coordinates (X, Y and H), and a plurality of road surface test target points positioned in the measurement area are manually input or automatically generated by the upper computer;
D. c, placing a mobile photometric measuring vehicle in the measuring area in the step C;
E. the upper computer generates position coordinates of the first mobile tag, the upper computer compares the position coordinates of the first mobile tag with road surface test target points one by one, calculates differences by utilizing an algorithm, controls the mobile photometric measuring vehicle to move to the plurality of road surface test target points, and the illuminometer probe (3) measures illuminance of the road surface test target points and transmits the illuminance to the upper computer.
The indoor ground photometric measurement method can automatically measure the coordinate information of the region to be measured in the environment without satellite navigation, can manually input a plurality of road surface test target points positioned in the measurement region, and can realize automatic navigation measurement of illuminance data of the road surface test target points. The method can be applied to illuminance measurement of spaces such as tunnels, basements and the like.
The positioning system further comprises a fourth base station, wherein the fourth base station is provided with a bracket, a transverse laser ranging device and a longitudinal laser ranging device which are arranged on the bracket and are mutually and vertically arranged, after the step B, the fourth base station is sequentially placed at an obstacle position in a measuring area, and coordinates of the obstacle position measured by the second base station, the third base station and the fourth base station along the transverse direction and the longitudinal direction are transmitted to an upper computer; and C, generating coordinates of the obstacle avoidance position when the road surface is tested to the target point. The indoor ground photometric measurement method can automatically measure the coordinate information of the region to be measured in the environment without satellite navigation, and realize automatic navigation measurement of illuminance data of road surface test target points. The method can be applied to illuminance measurement of spaces such as tunnels, basements and the like, and can avoid fixed pillars, deep pits on the ground, barriers such as tables and the like.
Further, the positioning system further comprises a second mobile photometric measuring vehicle and a second mobile tag arranged on the second mobile photometric measuring vehicle, and the second mobile photometric measuring vehicle and the first mobile photometric measuring vehicle are used for simultaneous measurement. The indoor ground photometric measurement method can use two mobile photometric measurement vehicles to measure simultaneously, so that the measurement efficiency is improved.
In view of the above, the present invention has the above-mentioned excellent characteristics, so that it can be used to improve the performance and practicality of the prior art, and is a product with great practical value.
The foregoing is merely exemplary of the present invention, and those skilled in the art should not be considered as limiting the invention, since modifications may be made in the specific embodiments and application scope of the invention in light of the teachings of the present invention.
Claims (6)
1. A floor photometric measurement device, characterized in that: comprises a mounting bracket (1), an illuminometer body and an illuminometer probe (3) electrically connected with the illuminometer body; the mounting bracket (1) comprises a horizontal chassis (11), a telescopic middle column assembly (2) and a probe mounting elastic rope (12), wherein the telescopic middle column assembly (2) is vertically mounted on the horizontal chassis (11), two ends of the probe mounting elastic rope (12) are respectively connected to the top end of the telescopic middle column assembly (2) and the horizontal chassis (11), and the probe mounting elastic rope (12), the horizontal chassis (11) and the telescopic middle column assembly (2) are arranged in a triangular mode; the plurality of illuminometer probes (3) are arranged on the probe mounting elastic rope (12) at intervals;
the probe comprises a probe body, a probe installation elastic rope (12) and a telescopic sliding rod (13) for supporting the probe body, wherein the telescopic sliding rod (13) comprises a first sliding tube and a second sliding tube, one end of the first sliding tube is hinged to a horizontal chassis (11), one end of the second sliding tube is hinged to the top end of the telescopic middle column assembly (2), and the other end of the first sliding tube is in relative sliding connection with the other end of the second sliding tube; the illuminometer probe (3) is arranged on the telescopic slide rod (13) in a sliding way;
the device further comprises a probe installation sliding table (15) and a sliding connector, wherein the probe installation sliding table (15) is provided with a sleeve part (151) and a horizontal support (152), the horizontal support (152) is rotatably arranged on the sleeve part (151), the sleeve part (151) is slidably arranged on the telescopic sliding rod (13), and the illuminometer probe (3) is horizontally arranged on the horizontal support (152); the body of the first sliding tube and the body of the second sliding tube are provided with sliding grooves (131), the probe installation elastic rope (12) penetrates through the tube cavities of the first sliding tube and the second sliding tube, the sliding connection piece is arranged on the sliding grooves (131) in a sliding mode, and the probe installation sliding table (15) is fixedly connected to the probe installation elastic rope (12) through the sliding connection piece;
the two probe installation elastic ropes (12) and the two telescopic slide bars (13) are respectively arranged, and the two probe installation elastic ropes (12) are respectively arranged at two sides of the telescopic middle column assembly (2) and are arranged in an isosceles triangle with the horizontal chassis (11); the probe comprises a probe mounting elastic rope (12) and a connecting telescopic rod (14) which is used for maintaining the horizontal support (152) to be horizontal, wherein two ends of the connecting telescopic rod (14) are respectively pivoted to the two horizontal support (152) which are positioned at the same height and are respectively connected to the two probe mounting elastic ropes (12);
the telescopic middle column assembly (2) comprises a first middle column (21), a second middle column (22), a screw rod (23) and a motor (24), wherein the first middle column (21) and the second middle column (22) are hollow pipe bodies, the first middle column (21) is fixed on a horizontal chassis (11), the second middle column (22) is slidably arranged at one end of the first middle column (21), one end of the second middle column (22) is provided with an internal thread part in transmission connection with the screw rod (23), and a probe installation elastic rope (12) is connected to the other end of the second middle column (22); the screw rod (23) is rotatably arranged on the horizontal chassis (11) and is arranged in the hollow tube cavities of the first middle column (21) and the second middle column (22), and the motor (24) drives the screw rod (23) to rotate and is arranged on the horizontal chassis (11).
2. A system for measuring luminosity on the ground, characterized by: the system comprises an upper computer, a path information acquisition unmanned aerial vehicle and a mobile photometric measurement vehicle, wherein the mobile photometric measurement vehicle is provided with a ground photometric measurement device according to claim 1, the path information acquisition unmanned aerial vehicle and the mobile photometric measurement vehicle are both provided with radio communication modules, and the mobile photometric measurement vehicle and the path information acquisition unmanned aerial vehicle are respectively connected with the upper computer through radio signals; the path information acquisition unmanned aerial vehicle is provided with a machine vision imaging module, and the mobile photometric measuring vehicle is provided with a steering servo motor and a GPS navigation module.
3. A method for measuring the luminosity of the ground, which is characterized in that: a surface photometric measurement system using the system of claim 2 comprising the following measurement steps:
a, acquiring road image information by utilizing a path information acquisition unmanned plane to fly through a curved road to be measured and transmitting the road image information to an upper computer;
b, the upper computer carries out gray level identification on the graphic information acquired in the step A to generate simulated road curve graphic information of the edges of the two sides of the road;
c, placing the mobile photometric measurement vehicle at the starting point of the road to be measured, measuring the vertical distances A1 and A2 between the mobile photometric measurement vehicle and the two side edges of the road to generate starting point coordinates A (A1 and A2), transmitting the coordinate information of A (A1 and A2) to an upper computer, simulating the starting point coordinates into the simulated road curve graph information generated in the step B according to the relative positions of the starting point and the two side edges of the road to be measured by the upper computer to generate simulated starting points O (X0 and Y0), and generating a navigation path by the upper computer by referring to the relative positions of the simulated starting point and the simulated road two side edge curves and referring to the longitude and latitude data of the starting points;
and D, transmitting longitude and latitude data of the mobile photometric measurement vehicle to an upper computer by the GPS navigation module, comparing the difference between the longitude and latitude data and the simulated navigation path information by the upper computer, controlling the mobile photometric measurement vehicle to move along the navigation path generated in the step C, and measuring the luminosity of the passing region by an illuminometer probe (3) to generate illuminance data.
4. An indoor floor luminosity measurement method is characterized in that: the method comprises the steps that a positioning system and a mobile photometric measuring vehicle are utilized, the mobile photometric measuring vehicle is provided with a ground photometric measuring device according to claim 1, the positioning system comprises a first base station, a second base station, a third base station and a first mobile tag placed on the mobile photometric measuring vehicle, the first base station is provided with a bracket, a transverse laser ranging device and a longitudinal laser ranging device which are arranged on the bracket and are mutually perpendicular, and the transverse laser ranging device and the longitudinal laser ranging device are in communication connection with an upper computer; the mobile photometric measuring vehicle is provided with an STM32 micro-processing controller electrically connected with a first mobile tag, and comprises the following measuring steps:
a, a first base station is placed at the initial position of a test place, the height H of a laser ranging device is measured, and a transverse laser ranging device and a longitudinal laser ranging device emit laser;
placing the second base station and the third base station along lasers emitted by the transverse laser ranging device and the longitudinal laser ranging device respectively, measuring the distance X, Y between the laser emitted by the transverse laser ranging device and the longitudinal laser ranging device and the second base station and the third base station, and transmitting the distances X, Y to an upper computer to generate coordinates (X, 0, H), (0, Y, H) of the second base station and the third base station;
the upper computer generates a measurement area formed by limiting a first base station, a second base station, a third base station and coordinates (X, Y and H), and a plurality of road surface test target points positioned in the measurement area are manually input or automatically generated by the upper computer;
d, placing a mobile photometric measuring vehicle in the measuring area in the step C;
e, the upper computer generates position coordinates of the first mobile tag, the upper computer compares the position coordinates of the first mobile tag with road surface test target points one by one, calculates differences by utilizing an algorithm, controls the mobile photometric measuring vehicle to move to the plurality of road surface test target points, and the illuminometer probe (3) measures illuminance of the road surface test target points and transmits the illuminance to the upper computer.
5. The indoor floor photometric measurement method of claim 4 wherein: the positioning system further comprises a fourth base station, wherein the fourth base station is provided with a bracket, a transverse laser ranging device and a longitudinal laser ranging device which are arranged on the bracket and are mutually perpendicular, after the step B, the fourth base station is sequentially placed at an obstacle position in a measuring area, and coordinates of the obstacle position measured by the second base station, the third base station and the fourth base station along the transverse direction and the longitudinal direction are transmitted to an upper computer; and C, generating coordinates of the obstacle avoidance position when the road surface is tested to the target point.
6. The indoor floor photometric measurement method of claim 4 wherein: the positioning system also comprises a second mobile photometric measuring vehicle and a second mobile tag arranged on the second mobile photometric measuring vehicle, and the second mobile photometric measuring vehicle and the first mobile photometric measuring vehicle are used for simultaneous measurement.
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