CN110987171A - Automatic field illumination detection vehicle and detection method - Google Patents
Automatic field illumination detection vehicle and detection method Download PDFInfo
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- CN110987171A CN110987171A CN201911125486.0A CN201911125486A CN110987171A CN 110987171 A CN110987171 A CN 110987171A CN 201911125486 A CN201911125486 A CN 201911125486A CN 110987171 A CN110987171 A CN 110987171A
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- 238000001514 detection method Methods 0.000 title claims abstract description 131
- 238000005286 illumination Methods 0.000 title claims abstract description 36
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- 238000005259 measurement Methods 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims abstract description 6
- 230000003595 spectral effect Effects 0.000 claims description 8
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- 238000007689 inspection Methods 0.000 claims description 5
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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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
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
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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
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
- G01J2001/4247—Photometry, e.g. photographic exposure meter using electric radiation detectors for testing lamps or other light sources
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Abstract
The invention discloses a field illumination automatic detection vehicle, comprising: the detection vehicle body is provided with a telescopic rod, a mechanical arm and an objective table; a detection device mounted on the objective table; the positioning part is arranged on the objective table and specifically comprises a ranging module and a zooming module, and the zooming module is used for acquiring an image of a target to be detected; the distance measurement module is used for detecting the relative position of the objective table and the target to be detected; and the control part comprises an FPGA (field programmable gate array), is in data connection with the parts of the detection vehicle, and is used for controlling the operation of the positioning part and the detection device, acquiring the image data of the zooming module, completing image processing, controlling the movement of the detection vehicle body and controlling the movement of the mechanical arm and the objective table. The invention also discloses an automatic detection method for the field illumination, which detects the field light by using the automatic detection vehicle for the field illumination. The invention can sample and analyze the lighting condition of the sports ground fully automatically with high precision.
Description
Technical Field
The invention relates to the field of automation and photoelectric detection, in particular to a full-automatic field illumination automatic detection vehicle and a detection method.
Background
The technology of stadium light detection has remained at the level of manual measurement after many years of development. According to the JGJ153-2016 stadium lighting design and detection standard, strict requirements are required on the lighting conditions of the stadium, namely, standards for horizontal illuminance, uniformity of the horizontal illuminance, vertical illuminance in each camera direction, glare index, correlated color temperature and general color rendering index in the stadium are provided. In practice, the lighting conditions in the sports stadium often fail to meet the lighting standards due to the problems of unreasonable light design and aging of the lamps. Periodic measurements of the lighting conditions of the playing field are therefore necessary. At present, the light detection of the stadium ground mainly depends on manual detection. The illumination detection is carried out on the sports ground manually, and various conditions such as measurement errors, manpower consumption and the like exist. The site detection time is generally night, but is limited by factors such as the free site time, the working time of a measurement team, the weather environment and the like, so that complete site light detection is more difficult. In summary, the market for automatic lighting condition detection devices is wide.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an automatic field illumination detection vehicle and a detection method.
The purpose of the invention is realized by the following technical scheme:
the illumination of place automated inspection car includes:
the detection vehicle comprises a detection vehicle body, wherein a telescopic rod and mechanical arms are installed on the detection vehicle body, the mechanical arms at least comprise a first mechanical arm and a second mechanical arm, and the mechanical arms are connected through a steering engine; the first mechanical arm is fixed on the telescopic rod; an objective table is fixed on the second mechanical arm;
a detection device mounted on the objective table;
the positioning part is arranged on the objective table and specifically comprises a ranging module and a zooming module, and the zooming module is used for acquiring an image of a target to be detected; the distance measurement module is used for detecting the relative position of the objective table and the target to be detected;
and the control part comprises an FPGA (field programmable gate array), is in data connection with other parts of the detection vehicle, and is used for controlling the operation of the positioning part and the detection device, acquiring the image data of the zooming module, completing image processing, controlling the motion of the detection vehicle body and controlling the motion of the mechanical arm and the objective table.
The automatic detection method for the field illumination comprises the following steps of:
controlling the detection vehicle to reach a preset detection position;
adjusting the position of the objective table to enable the target to be detected to fall into the detection range of the detection device;
measuring optical information of a target to be detected through a detection device and/or acquiring an image of the target to be detected through a positioning part and detecting the relative position of an objective table and the target to be detected;
adjusting the position of the objective table to enable the next target to be detected to fall into the detection range of the detection device until all targets in the direction are detected;
and repeating the steps until all directions in the detection area are detected.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention can sample and analyze the lighting condition of the sports ground fully automatically with high precision. The invention can not only advance or stop on the sports ground and accurately record the position information, but also accurately sample the lighting condition of the sports ground.
Drawings
FIG. 1 is a schematic view of the structure of the inspection vehicle body of the present invention.
FIG. 2 is a schematic structural diagram of a mechanical arm connected by a steering engine.
Fig. 3 is a top view of the stage of the field illumination automated inspection vehicle and its upper mounting components of the present invention.
Fig. 4 is a side view of the field illumination automated inspection vehicle stage and its upper mounting components of the present invention.
Fig. 5 is a schematic diagram of the position of the object stage and the spectral illuminometer thereon when measuring field illumination parameters in embodiment 2 of the invention.
Fig. 6 is a schematic diagram of the positions of the object stage, the laser ranging module thereon, and the CCD sensor when measuring the field illumination parameters in embodiment 2 of the present invention.
FIG. 7 is a schematic view of the distribution of the detection positions of the horizontal illuminance and the vertical illuminance of the cart in embodiment 2 of the present invention.
FIG. 8 is a schematic diagram of the distribution of the color temperature and color rendering index of the cart according to embodiment 2 of the present invention.
FIG. 9 is a schematic diagram of the detected position distribution of the car brightness and glare index in embodiment 2 of the present invention.
Wherein: 1-an object stage; 2, a mechanical arm; 3, a steering engine; 4, a telescopic rod; 5, placing a box; 6, a vehicle body shell; 7-vehicle wheels; 8, a crawler belt; 9-spectral illuminometer; 10-laser ranging module; 11-a CCD sensor; 12-an imaging luminance meter; 13-spectral illuminometer photosurface.
Detailed Description
For better understanding of the technical solutions of the present invention, the following detailed description is provided for the embodiments of the present invention with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.
Example 1
As shown in fig. 1-2, the field illumination automatic detection vehicle includes:
the detection vehicle comprises a detection vehicle body, wherein a telescopic rod 4 and mechanical arms 2 are installed on the detection vehicle body, the mechanical arms at least comprise a first mechanical arm and a second mechanical arm, and the mechanical arms are connected through a steering engine; the first mechanical arm is fixed on the telescopic rod; an objective table 1 is fixed on the second mechanical arm; the telescopic rod is a vehicle-mounted scaling ladder hydraulic telescopic rod, the steering engine is a JX6221 large-torque mechanical arm metal steering engine 3, the mechanical arms comprise three groups in the embodiment, and two groups can be selected if an actual detection scene is not large;
the detection device, which comprises a spectral illuminometer 9 in the embodiment, is installed on the objective table, and is selected from an SPIC-200AWBW spectral illuminometer or an integrated spectral illuminometer with only a photoelectric probe; other detection devices, such as an imaging luminance meter 12, may be added to the stage according to the parameters to be detected, as shown in fig. 3-4.
The positioning part is arranged on the objective table as shown in fig. 3-4, and specifically comprises a distance measuring module and a zooming module, wherein the zooming module is used for acquiring an image of a target to be detected; the distance measurement module is used for detecting the relative position of the objective table and the target to be detected; the ranging module is an SK80 laser ranging module 10, and the zooming module is an FPV-10X zooming CCD sensor 11.
And the control part comprises an FPGA (field programmable gate array), is in data connection with other parts of the detection vehicle, and is used for controlling the operation of the positioning part and the detection device, acquiring the image data of the zooming module, completing image processing, controlling the motion of the detection vehicle body and controlling the motion of the mechanical arm and the objective table.
Furthermore, the control part can be used for uniformly controlling the operation of the positioning part and the detection device by the FPGA, acquiring the image data of the zooming module, completing image processing, controlling the movement of the detection vehicle body and controlling the movement of the mechanical arm and the objective table.
The motion of the detection vehicle body can be controlled by a single chip microcomputer; the single chip microcomputer selects STM32F405 model. In the embodiment, a power system is formed by an STM32F405 single chip microcomputer, a BTN7971 driving plate and an MD36 planetary reduction motor to drive the detection vehicle.
And a wireless transmission module is additionally arranged and is used for carrying out wireless data transmission with an upper computer so as to control the movement of the steering engine and the objective table and further drive the mechanical arm to move. The wireless transmission module selects the Ariduino WIFI module and is installed in the storage box 5, so that data of other parts of the detection vehicle can be acquired and transmitted to the upper computer, and meanwhile, the remote control of the detection vehicle can be met.
The motion of the detection vehicle body and the motion of the mechanical arm and the objective table can be completed by a simple controller, and the control burden of the FPGA can be reduced by separately controlling the operation of each part of the detection vehicle, so that the FPGA is special for processing and analyzing images, and the detection efficiency is improved.
Furthermore, the detection vehicle further comprises an obstacle avoidance part, the obstacle avoidance part is arranged on the side part of the detection vehicle body and/or the object stage and/or the telescopic rod and/or the mechanical arm, and comprises infrared geminate transistors, and the infrared geminate transistors are used for measuring the distance between the detection vehicle and the surrounding environment object and are in data connection with the control part. The infrared pair transistors adopt E18_ D80NK diffuse reflection infrared pair transistors, the phenomenon that a vehicle body is damaged due to the fact that an unknown obstacle in a motion field is mistakenly collided, such as the vehicle body collides a door frame or an expansion link collides the unknown object to overturn and the like is avoided, and obstacle information is provided and fed back to a control part of the detection vehicle to be processed.
Furthermore, the obstacle avoidance part also comprises an accelerometer which is used for measuring the acceleration of the detection vehicle during running and is in data connection with the control part. The accelerometer is a Witt WT931 nine-axis accelerometer.
Furthermore, the wheel cover of detecting car body has the track to adapt to different site environment.
Example 2
An automatic detection method for field illumination needs to measure horizontal illumination, vertical illumination, color temperature, color rendering index, brightness and glare index of field illumination, and is based on the field illumination automatic detection vehicle in embodiment 1, and comprises the following steps:
when the detection vehicle arrives at a field detection area, the telescopic rod is controlled to ascend to the height of 1.5 meters (the height required by the vertical illumination detection of the main camera in the detection standard) or 1.2 meters (the height required by the detection of the auxiliary camera in the detection standard);
controlling the detection vehicle to reach a preset detection position;
adjusting the position of the objective table to enable the target to be detected to fall into the detection range of the detection device;
measuring optical information of a target to be detected through a detection device and/or acquiring an image of the target to be detected through a positioning part and detecting the relative position of an objective table and the target to be detected;
adjusting the position of the objective table to enable the next target to be detected to fall into the detection range of the detection device until all targets in the direction are detected;
and repeating the steps until all directions in the detection area are detected.
Further, in the detection process, the distance between the detection vehicle and the surrounding environment object is obtained through the obstacle avoidance part, and then the position of the object stage and the detection vehicle body is adjusted through the control part.
Furthermore, in the detection process, the motion acceleration of the detection vehicle body is obtained through the obstacle avoidance part, the distance between the detection vehicle and the surrounding environment object is combined, and the advancing speed of the detection vehicle body is adjusted through the control part.
When the field illumination parameters are measured, as shown in fig. 5, a, after the trolley reaches a measurement point of a preset detection position (as shown in fig. 7), the objective table is lifted to the height of about 1.5 m of the total height through the mechanical arm and the telescopic rod, the objective table is horizontally placed, then the spectral illuminometer is also horizontally placed, the photosensitive surface is upward, and the horizontal illumination is measured; b. after the horizontal illumination is measured, the mechanical arm drives the objective table to rotate 90 degrees in the vertical direction, and the vertical illumination begins to be measured; c. the objective table is driven by the mechanical arm to rotate around an imaginary line axis in the figure, data is recorded every time the objective table rotates for 45 degrees, and the objective table rotates for a circle to measure the vertical illumination at the height (as shown in fig. 8, after the driving trolley reaches a measuring point at a preset detection position, the color temperature and the color rendering index are measured according to the steps).
As shown in fig. 6, after the trolley a reaches a measuring point (as shown in fig. 9) at a preset detection position, the objective table is lifted to a height of about 1.5 m by the mechanical arm and the telescopic rod, the elevation angle of the objective table is about 15 degrees, and the CCD sensor shoots an image of a target to be detected; B. if no light source exists, clockwise rotating for 45 degrees around a virtual line axis in the figure, and if the light source is captured, driving the objective table through the mechanical arm to enable the light source to be positioned at the center position of the CCD sensor camera; C. and (3) measuring the distance by using a distance measuring module, and simultaneously measuring the brightness and the glare index by using an imaging brightness meter.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The illumination automated inspection car in place, its characterized in that includes:
the detection vehicle comprises a detection vehicle body, wherein a telescopic rod and mechanical arms are installed on the detection vehicle body, the mechanical arms at least comprise a first mechanical arm and a second mechanical arm, and the mechanical arms are connected through a steering engine; the first mechanical arm is fixed on the telescopic rod; an objective table is fixed on the second mechanical arm;
a detection device mounted on the objective table;
the positioning part is arranged on the objective table and specifically comprises a ranging module and a zooming module, and the zooming module is used for acquiring an image of a target to be detected; the distance measurement module is used for detecting the relative position of the objective table and the target to be detected;
and the control part comprises an FPGA (field programmable gate array), is in data connection with other parts of the detection vehicle, and is used for controlling the operation of the positioning part and the detection device, acquiring the image data of the zooming module, completing image processing, controlling the motion of the detection vehicle body and controlling the motion of the mechanical arm and the objective table.
2. The field illumination automatic detection vehicle of claim 1, wherein the control part further comprises a single chip microcomputer for controlling the movement of the detection vehicle body.
3. The automatic field illumination detection vehicle as claimed in claim 1, wherein the control part further comprises a wireless transmission module which is in wireless data transmission with an upper computer, so that the wireless transmission module is used for controlling the movement of the steering engine and the object stage and further driving the mechanical arm to move.
4. The field illumination automatic detection vehicle according to claim 1, wherein the detection vehicle further comprises an obstacle avoidance part, which is mounted on the side of the detection vehicle body and/or the object stage and/or the telescopic rod and/or the mechanical arm, and comprises infrared pair tubes, and the infrared pair tubes are used for measuring the distance between the detection vehicle and the surrounding environment object and are in data connection with the control part.
5. The automatic field illumination detection vehicle as claimed in claim 4, wherein the obstacle avoidance portion further comprises an accelerometer for measuring acceleration of the detection vehicle during traveling, and is in data connection with the control portion.
6. The yard lighting automatic detection vehicle of claim 1, wherein the detection device comprises a spectral illuminometer that is a SPIC-200AW BW spectral illuminometer or an integrated spectral illuminometer with only a photoelectric probe.
7. The field illumination automatic detection vehicle as claimed in claim 1, wherein the wheels of the detection vehicle body are sleeved with caterpillar tracks.
8. The automatic field illumination detection method is based on any one of the field illumination automatic detection vehicles 1-7, and is characterized by comprising the following steps:
controlling the detection vehicle to reach a preset detection position;
the position of the objective table is adjusted by adjusting the telescopic rod and the mechanical arm, so that the target to be detected falls into the detection range of the detection device;
measuring optical information of a target to be detected through a detection device and/or acquiring an image of the target to be detected through a positioning part and detecting the relative position of an objective table and the target to be detected;
adjusting the position of the objective table to enable the next target to be detected to fall into the detection range of the detection device until all targets in the direction are detected;
and repeating the steps until all directions in the detection area are detected.
9. The field illumination automatic detection method according to claim 8, wherein in the detection process, the distance between the detection vehicle and the surrounding environment object is obtained through the obstacle avoidance part, and then the positions of the object stage and the detection vehicle body are adjusted through the control part.
10. The field illumination automatic detection method according to claim 9, wherein in the detection process, the obstacle avoidance part obtains the motion acceleration of the detection vehicle body, and the control part adjusts the advancing speed of the detection vehicle body by combining the distance between the detection vehicle and the surrounding environment object.
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| CN201911125486.0A CN110987171A (en) | 2019-11-18 | 2019-11-18 | Automatic field illumination detection vehicle and detection method |
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| CN201911125486.0A CN110987171A (en) | 2019-11-18 | 2019-11-18 | Automatic field illumination detection vehicle and detection method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114083568A (en) * | 2021-11-25 | 2022-02-25 | 江苏省计量科学研究院(江苏省能源计量数据中心) | Multi-axis self-positioning mechanical arm for automatic detection of visual angle of display |
| CN114136439A (en) * | 2021-11-24 | 2022-03-04 | 国网北京市电力公司 | Full-automatic illumination measuring robot |
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Application publication date: 20200410 |