CN116448242A - Mobile road illumination measuring method and application thereof - Google Patents
Mobile road illumination measuring method and application thereof Download PDFInfo
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- CN116448242A CN116448242A CN202310433176.5A CN202310433176A CN116448242A CN 116448242 A CN116448242 A CN 116448242A CN 202310433176 A CN202310433176 A CN 202310433176A CN 116448242 A CN116448242 A CN 116448242A
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- 238000001514 detection method Methods 0.000 claims abstract description 101
- 238000005259 measurement Methods 0.000 claims abstract description 39
- 230000004313 glare Effects 0.000 claims abstract description 16
- 238000000691 measurement method Methods 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 4
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- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000576 coating method Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
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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
- G01J1/4204—Photometry, e.g. photographic exposure meter using electric radiation detectors with determination of ambient light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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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
- G01J1/0295—Constructional arrangements for removing other types of optical noise or for performing calibration
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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
- G01J1/04—Optical or mechanical part supplementary adjustable parts
- G01J1/0403—Mechanical elements; Supports for optical elements; Scanning arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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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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- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Photometry And Measurement Of Optical Pulse Characteristics (AREA)
Abstract
The invention discloses a mobile road illumination measurement method and application thereof, the proposal is that a GNSS satellite positioning system is arranged at the top end of a mobile carrier (such as an automobile), illuminance sensors are arranged at the front end and the rear end of the mobile carrier, and brightness (including glare index) sensors are arranged in a cockpit, so that when the mobile carrier moves on a specific measurement road, real-time data acquisition of a positioning unit can be utilized to carry out non-stop mobile measurement, thus illuminance detection data and road illumination brightness data can be correspondingly recorded and correlated, and a detector only needs to finally fit the corresponding relation between the first illuminance detection data and the second illuminance detection data by a preset self-writing software fitting method according to the corresponding positioning information of the illuminance sensors and the measurement points on the road to be measured, thus obtaining the fused illuminance data of the road to be measured, and combining the brightness (including glare index) detection data with the corresponding relation to obtain the complete illumination detection index of the road to be measured, thus completing the road illumination measurement.
Description
Technical Field
The invention relates to the field of road illumination detection technology and device, in particular to a mobile road illumination measurement method and application thereof.
Background
The street lamp is used as an important illumination light source of a road, the safety of the road is ensured, in order to ensure that the street lamp can provide stable and reliable illumination brightness, related departments go out of the urban road illumination design standard, detection personnel detect and accept road illumination according to the standard, and the detection personnel follow the related requirements of the CJJ 45-2015 urban road illumination design standard when in road illumination measurement, but currently, the illumination detection of the urban road is mostly carried manually by adopting a sensor for collecting illumination and related auxiliary equipment to detect on the road to be measured according to a preset track, the efficiency is lower, the time and the labor are consumed, and the limitation of the urban road on illumination detection is larger; although some researchers have proposed to carry the illuminance sensing device by moving the carrier to perform the detection according to the preset track, no substantial detailed technical scheme has been reported and disclosed at present, so if a scheme can be proposed to improve the efficiency and reliability of road illumination measurement while avoiding interference to road traffic, it will have positive practical significance for urban road illuminance detection.
Disclosure of Invention
In view of the above, the present invention aims to provide a mobile road illumination measurement method with high detection efficiency, no influence on road traffic, reliable implementation, convenient operation, and good obtained data reference, and applications thereof.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a mobile road illumination measurement method using a mobile carrier to which a positioning unit is connected and the front and rear ends of which are respectively mounted with illuminance sensors that exceed the mobile carrier in a horizontal position, the measurement method comprising:
s01, the mobile carrier moves on a road to be measured according to a preset track route;
s02, detecting and recording illuminance of a plurality of measuring points on a road to be measured when the mobile carrier moves, respectively obtaining a plurality of first illuminance detection data and a plurality of second illuminance detection data, and simultaneously recording positioning information of the illuminance sensor when detecting illuminance of a road surface through a positioning unit, wherein the first illuminance detection data corresponds to the illuminance sensor positioned at the front end of the mobile carrier, and the second illuminance detection data corresponds to the illuminance sensor positioned at the rear end of the mobile carrier;
S03, determining traveling information of the mobile carrier and position corresponding information of illuminance sensors connected to the front end and the rear end of the mobile carrier and measuring points on a road to be measured according to the positioning information recorded by the positioning unit;
s04, determining the corresponding relation between the first illuminance detection data and the second illuminance detection data and the measuring point on the road to be measured according to the position corresponding information of the illuminance sensors connected to the front end and the rear end of the mobile carrier and the measuring point on the road to be measured;
s05, fitting the first illuminance detection data and the second illuminance detection data which have corresponding relations according to preset conditions to obtain illuminance data of the road measurement point to be measured, and finishing road illumination measurement.
As a possible implementation mode, further, when the illuminance sensor is respectively installed at the front end and the rear end of the mobile carrier, the illuminance sensor in the scheme is further subjected to posture adjustment so that the posture and the ground clearance height of the illuminance sensor meet preset requirements, and then the illuminance sensing range of the illuminance sensor is adjusted through a shielding object, so that the illuminance sensor at the front end of the mobile carrier receives light rays in a 180-degree range three-dimensional space in front of the mobile carrier, and the illuminance sensor at the rear end of the mobile carrier receives light rays in a 180-degree range three-dimensional space behind the mobile carrier.
As a possible implementation manner, the positioning unit in this embodiment is a GPS positioning unit or a GNSS satellite positioning device.
As a possible implementation manner, further, the mobile carrier of the scheme is further provided with a glare collecting sensor and a road surface brightness collecting sensor;
wherein S02 further includes: the method comprises the steps that road brightness data and glare data are collected at a plurality of measuring points on a road to be measured when a mobile carrier moves;
in addition, in S05, the road brightness data and the glare data are collected and integrated in a preset manner, and then output as a measurement result, thereby completing the road illumination measurement.
As a preferred implementation choice, in the present embodiment S05, fitting the first illuminance detection data and the second illuminance detection data having a corresponding relationship according to a preset condition includes:
and adding the first illuminance detection data and the second illuminance detection data with corresponding relations to obtain illuminance data of the measuring point on the road to be measured, namely illuminance data corresponding to light incident to the measuring point in a 360-degree range of the position of the measuring point.
As a preferred implementation choice, preferably, in the present solution S03, determining, according to positioning information recorded by the positioning unit, traveling information of the mobile carrier and position correspondence information of illuminance sensors connected to the front end and the rear end of the mobile carrier and a measurement point on a road to be measured includes the following steps:
With the advancing direction of the moving carrier as the Y axis, the moving carrier transversely as the X axis and vertically upwards as the Z axis, a virtual three-dimensional coordinate system is constructed, the combination of the illuminance sensor and the positioning unit is a fixed object, the municipal road to be measured is a field condition of a flat road, the moving carrier is assumed to move in a two-dimensional plane formed by the XY axes, and when the moving carrier moves, the positions of positioning coordinate information acquired by the positioning unit before and after at a certain moment on the two-dimensional coordinates are respectively defined as A 1 (Xg 1 ，Yg 1 )、A2(Xg 2 ，Yg 2 ) Then, the course angle theta of the mobile carrier is determined to obtain the advancing direction of the mobile carrier, and the calculation formula is as follows:
θ＝atan((Yg 2 －Yg 1 )/(Xg 2 －Xg 1 ) (one)
Wherein Yg 1 、Yg 2 The Y-axis coordinate positions of the front and rear illuminance sensors on the movable carrier on the plane formed by the XY axes are Xg respectively 1 、Xg 2 Respectively X-axis coordinate positions of a plane formed by front and rear illuminance sensors on the mobile carrier on an XY axis, wherein θ is a course angle of the mobile carrier;
the coordinates of the illuminance sensor on the two-dimensional plane formed by the XY axes are defined as S (X si ，Y si ) The coordinates of the positioning unit in this relative coordinate system at a certain moment are defined as G (X g ，Y g ) According to the rotation and translation conversion rule of the coordinate system, the positioning coordinate of the illuminance sensor in the coordinate system where the positioning unit is located is assumed to be G gps (X sg ，Y sg ) It has the following mathematical relationship with the coordinate position of the positioning unit:
X sg ＝cosθ×X si －sinθ×Y si (II)
Y sg ＝cosθ×Y si +sinθ×X si (III)
And (3) according to the formula (II) and the formula (III), combining the coordinate position information of the positioning unit, and the like, the GPS positioning coordinates of the illuminance sensor on the mobile carrier at each acquisition point can be obtained through calculation.
As a preferred implementation choice, preferably, the present solution compares a plurality of first illuminance detection data or a plurality of second illuminance detection data obtained by detecting the illuminance sensor with the number of positioning information recorded by the positioning unit, and when the number of the first illuminance detection data or the second illuminance detection data is greater than the number of the positioning information, it is determined that the positioning information is lost, and interpolation calculation is performed on the positioning information to complement the positioning information, which specifically includes:
in the moving process of the mobile carrier, assuming that the positioning information acquisition time interval of the positioning unit is T seconds, the coordinates of the starting point and the ending point of the mobile carrier are A (x a ,y a ) And B (x) b ,y b ) In a T time period of the moving carrier moving at a starting point and a final point, when the illuminance detection data detected and collected by the illuminance sensor is more than the positioning data recorded by the positioning unit, the positioning data is judged to be lost, and the N data coordinates are interpolated by assuming that N data are collected by the illumination data sensor in the T time period:
G xi ＝G xa +(G xb －G xa ) X i/(N-1) (four)
G yi ＝G ya +(G yb －G ya ) X i/(N-1) (five)
Wherein i= … … N;
in addition, G xi ，G yi Inserting positioning coordinates for the ith point; g xa ，G ya Positioning coordinates for the insertion start point; g xb ，G yb Coordinates are located for the insertion endpoint.
Based on the above, the invention also provides an urban public road illuminance detection method, which comprises the mobile road illumination measurement method.
Based on the above, the present invention also provides a mobile road illumination measurement system, which includes:
the illuminance sensors are a pair and are used for detecting illuminance of a preset measuring point on a road to be measured;
the mobile carrier is used for traveling on a road to be measured according to a preset track route, wherein, a pair of contrast sensors are respectively arranged at the front end and the rear end of the movable carrier and exceed the movable carrier;
the positioning unit is a GPS positioning unit, is arranged on the mobile carrier and is used for recording positioning information when the mobile carrier drives the illuminance sensor to travel at a measuring point on a road to be measured;
the data recording unit is connected with the illuminance sensor and the positioning unit and is used for recording a plurality of first illuminance detection data and a plurality of second illuminance detection data which are obtained by illuminance detection of a plurality of measurement points on a road to be measured when the illuminance sensor moves, and also is used for recording positioning information which is acquired by the positioning unit when the illuminance sensor detects the illuminance of a road surface, wherein the first illuminance detection data corresponds to the illuminance sensor positioned at the front end of the mobile carrier, and the second illuminance detection data corresponds to the illuminance sensor positioned at the rear end of the mobile carrier;
The data processing unit is used for determining the travelling information of the mobile carrier and the position corresponding information of the illuminance sensors connected to the front end and the rear end of the mobile carrier and the measuring point on the road to be measured according to the positioning information recorded by the positioning unit;
the data association unit is used for determining the corresponding relation between the first illuminance detection data and the second illuminance detection data and the measuring point on the road to be measured according to the position corresponding information of the illuminance sensors connected to the front end and the rear end of the mobile carrier and the measuring point on the road to be measured;
the data fitting unit is used for fitting the first illuminance detection data and the second illuminance detection data which have corresponding relations according to preset conditions to obtain illuminance data of the measuring points on the road to be measured, and road illumination measurement is completed.
As a preferred implementation option, preferably, the illuminance sensor of the present solution is mounted on a mobile carrier through an auxiliary mounting mechanism, and the auxiliary mounting mechanism includes:
one end of the first connecting plate is used for being fixedly connected with the mobile carrier;
the second connecting plate is of an L-shaped structure, one side of the L shape is detachably connected with the other end of the first connecting plate through the first locking component, and the other side of the L shape is close to the other end of the first connecting plate;
The third connecting plate is of an L-shaped structure, one side of the L shape is detachably connected with the other side of the second connecting plate through the second locking component, and the other side of the L shape faces downwards;
the connecting seat can be dismantled through the up end of the L shape opposite side of third locking component connection at the third connecting plate, the up end of connecting seat is used for placing illuminance sensor, and is equipped with the elasticity holder that is used for retraining fixed illuminance sensor on one side of the up end of connecting seat.
As a preferred implementation choice, preferably, one side of the L-shape of the second connecting plate in the present solution is provided with a first connecting through hole and a first arc through slot which are vertically opposite, and the other end of the first connecting plate is provided with a first mounting through hole and a first locking through hole corresponding to the first connecting through hole and the first arc through slot respectively;
the first locking assembly comprises a first mounting bolt, a first mounting nut, a first locking bolt and a first locking nut; the screw rod end of the first mounting bolt sequentially passes through the first mounting through hole and the first connecting through hole and is in threaded connection with the first mounting nut; the screw rod end of the first locking bolt sequentially penetrates through the first locking through hole and the first arc-shaped through groove and is connected with the first locking nut, and one side of the L shape of the second connecting plate is locked and fixed at the other end of the first connecting plate.
As a preferred implementation choice, preferably, a second connecting through hole and a second arc through groove which are opposite up and down are arranged on the other side of the L shape of the second connecting plate, and a second mounting through hole and a second locking through hole are respectively arranged on one side of the L shape of the third connecting plate corresponding to the second connecting through hole and the second arc through groove;
the second locking assembly comprises a second mounting bolt, a second mounting nut, a second locking bolt and a second locking nut; the screw rod end of the second mounting bolt sequentially passes through the second mounting through hole and the second connecting through hole and is in threaded connection with the second mounting nut; the screw rod end of the second locking bolt sequentially penetrates through the second locking through hole and the second arc-shaped through groove and is connected with the second locking nut, and one side of the L shape of the third connecting plate is locked and fixed on the other side of the L shape of the second connecting plate.
As a preferred implementation choice, preferably, the other side of the L-shape of the third connecting plate is provided with a third connecting through hole and a third arc-shaped through groove which are opposite in position, the connecting seat is provided with a third mounting through hole and a third locking through hole corresponding to the third connecting through hole and the third arc-shaped through groove, wherein the third mounting through hole and the third locking through hole are threaded holes,
The third locking assembly comprises a third mounting bolt and a third locking bolt, the threaded end of the third mounting bolt penetrates through the third connecting through hole and is in threaded locking with the third mounting through hole, the threaded end of the third locking bolt penetrates through the third arc-shaped through groove and is in threaded locking with the third locking through hole, and the connecting seat is detachably and fixedly connected to the upper end face of the L-shaped other side of the third connecting plate.
As a preferred implementation choice, preferably, one end of the first connecting plate is detachably and fixedly connected to the mobile carrier or welded and fixedly connected to the mobile carrier;
the profile of the illuminance sensor is cylindrical, the elastic clamping piece is an elastic clamping piece with a U-shaped structure, a clamping area for clamping the illuminance sensor is formed between two sides of the U-shape, and a connecting piece fixedly connected with the elastic clamping piece is arranged on the connecting seat.
As a preferred implementation choice, preferably, the upper end face of the connecting seat in this scheme is provided with a containing groove for assisting in positioning the lower part of the illuminance sensor.
As a preferred implementation choice, preferably, the upper end face of the connecting seat or the upper end face of the other side of the L-shape of the third connecting plate in this scheme is provided with a horizontal bubble instrument.
As a preferred implementation choice, preferably, the scheme the auxiliary installation mechanism further comprises a light shield, the light shield is arranged on the illuminance sensor, the lower part of the light shield is detachably and fixedly connected with the connecting seat or the third connecting plate, one side of the light shield is of an open structure, and the open structure is used for transmitting light rays with a preset range and irradiating the light rays on the illuminance sensor.
By adopting the technical scheme, compared with the prior art, the invention has the beneficial effects that: according to the scheme, the illuminance sensors are distributed at the front end and the rear end of the mobile carrier (such as an automobile) and extend beyond the mobile carrier, so that when the mobile carrier moves on a road to be measured according to a preset track route, mobile measurement can be performed according to measurement requirements of a road measurement point to be measured under the condition that the mobile carrier does not stop, meanwhile, positioning data acquisition of a positioning unit is combined, illuminance detection data acquired by the illuminance sensors can be correspondingly recorded and correlated, and a detector only needs to finally determine the corresponding relation between the first illuminance detection data and the second illuminance detection data and the road measurement point to be measured according to position corresponding information of the illuminance sensors connected to the front end and the rear end of the mobile carrier; then fitting the first illuminance detection data and the second illuminance detection data with corresponding relation according to preset conditions to obtain illuminance data of a measuring point on the road to be measured, and thus road illumination measurement can be completed; in addition, the special illumination acquisition scheme is introduced ingeniously, namely, the illumination sensing range of the illumination sensor is adjusted through the shielding object, so that the illumination sensor at the front end of the mobile carrier receives light rays in the 180-degree range three-dimensional space in front of the mobile carrier, the illumination sensor at the rear end of the mobile carrier receives light rays in the 180-degree range three-dimensional space behind the mobile carrier, illumination detection data detected by the illumination sensors at the front end and the rear end of the mobile carrier correspondingly are added down, illumination data of a road measurement point can be obtained, the problem that errors are generated due to light shielding of the illumination sensor on one side, close to the illumination sensor, of the mobile carrier can be solved, meanwhile, the distance that the illumination sensor exceeds the mobile carrier can be reduced as much as possible, the mobile carrier is safer and more reliable in the running process, and the road traffic is not influenced.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a simplified implementation of the measurement method of the present invention;
FIG. 2 is a schematic view showing the illuminance sensor mounted on the front and rear ends of a mobile carrier (car) by an auxiliary mounting mechanism in the measuring method of the present invention;
FIG. 3 is a schematic diagram of a brief unit module connection of the measurement system of the present invention;
FIG. 4 is a schematic three-dimensional view of one of the simplified embodiments of the present invention;
FIG. 5 is a schematic view of one of the simplified embodiments of the present invention from a three-dimensional perspective after installation of an illuminance sensor;
FIG. 6 is a schematic diagram of a two-dimensional view of one of the simplified implementation of the present invention;
FIG. 7 is a schematic view of an exploded view in three dimensions of one of the simplified embodiments of the present invention;
FIG. 8 is a schematic structural view of another embodiment of the connecting seat according to the present invention, mainly showing a schematic structural view of the connecting seat with a receiving groove;
FIG. 9 is a schematic view of the connecting seat upper cover of the present invention with a light shield, the schematic view also showing an indication of the third connecting plate with a bubble level;
FIG. 10 is a schematic view of an embodiment of the present invention with a light shield disposed on the mounting mechanism;
fig. 11 is a schematic diagram of a directional reference of X, Y, Z in one example of an aspect of the invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is specifically noted that the following examples are only for illustrating the present invention, but do not limit the scope of the present invention. Likewise, the following examples are only some, but not all, of the examples of the present invention, and all other examples, which a person of ordinary skill in the art would obtain without making any inventive effort, are within the scope of the present invention.
As shown in fig. 1, the present embodiment is a mobile road illumination measurement method using a mobile carrier to which a positioning unit is connected and the front end and the rear end of which are respectively mounted with illuminance sensors (refer to fig. 2) that exceed the mobile carrier in a horizontal position by an auxiliary mounting mechanism 8, the measurement method comprising:
S01, the mobile carrier moves on a road to be measured according to a preset track route;
s02, detecting and recording illuminance of a plurality of measuring points on a road to be measured when the mobile carrier moves, respectively obtaining a plurality of first illuminance detection data and a plurality of second illuminance detection data, and simultaneously recording positioning information of the illuminance sensor when detecting illuminance of a road surface through a positioning unit, wherein the first illuminance detection data corresponds to the illuminance sensor positioned at the front end of the mobile carrier, and the second illuminance detection data corresponds to the illuminance sensor positioned at the rear end of the mobile carrier;
s03, determining traveling information of the mobile carrier and position corresponding information of illuminance sensors connected to the front end and the rear end of the mobile carrier and measuring points on a road to be measured according to the positioning information recorded by the positioning unit;
s04, determining the corresponding relation between the first illuminance detection data and the second illuminance detection data and the measuring point on the road to be measured according to the position corresponding information of the illuminance sensors connected to the front end and the rear end of the mobile carrier and the measuring point on the road to be measured;
S05, fitting the first illuminance detection data and the second illuminance detection data which have corresponding relations according to preset conditions to obtain illuminance data of the road measurement point to be measured, and finishing road illumination measurement.
In this scheme, in order to improve the reliability that illuminance detected, illuminance sensor installs respectively in front end and the rear end of removal carrier when, still carries out the gesture adjustment to it to make its gesture, ground clearance accord with the requirement of predetermineeing.
In order to overcome the problem that the illumination sensor is blocked by the car body to a certain extent and cannot be fully irradiated by the illumination light source such as the street lamp when the illumination sensor is driven to move by the mobile carrier, the illumination sensor at the front end of the mobile carrier receives the light of the three-dimensional space in the 180-degree range in front of the mobile carrier, the illumination sensor at the rear end of the mobile carrier receives the light of the three-dimensional space in the 180-degree range behind the mobile carrier, namely, the illumination sensor only collects the light of the cylindrical three-dimensional space in the 180-degree range away from the mobile carrier (the related implementation structure can refer to fig. 9 and 10, namely, the light induction range of the illumination sensor 5 is adjusted by a shade 7), and then the data detected by the two illumination sensors at the same measuring point are subjected to data addition (fitting) to form complete detection data.
In addition, in order to improve the reliability of positioning, the positioning unit in the present embodiment may be a GPS positioning unit or a GNSS satellite positioning device, but the positioning unit in the present embodiment is not limited thereto, and may be other positioning modules with high precision and portability.
Under the condition that the illuminance sensor only collects light rays of the cylindrical three-dimensional space within a range of 180 degrees deviating from the direction of the mobile carrier, in the scheme S05, fitting first illuminance detection data and second illuminance detection data with corresponding relations according to preset conditions comprises:
and adding the first illuminance detection data and the second illuminance detection data with corresponding relations to obtain illuminance data of the measuring point on the road to be measured, namely illuminance data corresponding to light incident to the measuring point in a 360-degree range of the position of the measuring point.
In the scheme, the auxiliary tool can be used for acquiring the moving data and the traveling condition of the moving carrier, so that the data acquisition of the measuring point on the road to be measured is realized.
In order to optimize the solution, under the condition of minimizing the support of other auxiliary devices, more data are calculated and acquired as much as possible, so as to strive to be as simple as possible on hardware, and solve the problem of data demand by fitting calculation of data as much as possible, and as an implementation selection example, preferably, in the solution S03, determining, according to the positioning information recorded by the positioning unit, the traveling information of the mobile carrier and the position corresponding information of the illuminance sensors connected to the front end and the rear end of the mobile carrier and the measuring point on the road to be measured includes the following steps:
According to the distribution position of the sensor, a specific relative coordinate system (for example, a positioning unit (GPS positioning sensor) is taken as an origin, the advancing direction of the mobile carrier is taken as a Y axis, the transverse direction of the mobile carrier is taken as an X axis, the vertical direction is taken as a Z axis, a virtual three-dimensional coordinate system is constructed, the illuminance sensor and the positioning unit are combined to be fixed, and the municipal road to be measured is a flat road on site, the travelling of the mobile carrier is assumed to be a two-dimensional plane movement formed by the XY axes, and when the mobile carrier travels, the positions of positioning coordinate information acquired by the positioning unit before and after at a certain moment on the two-dimensional coordinates are respectively defined as A 1 (Xg 1 ，Yg 1 )、A2(Xg 2 ，Yg 2 ) Then, the course angle theta of the mobile carrier is determined to obtain the advancing direction of the mobile carrier, and the calculation formula is as follows:
θ＝atan((Yg 2 －Yg 1 )/(Xg 2 －Xg 1 ) (one)
Wherein Yg 1 、Yg 2 The Y-axis coordinate positions of the front and rear illuminance sensors on the movable carrier on the plane formed by the XY axes are Xg respectively 1 、Xg 2 Respectively X-axis coordinate positions of a plane formed by front and rear illuminance sensors on the mobile carrier on an XY axis, wherein θ is a course angle of the mobile carrier;
the coordinates of the illuminance sensor on the two-dimensional plane formed by the XY axes are defined as S (X si ，Y si ) The coordinates of the positioning unit in this relative coordinate system at a certain moment are defined as G (X g ，Y g ) According to the rotation and translation conversion rule of the coordinate system, the positioning coordinate of the illuminance sensor in the coordinate system where the positioning unit is located is assumed to be G gps (X sg ，Y sg ) It has the following mathematical relationship with the coordinate position of the positioning unit:
X sg ＝cosθ×X si －sinθ×Y si (II)
Y sg ＝cosθ×Y si +sinθ×X si (III)
And (3) according to the formula (II) and the formula (III), combining the coordinate position information of the positioning unit, and the like, the GPS positioning coordinates of the illuminance sensor on the mobile carrier at each acquisition point can be obtained through calculation.
Because the environment around the urban road is more changeable, when more buildings are arranged on two sides of the road, under the condition that the GPS positioning signals are unstable, in order to check the loss of positioning data and avoid the dislocation during the corresponding processing of the data, as an implementation selection example, preferably, the scheme compares a plurality of first illuminance detection data or a plurality of second illuminance detection data obtained by the illuminance sensor with the quantity of positioning information recorded by the positioning unit, and when the quantity of the first illuminance detection data or the second illuminance detection data is more than the quantity of the positioning information, the positioning information is judged to be lost, and then interpolation calculation is performed on the positioning information to complement the positioning information.
Specifically, the interpolation calculation method comprises : in the moving process of the mobile carrier, assuming that the positioning information acquisition time interval of the positioning unit is T seconds, the coordinates of the starting point and the ending point of the mobile carrier are A (x a ,y a ) And B (x) b ,y b ) In a T time period of the moving carrier moving at a starting point and a final point, when the illuminance detection data detected and collected by the illuminance sensor is more than the positioning data recorded by the positioning unit, the positioning data is judged to be lost, and the N data coordinates are interpolated by assuming that N data are collected by the illumination data sensor in the T time period:
G xi ＝G xa +(G xb －G xa ) X i/(N-1) (four)
G yi ＝G ya +(G yb －G ya ) X i/(N-1) (five)
Wherein i= … … N;
in addition, G xi ，G yi Inserting positioning coordinates for the ith point; g xa ，G ya Positioning coordinates for the insertion start point; g xb ，G yb Coordinates are located for the insertion endpoint.
Through the embodiment, when the road illumination condition is measured, the requirements of CJJ 45-2015 urban road illumination design standard can be considered, the shadow shielding of the measuring carrier can be guaranteed not to influence the measuring result, and the original front and back illuminometer fusion measuring scheme is adopted, so that the illumination sensor does not need to move out of a larger distance of the moving carrier, the measuring process is simpler and more efficient, and the inconvenience in running of equipment and the moving carrier is avoided.
In addition to the above, the present solution may further include providing other sensors, such as a glare collecting sensor, a road surface brightness collecting sensor, a road surface condition collecting sensor, etc., on the mobile carrier, so that the mobile carrier can collect the road surface brightness and the glare data of the road to be measured when driving the illuminance sensor and the positioning unit to move; that is, S02 further includes collecting road surface brightness data and glare data for a plurality of measurement points on the road to be measured while the mobile carrier is traveling.
According to the scheme, the glare collecting sensor and the road surface brightness collecting sensor are existing market pin equipment, according to the difference of collecting modes, the distribution positions of the glare collecting sensor and the road surface brightness collecting sensor can be any position of the top (such as the top end face) of the movable carrier, and can also be arranged in a vehicle, the collecting end of the glare collecting sensor and the road surface brightness collecting sensor faces the advancing direction (namely the Y-axis direction) of the movable carrier, and as the glare collecting sensor and the road surface brightness collecting sensor do not have other shielding objects during working, the data collected by the glare collecting sensor and the road surface brightness collecting sensor are associated with the positioning data of the positioning unit, and after integration, all brightness illumination indexes and positioning data are obtained, so that corresponding detection results are obtained.
Based on the above, the mobile road illumination measurement method according to the present embodiment can be used for detecting urban public road illuminance.
As shown in fig. 3, based on the foregoing, the present embodiment further provides a mobile road illumination measurement system, which includes:
the illuminance sensors are a pair and are used for detecting illuminance of a preset measuring point on a road to be measured;
the mobile carrier is used for traveling on a road to be measured according to a preset track route, wherein, a pair of contrast sensors are respectively arranged at the front end and the rear end of the movable carrier and exceed the movable carrier;
the positioning unit is a GPS positioning unit, is arranged on the mobile carrier and is used for recording positioning information when the mobile carrier drives the illuminance sensor to travel at a measuring point on a road to be measured;
the data recording unit is connected with the illuminance sensor and the positioning unit and is used for recording a plurality of first illuminance detection data and a plurality of second illuminance detection data which are obtained by illuminance detection of a plurality of measurement points on a road to be measured when the illuminance sensor moves, and also is used for recording positioning information which is acquired by the positioning unit when the illuminance sensor detects the illuminance of a road surface, wherein the first illuminance detection data corresponds to the illuminance sensor positioned at the front end of the mobile carrier, and the second illuminance detection data corresponds to the illuminance sensor positioned at the rear end of the mobile carrier;
The data processing unit is used for determining the travelling information of the mobile carrier and the position corresponding information of the illuminance sensors connected to the front end and the rear end of the mobile carrier and the measuring point on the road to be measured according to the positioning information recorded by the positioning unit;
the data association unit is used for determining the corresponding relation between the first illuminance detection data and the second illuminance detection data and the measuring point on the road to be measured according to the position corresponding information of the illuminance sensors connected to the front end and the rear end of the mobile carrier and the measuring point on the road to be measured;
the data fitting unit is used for fitting the first illuminance detection data and the second illuminance detection data which have corresponding relations according to preset conditions to obtain illuminance data of the measuring points on the road to be measured, and road illumination measurement is completed.
Referring to fig. 2, and one of fig. 4 to 10, as a preferred installation implementation choice of the illuminance sensor, preferably, the illuminance sensor of this embodiment is installed on a mobile carrier by an auxiliary installation mechanism, and the auxiliary installation mechanism includes:
one end of the first connecting plate 1 is used for being fixedly connected with a mobile carrier, wherein one end of the first connecting plate 1 can be detachably and fixedly connected with the mobile carrier (such as an automobile chassis) or welded and fixedly connected with the mobile carrier (such as the automobile chassis);
The second connecting plate 2 is of an L-shaped structure, one side of the L shape is detachably connected with the other end of the first connecting plate 1 through the first locking component 11, and the other side of the L shape is close to the other end of the first connecting plate 1;
the third connecting plate 3 is in an L-shaped structure, one side of the L shape is detachably connected with the other side of the second connecting plate 2 through the second locking component 21, and the other side of the L shape faces downwards;
the connecting seat 4 is detachably connected to the upper end face of the other side of the L shape of the third connecting plate 3 through the third locking assembly 31, the upper end face of the connecting seat 4 is used for placing the illuminance sensor 5, and one side of the upper end face of the connecting seat 4 is provided with an elastic clamping piece 41 for restraining and fixing the illuminance sensor 5.
In order to facilitate adjustment of the three-dimensional position of the connecting seat 4, in this embodiment, a first connecting hole 22 and a first arc-shaped through slot 23 that are opposite up and down are provided on one side of the L-shape of the second connecting plate 2, and a first mounting through hole 12 and a first locking through hole 13 are provided at the other end of the first connecting plate 1 corresponding to the first connecting hole 22 and the first arc-shaped through slot 23; the first locking assembly 11 includes a first mounting bolt 111, a first mounting nut 112, a first locking bolt 113, and a first locking nut 114; the screw end of the first mounting bolt 111 sequentially passes through the first mounting through hole 12 and the first connecting through hole 22, and is in threaded connection with the first mounting nut 112; the screw end of the first locking bolt 113 sequentially passes through the first locking through hole 13 and the first arc-shaped through groove 23, and is connected with the first locking nut 114, so that one side of the L-shape of the second connecting plate 2 is locked and fixed at the other end of the first connecting plate 1.
The other side of the L-shape of the second connecting plate 2 is provided with a second connecting through hole 24 and a second arc-shaped through groove 25 which are opposite up and down, and the L-shape one side of the third connecting plate 3 is provided with a second mounting through hole 32 and a second locking through hole 33 corresponding to the second connecting through hole 24 and the second arc-shaped through groove 25 respectively; the second locking assembly 21 includes a second mounting bolt 211, a second mounting nut 212, a second locking bolt 213, and a second locking nut 214; the screw end of the second mounting bolt 211 sequentially passes through the second mounting through hole 32 and the second connecting through hole 24 and is in threaded connection with the second mounting nut 212; the screw end of the second locking bolt 213 sequentially passes through the second locking through hole 33 and the second arc-shaped through groove 25, and is connected with the second locking nut 214, so that one side of the L-shape of the third connecting plate 3 is locked and fixed on the other side of the L-shape of the second connecting plate 2.
The L-shaped opposite side of the third connecting plate 3 is provided with a third connecting through hole 34 and a third arc-shaped through groove 35 which are opposite in position, the connecting seat 4 is provided with a third mounting through hole 42 and a third locking through hole 43 corresponding to the third connecting through hole 34 and the third arc-shaped through groove 35, the third mounting through hole 42 and the third locking through hole 43 are threaded holes, the third locking assembly 31 comprises a third mounting bolt 311 and a third locking bolt 312, the threaded end of the third mounting bolt 311 penetrates through the third connecting through hole 34 and is in threaded locking with the third mounting through hole 42, and the threaded end of the third locking bolt 312 penetrates through the third arc-shaped through groove 35 and is in threaded locking with the third locking through hole 43, so that the connecting seat 4 is detachably and fixedly connected to the upper end face of the L-shaped opposite side of the third connecting plate 3.
As shown in fig. 11, when the first connection plate 1 and the second connection plate 2 of the present embodiment are connected, the screw end of the first locking bolt 113 may sequentially pass through the first mounting through hole 12 and the first connection through hole 22 in advance and then be screwed with the first mounting nut 112, but temporarily not locked, and the screw end of the first locking bolt 113 sequentially passes through the first locking through hole 13 and the first arc-shaped through groove 23 and is connected with the first locking nut 114, but temporarily not locked, and then at this time, the second connection plate 2 may rotate around the first mounting bolt 111 by a certain arc to rotate the second connection plate 2 around the X axis for performing angle adjustment, wherein the first locking through hole 13 is kept opposite to the first arc-shaped through groove 23 when the second connection plate 2 rotates around the first mounting bolt 111, and after the angle adjustment is completed, the first locking bolt 113 and the first mounting bolt 111 are locked, the fixing of the second connection plate 2 and the first connection plate 1 may be completed.
When the second connecting plate 2 of this embodiment is connected to the third connecting plate 3, the screw end of the second mounting bolt 211 may sequentially pass through the second mounting through hole 32 and the second connecting through hole 24 in advance and be in threaded connection with the second mounting nut 212, but temporarily not locked, the screw end of the second locking bolt 213 sequentially passes through the second locking through hole 33 and the second arc-shaped through groove 25 and is connected to the second locking nut 214, but temporarily not locked, then at this time, the third connecting plate 3 may rotate around the second mounting bolt 211 by a certain arc to rotate the third connecting plate 3 around the Y axis for performing angle adjustment, wherein the second locking through hole 33 is kept opposite to the second arc-shaped through groove when the third connecting plate rotates around the second mounting bolt 213, and after the angle adjustment is completed, the second mounting bolt 211 and the second locking bolt 213 are locked, so that the locking of the L-shaped side of the third connecting plate 3 on the L-shaped side of the second connecting plate 2 may be completed.
When the connecting seat 4 of this embodiment is connected to the third connecting plate 3, the third mounting bolt 311 may be threaded through the third connecting through hole 34 in advance and is not locked with the third mounting through hole 42 on the connecting seat 4, then at this time, the connecting seat 4 may rotate around the third mounting bolt 311 by a certain radian to enable the connecting seat 4 to rotate around the Z axis to perform angle adjustment, where the third locking through hole 43 is kept opposite to the third arc-shaped through slot 35 when the connecting seat 4 rotates, after the adjustment is completed, the third mounting bolt 311 is locked, and the threaded end of the third locking bolt 312 passes through the third arc-shaped through slot 35 and is threaded and locked with the third locking through hole 43, so that the connecting seat 4 is detachably and fixedly connected to the upper end surface of the L-shaped other side of the third connecting plate 3.
The three-dimensional position adjustment of the connecting seat 4 can be completed as above; the illuminance sensor 5 may be held in advance by the elastic holder 41, or may be mounted after being adjusted. The detector can adjust the light sensor of the illuminometer to a preset height from the ground as required, and the light receiving surface is in a horizontal upward state.
In order to improve the convenience of adjusting the position of the connecting seat 4, as shown in fig. 9, a horizontal bubble meter 6 is disposed on the upper end surface of the connecting seat 4 or the upper end surface of the other L-shaped side of the third connecting plate 3.
Because the illuminance sensor 5 of the market is various in outline, and the scheme aims to mount the illuminance sensor on an automobile to detect illuminance, in order to improve the clamping stability, the outline of the illuminance sensor 5 is cylindrical (the market is a common shape of products, such as an ML-020S illuminance sensor), the elastic clamping piece 41 is an elastic clamping piece with a U-shaped structure, a clamping area 411 for clamping the illuminance sensor 5 is formed between two sides of the U-shaped structure, and a connecting piece 412 fixedly connected with the elastic clamping piece 41 is arranged on the connecting seat 4; in addition, the upper end surface of the connecting seat 4 is provided with a containing groove 34 for assisting in positioning the lower part of the illuminance sensor 5.
As shown with emphasis on fig. 9 to 10, the mounting structure 8 of the above embodiment may be used in an illuminance measuring apparatus, and the illuminance measuring apparatus includes the illuminance sensor 5 auxiliary mounting structure 8 and the illuminance sensor 5 described above, and the illuminance sensor 5 is constrained and fixed on the upper end surface of the connecting seat 4.
In order to improve the flexibility of illuminance sampling of the illuminance sensor 5, the illuminance sensor 5 can collect the illumination condition in a specific direction or range of amplitude, and as shown in fig. 9 and 10, the scheme of the embodiment further comprises a light shield 7, the light shield 7 is arranged on the illuminance sensor 5, the lower part of the light shield is detachably and fixedly connected with the connecting seat 4 or the third connecting plate 3, one side of the light shield 7 is of an open structure, the open structure is used for transmitting light rays in a preset range of amplitude and irradiating the illuminance sensor 5, and in order to avoid unnecessary interference caused by reflection of part of the light rays incident on the light shield 7, a black coating or other coatings capable of strongly absorbing the light rays are further coated inside the light shield 7.
The technical scheme is ingenious that the installation mechanism is assisted by the illuminance sensor, and by means of the combination of the first connecting plate 1, the second connecting plate 2, the third connecting plate 3 and the connecting seat 4 and the corresponding matching of the arc-shaped through grooves, the connecting through holes, the installation through holes, the locking through holes and the locking components on the first connecting plate 1, the second connecting plate 2 and the third connecting plate 3, the installation mechanism can have an angle position adjusting function, three-dimensional horizontal adjustment can be realized, and an additional horizontal adjusting device is not needed, so that the weight and the structure of the installation mechanism are optimized, meanwhile, the parts of the installation mechanism are simple in structure, the hard ground clearance of the mechanism is not increased, and meanwhile, the stress moment of the installation mechanism installed on a vehicle can be reduced; besides, the elastic clamping piece of the U-shaped structure is used as the elastic clamping piece, so that the illuminance sensor adopting the cylindrical structure can be well clamped on the connecting seat.
The foregoing description is only a partial embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes using the descriptions and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (10)
1. A mobile road illumination measurement method, which uses a mobile carrier to perform measurement, wherein a positioning unit is connected to the mobile carrier, and an illuminance sensor which exceeds the mobile carrier in a horizontal position is respectively installed at the front end and the rear end of the mobile carrier, the measurement method is characterized by comprising the following steps:
s01, the mobile carrier moves on a road to be measured according to a preset track route;
s02, detecting and recording illuminance of a plurality of measuring points on a road to be measured when the mobile carrier moves, respectively obtaining a plurality of first illuminance detection data and a plurality of second illuminance detection data, and simultaneously recording positioning information of the illuminance sensor when detecting illuminance of a road surface through a positioning unit, wherein the first illuminance detection data corresponds to the illuminance sensor positioned at the front end of the mobile carrier, and the second illuminance detection data corresponds to the illuminance sensor positioned at the rear end of the mobile carrier;
s03, determining traveling information of the mobile carrier and position corresponding information of illuminance sensors connected to the front end and the rear end of the mobile carrier and measuring points on a road to be measured according to the positioning information recorded by the positioning unit;
s04, determining the corresponding relation between the first illuminance detection data and the second illuminance detection data and the measuring point on the road to be measured according to the position corresponding information of the illuminance sensors connected to the front end and the rear end of the mobile carrier and the measuring point on the road to be measured;
S05, fitting the first illuminance detection data and the second illuminance detection data which have corresponding relations according to preset conditions to obtain illuminance data of the road measurement point to be measured, and finishing road illumination measurement.
2. The method for measuring the illumination of the mobile road according to claim 1, wherein when the illumination sensors are respectively arranged at the front end and the rear end of the mobile carrier, the attitude of the mobile carrier is adjusted so as to enable the attitude and the ground clearance to meet the preset requirements, and then the illumination sensing range of the illumination sensors is adjusted through a shielding object, so that the illumination sensors at the front end of the mobile carrier receive the light rays of the three-dimensional space in the range of 180 degrees in front of the mobile carrier, and the illumination sensors at the rear end of the mobile carrier receive the light rays of the three-dimensional space in the range of 180 degrees behind the mobile carrier;
the positioning unit is a GPS positioning unit.
3. The mobile road illumination measurement method according to claim 2, wherein the mobile carrier is further provided with a glare collecting sensor and a road brightness collecting sensor;
wherein S02 further includes: the method comprises the steps that road brightness data and glare data are collected at a plurality of measuring points on a road to be measured when a mobile carrier moves;
In S05, road brightness data and glare data are collected and integrated in a preset mode, and then are output as measurement results to finish road illumination measurement;
in addition, in S05, fitting the first illuminance detection data and the second illuminance detection data having the correspondence relationship according to the preset condition includes:
and adding the first illuminance detection data and the second illuminance detection data with corresponding relations to obtain illuminance data of the measuring point on the road to be measured, namely illuminance data corresponding to light incident to the measuring point in a 360-degree range of the position of the measuring point.
4. The method of claim 3, wherein in S03, determining the traveling information of the mobile carrier and the position correspondence information of the illuminance sensors connected to the front end and the rear end of the mobile carrier and the measurement point on the road to be measured according to the positioning information recorded by the positioning unit comprises the steps of:
the moving carrier is taken as a Y axis in the advancing direction, the moving carrier is taken as an X axis in the transverse direction and is vertically upwardsConstructing a virtual three-dimensional coordinate system for a Z axis, combining an illuminance sensor and a positioning unit to be a fixed object, wherein the municipal road to be measured is a site situation of a flat road, the travelling of the mobile carrier is assumed to be moving on a two-dimensional plane formed by the XY axis, and the positions of positioning coordinate information acquired by the positioning unit before and after a certain moment on the two-dimensional coordinates are respectively defined as A when the mobile carrier travels 1 (Xg 1 ，Yg 1 )、A2(Xg 2 ，Yg 2 ) Then, the course angle theta of the mobile carrier is determined to obtain the advancing direction of the mobile carrier, and the calculation formula is as follows:
θ＝atan((Yg 2 －Yg 1 )/(Xg 2 －Xg 1 ) (one)
Wherein Yg 1 、Yg 2 The Y-axis coordinate positions of the front and rear illuminance sensors on the movable carrier on the plane formed by the XY axes are Xg respectively 1 、Xg 2 Respectively X-axis coordinate positions of a plane formed by front and rear illuminance sensors on the mobile carrier on an XY axis, wherein θ is a course angle of the mobile carrier;
the coordinates of the illuminance sensor on the two-dimensional plane formed by the XY axes are defined as S (X si ，Y si ) The coordinates of the positioning unit in this relative coordinate system at a certain moment are defined as G (X g ，Y g ) According to the rotation and translation conversion rule of the coordinate system, the positioning coordinate of the illuminance sensor in the coordinate system where the positioning unit is located is assumed to be G gps (X sg ，Y sg ) It has the following mathematical relationship with the coordinate position of the positioning unit:
X sg ＝cosθ×X si －sinθ×Y si (II)
Y sg ＝cosθ×Y si +sinθ×X si (III)
And (3) according to the formula (II) and the formula (III), combining the coordinate position information of the positioning unit, and the like, the GPS positioning coordinates of the illuminance sensor on the mobile carrier at each acquisition point can be obtained through calculation.
5. The mobile roadway lighting measurement method of claim 4, wherein S02 further comprises: comparing the first illuminance detection data or the second illuminance detection data detected by the illuminance sensor with the number of positioning information recorded by the positioning unit, when the number of the first illuminance detection data or the second illuminance detection data is more than the number of the positioning information, judging that the positioning information is lost, performing interpolation calculation on the positioning information to complement the positioning information, wherein the method specifically comprises the following steps of:
In the moving process of the mobile carrier, assuming that the positioning information acquisition time interval of the positioning unit is T seconds, the coordinates of the starting point and the ending point of the mobile carrier are A (x a ,y a ) And B (x) b ,y b ) In a T time period of the moving carrier moving at a starting point and a final point, when the illuminance detection data detected and collected by the illuminance sensor is more than the positioning data recorded by the positioning unit, the positioning data is judged to be lost, and the N data coordinates are interpolated by assuming that N data are collected by the illumination data sensor in the T time period:
G xi ＝G xa +(G xb －G xa ) X i/(N-1) (four)
G yi ＝G ya +(G yb －G ya ) X i/(N-1) (five)
Wherein i= … … N;
in addition, G xi ，G yi Inserting positioning coordinates for the ith point; g xa ，G ya Positioning coordinates for the insertion start point; g xb ，G yb Coordinates are located for the insertion endpoint.
6. A mobile roadway lighting measurement system, comprising:
the illuminance sensors are a pair and are used for detecting illuminance of a preset measuring point on a road to be measured;
the mobile carrier is used for traveling on a road to be measured according to a preset track route, wherein, a pair of contrast sensors are respectively arranged at the front end and the rear end of the movable carrier and exceed the movable carrier;
the positioning unit is a GPS positioning unit, is arranged on the mobile carrier and is used for recording positioning information when the mobile carrier drives the illuminance sensor to travel at a measuring point on a road to be measured;
The data recording unit is connected with the illuminance sensor and the positioning unit and is used for recording a plurality of first illuminance detection data and a plurality of second illuminance detection data which are obtained by illuminance detection of a plurality of measurement points on a road to be measured when the illuminance sensor moves, and also is used for recording positioning information which is acquired by the positioning unit when the illuminance sensor detects the illuminance of a road surface, wherein the first illuminance detection data corresponds to the illuminance sensor positioned at the front end of the mobile carrier, and the second illuminance detection data corresponds to the illuminance sensor positioned at the rear end of the mobile carrier;
the data processing unit is used for determining the travelling information of the mobile carrier and the position corresponding information of the illuminance sensors connected to the front end and the rear end of the mobile carrier and the measuring point on the road to be measured according to the positioning information recorded by the positioning unit;
the data association unit is used for determining the corresponding relation between the first illuminance detection data and the second illuminance detection data and the measuring point on the road to be measured according to the position corresponding information of the illuminance sensors connected to the front end and the rear end of the mobile carrier and the measuring point on the road to be measured;
The data fitting unit is used for fitting the first illuminance detection data and the second illuminance detection data which have corresponding relations according to preset conditions to obtain illuminance data of the measuring points on the road to be measured, and road illumination measurement is completed.
7. The mobile roadway lighting measurement system of claim 6, wherein said illuminance sensor is mounted on a mobile carrier by an auxiliary mounting mechanism comprising:
one end of the first connecting plate is used for being fixedly connected with the mobile carrier;
the second connecting plate is of an L-shaped structure, one side of the L shape is detachably connected with the other end of the first connecting plate through the first locking component, and the other side of the L shape is close to the other end of the first connecting plate;
the third connecting plate is of an L-shaped structure, one side of the L shape is detachably connected with the other side of the second connecting plate through the second locking component, and the other side of the L shape faces downwards;
the connecting seat can be dismantled through the up end of the L shape opposite side of third locking component connection at the third connecting plate, the up end of connecting seat is used for placing illuminance sensor, and is equipped with the elasticity holder that is used for retraining fixed illuminance sensor on one side of the up end of connecting seat.
8. The mobile road illumination measurement system according to claim 7, wherein a first connecting through hole and a first arc-shaped through slot which are vertically opposite are formed in one side of the L shape of the second connecting plate, and a first mounting through hole and a first locking through hole are respectively formed in the other end of the first connecting plate corresponding to the first connecting through hole and the first arc-shaped through slot;
the first locking assembly comprises a first mounting bolt, a first mounting nut, a first locking bolt and a first locking nut; the screw rod end of the first mounting bolt sequentially passes through the first mounting through hole and the first connecting through hole and is in threaded connection with the first mounting nut; the screw rod end of the first locking bolt sequentially penetrates through the first locking through hole and the first arc-shaped through groove and is connected with the first locking nut, and one L-shaped side of the second connecting plate is locked and fixed at the other end of the first connecting plate;
the L-shaped other side of the second connecting plate is provided with a second connecting through hole and a second arc-shaped through groove which are opposite up and down, and the L-shaped one side of the third connecting plate is provided with a second mounting through hole and a second locking through hole corresponding to the second connecting through hole and the second arc-shaped through groove respectively;
the second locking assembly comprises a second mounting bolt, a second mounting nut, a second locking bolt and a second locking nut; the screw rod end of the second mounting bolt sequentially passes through the second mounting through hole and the second connecting through hole and is in threaded connection with the second mounting nut; the screw end of the second locking bolt sequentially penetrates through the second locking through hole and the second arc-shaped through groove and is connected with the second locking nut, and one L-shaped side of the third connecting plate is locked and fixed on the other L-shaped side of the second connecting plate;
The L-shaped other side of the third connecting plate is provided with a third connecting through hole and a third arc-shaped through groove which are opposite in position, the connecting seat is provided with a third mounting through hole and a third locking through hole corresponding to the third connecting through hole and the third arc-shaped through groove, wherein the third mounting through hole and the third locking through hole are threaded holes,
the third locking assembly comprises a third mounting bolt and a third locking bolt, the threaded end of the third mounting bolt penetrates through the third connecting through hole and is in threaded locking with the third mounting through hole, the threaded end of the third locking bolt penetrates through the third arc-shaped through groove and is in threaded locking with the third locking through hole, and the connecting seat is detachably and fixedly connected to the upper end face of the L-shaped other side of the third connecting plate.
9. The mobile roadway lighting measurement system of claim 8, wherein one end of the first connecting plate is detachably and fixedly connected to the mobile carrier or welded and fixedly connected to the mobile carrier;
the profile of the illuminance sensor is cylindrical, the elastic clamping piece is an elastic clamping piece with a U-shaped structure, a clamping area for clamping the illuminance sensor is formed between two sides of the U-shape, and a connecting piece fixedly connected with the elastic clamping piece is arranged on the connecting seat;
The upper end surface of the connecting seat is provided with a containing groove for assisting in positioning the lower part of the illuminance sensor;
the upper end face of the connecting seat or the upper end face of the other L-shaped side of the third connecting plate is provided with a horizontal bubble instrument;
the auxiliary installation mechanism further comprises a light shield, the light shield is arranged on the illuminance sensor, the lower portion of the light shield is detachably and fixedly connected with the connecting seat or the third connecting plate, one side of the light shield is of an open structure, and the open structure is used for allowing light rays with a preset range to penetrate through and irradiate on the illuminance sensor.
10. A city public road illuminance detection method is characterized in that: comprising a mobile road lighting measurement method according to one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310433176.5A CN116448242A (en) | 2023-04-21 | 2023-04-21 | Mobile road illumination measuring method and application thereof |
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| CN202310433176.5A CN116448242A (en) | 2023-04-21 | 2023-04-21 | Mobile road illumination measuring method and application thereof |
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| CN116448242A true CN116448242A (en) | 2023-07-18 |
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| CN202310433176.5A Pending CN116448242A (en) | 2023-04-21 | 2023-04-21 | Mobile road illumination measuring method and application thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116704355A (en) * | 2023-08-04 | 2023-09-05 | 浙江大云物联科技有限公司 | Illuminance detection method and device for aerial photographing road illumination |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116704355A (en) * | 2023-08-04 | 2023-09-05 | 浙江大云物联科技有限公司 | Illuminance detection method and device for aerial photographing road illumination |
| CN116704355B (en) * | 2023-08-04 | 2023-11-03 | 浙江大云物联科技有限公司 | Illuminance detection method and device for aerial photographing road illumination |
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