JP2021099287A - Illumination evaluation system, illumination evaluation method, and program - Google Patents

Abstract

To provide an illumination evaluation system capable of simplifying the evaluation of lighting equipment that illuminates the target space, an illumination evaluation method, and a program.SOLUTION: An illumination evaluation system 10 includes moving body 2, a measurement unit 11, and an evaluation unit. The moving body 2 is capable of autonomous movement in the target space A1 illuminated by the lighting equipment 4. The measurement unit 11 is mounted on the moving body 2. The measurement unit 11 measures light from the lighting equipment 4. The evaluation unit evaluates the installation status of the lighting equipment 4 based on positional information when the measurement unit 11 is at a specific position in the target space A1 and the measurement result by the measurement unit 11. The positional information is a piece of information on the relative positional relation between the specific position and the lighting equipment 4.SELECTED DRAWING: Figure 1

Description

The present disclosure relates generally to lighting evaluation systems, lighting evaluation methods and programs, and more specifically to lighting evaluation systems, lighting evaluation methods and programs for evaluating lighting equipment that illuminates a target space.

Patent Document 1 describes a system (arena lighting attitude control system) that controls the attitude of lighting equipment (lighting fixtures) in an arena. In the system described in Patent Document 1, the irradiation direction is arranged based on the control of the main operation control device with respect to the irradiation direction variable lighting equipment provided on the ceiling surface of the arena and the lower portion thereof and provided with a drive unit capable of changing the irradiation direction. To control. The main operation control device controls the irradiation direction of the lighting equipment based on the irradiation direction data.

The illumination direction data is obtained by performing a simulation by the illumination illuminance design support system to create illumination design calculation data, and converting the illumination design calculation data into irradiation direction data for obtaining the desired light. As a result, the lighting equipment can be illuminated by the illumination illuminance design by the illumination illuminance design support system.

Japanese Patent Application Laid-Open No. 11-135270

However, when the irradiation direction of the lighting equipment is controlled by the irradiation direction data based on the simulation as described above, when the illuminance of the target space (inside the arena) is actually measured, there may be a deviation from the simulation result. Therefore, even when the attitude of the lighting equipment is controlled by the system as described above, if a person actually measures the illuminance at each position in the target space and there is a deviation from the simulation result, the lighting equipment Work such as correcting the orientation is required.

The present disclosure has been made in view of the above reasons, and an object of the present invention is to provide a lighting evaluation system, a lighting evaluation method, and a program capable of simplifying the evaluation of lighting equipment that illuminates a target space.

The lighting evaluation system according to one aspect of the present disclosure includes a moving body, a measurement unit, and an evaluation unit. The moving body can autonomously move in the target space illuminated by the lighting equipment. The measuring unit is mounted on the moving body. The measuring unit measures the light from the lighting equipment. The evaluation unit evaluates the installation status of the lighting equipment based on the position information and the measurement result of the measurement unit when the measurement unit is at a specific position in the target space. The position information is information regarding a relative positional relationship between the specific position and the lighting equipment.

The lighting evaluation method according to one aspect of the present disclosure includes a measurement process and an evaluation process. The measurement process is a process of measuring the light from the lighting equipment by a measuring unit mounted on a moving body that can autonomously move in the target space illuminated by the lighting equipment. The evaluation process is a process of evaluating the installation status of the lighting equipment based on the position information and the measurement result of the measurement process when the measurement unit is at a specific position in the target space. The position information is information regarding a relative positional relationship between the specific position and the lighting equipment.

The program according to one aspect of the present disclosure is a program for causing one or more processors to execute the lighting evaluation method.

According to the present disclosure, there is an advantage that the evaluation of the lighting equipment that illuminates the target space can be simplified.

FIG. 1 is a schematic view showing a usage example of the lighting evaluation system according to the first embodiment. FIG. 2 is a block diagram showing the configuration of the lighting evaluation system of the above. FIG. 3A is a side view of the moving body of the same lighting evaluation system. FIG. 3B is an enlarged side view of the periphery of the measurement unit of the moving body as described above. FIG. 3C is an enlarged plan view of the periphery of the measurement unit of the moving body as described above. FIG. 4A is a schematic explanatory view showing the directivity of the measurement unit of the above, and in a state where the maximum light receiving angle is relatively large. FIG. 4B is a schematic explanatory view showing the directivity of the measurement unit of the above, and in a state where the maximum light receiving angle is relatively small. FIG. 5 is a flowchart showing an operation example of the lighting evaluation system of the above. FIG. 6A is a sketch of a facility in which the same lighting evaluation system is used. FIG. 6B is an enlarged view of area Z1 of FIG. 6A. FIG. 6C is an enlarged view of a part of FIG. 6B. FIG. 7 is a conceptual diagram showing a state of estimation of the illuminance distribution by the same lighting evaluation system. FIG. 8 is a conceptual diagram showing a state of self-position correction in the same lighting evaluation system. FIG. 9A shows a usage example of the lighting evaluation system according to the second embodiment, and is a schematic view of a state in which the first light emitting unit is lit. FIG. 9B shows a usage example of the same illumination evaluation system, and is a schematic view of a state in which the second light emitting unit is lit.

(Embodiment 1)
(1) Outline An outline of the lighting evaluation system 10 according to the present embodiment will be described with reference to FIGS. 1 and 2.

The lighting evaluation system 10 is a system for evaluating the lighting equipment 4 that illuminates the target space A1. In the present embodiment, as an example, it is assumed that the lighting evaluation system 10 is used in a facility F1 such as a stadium in which a lighting facility 4 having a plurality of light emitting units 41 is installed. In this type of facility F1, for example, as shown in FIG. 1, a plurality of lighting facilities 4 are installed along the outer periphery thereof. These plurality of lighting facilities 4 illuminate the target space A1 by irradiating the target space A1 set in the facility F1 with light from diagonally above.

That is, the target space A1 is illuminated by light obliquely emitted from a plurality of light emitting units 41 of the (plural) lighting equipment 4, and the lighting environment of the target space A1 changes depending on the direction of the light emitting unit 41. To do. If the lighting environment as designed is not realized, for example, it is necessary to correct the direction of at least one light emitting unit 41 of the lighting equipment 4. Therefore, in order to evaluate the lighting equipment 4 that illuminates the target space A1, it is necessary to grasp the actual illuminance due to the light from the (plural) lighting equipment 4 over substantially the entire area of the target space A1.

However, if a worker (person) measures the illuminance at each position of the target space A1 over a wide area in a relatively large facility F1 such as a stadium, a large amount of man-hours are required for the worker. That is, in such a measurement work, the operator holds, for example, an illuminance meter and measures the illuminance at each of a plurality of measurement points set in the target space A1 illuminated by the light from the lighting equipment 4. It will actually be measured. In this case, the worker needs to go around a plurality of measurement points while sequentially measuring the illuminance at each measurement point in the target space A1, so that the wider the target space A1, the cumulative total of measurements taken. The time and the time required to move between a plurality of measurement points will increase. Further, for example, the illuminance is measured at a position deviated from the measurement point, and a measurement error may occur depending on the skill of the operator, so that it is difficult to obtain a highly reliable measurement result.

Therefore, the lighting evaluation system 10 according to the present embodiment measures the target space A1 by measuring the actual illuminance of the light from the lighting equipment 4 in the target space A1 by the measurement unit 11 mounted on the moving body 2. It enables the evaluation of the lighting equipment 4 to be illuminated.

That is, as shown in FIG. 2, the lighting evaluation system 10 includes a moving body 2, a measuring unit 11, and an evaluation unit 31. The moving body 2 can autonomously move in the target space A1 illuminated by the lighting equipment 4. The measuring unit 11 is mounted on the moving body 2. The measuring unit 11 measures the light from the lighting equipment 4. The evaluation unit 31 evaluates the installation status of the lighting equipment 4 based on the position information and the measurement result of the measurement unit 11 when the measurement unit 11 is at a specific position in the target space A1. Here, the position information is information regarding the relative positional relationship between the specific position and the lighting equipment 4.

According to the above configuration, the work of measuring the light from the lighting equipment 4 at a specific position can be executed by the moving body 2 that can autonomously move in the target space A1. That is, the moving body 2 is equipped with a measuring unit 11 that measures the light from the lighting equipment 4, and when the measuring unit 11 is at a specific position in the target space A1, the measuring unit 11 has a specific position. The light from the lighting equipment 4 is measured in. In this way, in the lighting evaluation system 10, the moving body 2 can move in the target space A1 and measure the light from the lighting equipment 4 at a specific position on behalf of the worker or together with the worker. The work load can be reduced. Moreover, since the measurement unit 11 is mounted on the moving body 2 that autonomously moves in the target space A1, the position where the measurement unit 11 measures is less likely to shift, and the reliability of the measurement result is less likely to decrease. Further, the evaluation unit 31 evaluates the installation status of the lighting equipment 4 based on the position information and the measurement result of the measurement unit 11 when the measurement unit 11 is at the specific position of the target space A1. That is, since the installation status of the lighting equipment 4 is evaluated from the measurement result of the measurement unit 11, for example, it becomes easy to determine whether or not the orientation of the lighting equipment 4 needs to be corrected. As a result, there is an advantage that the evaluation of the lighting equipment 4 that illuminates the target space A1 can be simplified.

(2) Details Hereinafter, the lighting evaluation system 10 according to the present embodiment will be described in detail.

(2.1) Definition The "measuring unit" referred to in the present disclosure may have a function of measuring the light from the lighting equipment 4, and is, for example, an illuminance meter, a luminance meter, a photometer, or the like. When the measuring unit 11 is an illuminance meter, the measuring unit 11 measures the light from the lighting equipment 4 by measuring the illuminance which is the luminous flux incident on the lighting equipment 4 per unit area. When the measuring unit 11 is a luminance meter, the measuring unit 11 measures the brightness, which is the brightness per unit area of the lighting equipment 4 when the lighting equipment 4 is viewed from the measuring unit 11, from the lighting equipment 4. Measure the light of. In the present embodiment, as an example, the measuring unit 11 is an illuminance meter and measures the light from the lighting equipment 4 as “illuminance”.

"Mounting" as used in the present disclosure includes both built-in (including inseparably integrated modes) and external (including removable and fixed modes using a coupler or the like). .. That is, the measuring unit 11 mounted on the moving body 2 may be built in the moving body 2 or may be externally attached to the moving body 2.

The “installation status of the lighting equipment 4” referred to in the present disclosure means the installation status of the lighting equipment 4 for illuminating the target space A1, for example, the orientation (light distribution) of the lighting equipment 4 and the lighting equipment 4. Including position etc. Here, in the direction of the lighting equipment 4, the rotation angle (azimuth angle) of the optical axis of the lighting equipment 4 around the axis along the vertical direction and the rotation angle of the optical axis of the lighting equipment 4 around the axis along the horizontal direction. (Elevation angle) and the rotation angle of the lighting equipment 4 around the optical axis of the lighting equipment 4 are included. Further, when the lighting equipment 4 includes a plurality of light emitting units 41 (see FIG. 1), the installation status of the lighting equipment 4 includes the orientation and position of each of the plurality of light emitting units 41 in the lighting equipment 4. .. In the present embodiment, as an example, the installation status of the lighting equipment 4 includes at least the orientation of each of the plurality of light emitting units 41 in the lighting equipment 4.

The "specific position" referred to in the present disclosure is any position in the target space A1. The measuring unit 11 measures the light from the lighting equipment 4 at least when it is at a specific position. That is, the specific position is a "measurement point" for measuring the light from the lighting equipment 4 (illuminance in the present embodiment) in the target space A1 by the measurement unit 11. In the present embodiment, as an example, the position of the moving body 2 in the target space A1 is represented by the position in the target space A1 of the measuring unit 11 mounted on the moving body 2. That is, when the measuring unit 11 is in the specific position, the moving body 2 is in the specific position.

The "facility" as used in the present disclosure includes outdoor facilities such as a stadium, an outdoor stage, a garden, a parking lot, a ground and a park, and indoor facilities such as a dome, an arena, a studio, a gymnasium, a stage and a theater. The "stadium" here is a stadium such as a baseball field, an athletics field, or a soccer field. Furthermore, facility F1 includes movie theaters, public halls, complex facilities, restaurants, department stores, hotels, inns, kindergartens, libraries, museums, museums, underground streets, stations, airports, offices, factories, buildings, stores, schools and welfare facilities. Etc. are also included. Further, the facility F1 may include a housing facility such as a detached house, a condominium, or each dwelling unit of the condominium. In this embodiment, as an example, the facility F1 is a stadium.

(2.2) Configuration of Lighting Equipment First, the configuration of the lighting equipment 4 to be evaluated by the lighting evaluation system 10 according to the present embodiment will be described with reference to FIGS. 1 and 2.

The lighting equipment 4 is equipment that illuminates the target space A1 set in the facility F1. That is, the lighting equipment 4 irradiates (radiates) light toward the target space A1 in the facility F1 and illuminates an object in the target space A1 to secure the necessary brightness in the target space A1. In the present embodiment, the facility F1 is a stadium as described above, and the internal space of the facility F1 surrounded by the spectators' seats, that is, the space in the stadium where the competition is held is the target space A1.

As shown in FIG. 1, a plurality of lighting facilities 4 are installed along the outer periphery of the facility F1. All of these plurality of lighting facilities 4 irradiate light from diagonally above toward the target space A1 in the facility F1. When the plurality of lighting devices 4 irradiate the target space A1 with light, substantially the entire area of the target space A1 is evenly illuminated.

Each lighting equipment 4 is a multi-lamp type floodlight having a plurality of light emitting units 41. That is, each of the plurality of light emitting units 41 in the lighting equipment 4 functions as a floodlight, and illuminates the target space A1 by irradiating the target space A1 with light from these plurality of light emitting units 41 from diagonally above. Each of the plurality of light emitting units 41 is configured so that its orientation and position can be individually adjusted. Therefore, for example, the direction (light distribution) of the light emitted from the light emitting unit 41 to the target space A1 can be adjusted by adjusting the direction of only the light emitting unit 41 of any one of the lighting equipment 4. It is possible. In the present embodiment, as an example, each of the plurality of light emitting units 41 is an LED floodlight using an LED (Light Emitting Diode) as a light source.

However, in the present embodiment, it is assumed that each lighting equipment 4 turns on or off a plurality of light emitting units 41 at the same time. That is, each lighting equipment 4 does not light only a part of the plurality of light emitting units 41.

In the present embodiment, the lighting equipment 4 further includes an actuator 42 having a one-to-one correspondence with the light emitting unit 41. That is, the lighting equipment 4 has a plurality of light emitting units 41 and a plurality of actuators 42. Each of the plurality of actuators 42 drives the light emitting unit 41 so as to change the direction and position of the corresponding light emitting unit 41. Each actuator 42 includes an electric motor, and changes the direction and position of the light emitting unit 41 according to the driving force generated by the electric motor. Therefore, in the lighting equipment 4, the orientation and position of each of the plurality of light emitting units 41 can be remotely controlled. The term "remote" as used herein means a remote location. For example, the outside of the facility F1 corresponds to the remote location of the lighting equipment 4.

The target space A1 is illuminated by the light obliquely emitted from the plurality of light emitting units 41 of each lighting equipment 4 by the plurality of lighting equipments 4 having the above-described configuration. Therefore, the lighting environment of the target space A1 changes depending on the direction of the light emitting unit 41. If the lighting environment as designed is not realized, for example, it is necessary to correct the direction of at least one light emitting unit 41 of the lighting equipment 4. Further, in order to evaluate the lighting equipment 4 that illuminates the target space A1, it is necessary to grasp the actual illuminance due to the light from the (plural) lighting equipment 4 over substantially the entire area of the target space A1. Therefore, the lighting evaluation system 10 according to the present embodiment measures the target space A1 by measuring the actual illuminance of the light from the lighting equipment 4 in the target space A1 by the measurement unit 11 mounted on the moving body 2. It enables the evaluation of the lighting equipment 4 to be illuminated.

(2.3) Configuration of Lighting Evaluation System Hereinafter, the configuration of the lighting evaluation system 10 according to the present embodiment will be described with reference to FIGS. 1 to 4B.

As described above, the lighting evaluation system 10 includes a moving body 2, a measuring unit 11, and an evaluation unit 31. Here, in the present embodiment, as an example, as shown in FIG. 2, the lighting evaluation system 10 includes a moving body 2 and a higher-level system 3. The measuring unit 11 is mounted on the moving body 2 as described above, and the evaluation unit 31 is included in the host system 3. That is, in the present embodiment, the measurement unit 11 and the evaluation unit 31, which are the components of the lighting evaluation system 10, are not integrally provided but are provided separately. The mobile body 2 has a drive unit 21, a control unit 22, and a battery 23. As a result, the moving body 2 is configured to be autonomously movable in the target space A1.

Further, in the present embodiment, in addition to the measurement unit 11, the moving body 2 includes a position estimation unit 12, an orientation change unit 13, a position change unit 14, a directivity change unit 15, and an output unit, as shown in FIG. 16, a communication unit 17, and a storage unit 18 are mounted. In addition to the evaluation unit 31, the higher-level system 3 is provided with a distribution estimation unit 32, an adjustment unit 33, a higher-level communication unit 34, and a storage unit 35. That is, the lighting evaluation system 10 according to the present embodiment includes the moving body 2, the measuring unit 11, the position estimation unit 12, the orientation changing unit 13, the position changing unit 14, the directivity changing unit 15, and the output unit. 16, a communication unit 17, and a storage unit 18 are provided. Here, the moving body 2 includes a drive unit 21, a control unit 22, and a battery 23. Further, the lighting evaluation system 10 includes a drive unit 21, a control unit 22, a battery 23, an evaluation unit 31, a distribution estimation unit 32, an adjustment unit 33, an upper communication unit 34, and a storage unit 35. Further prepared.

Further, in the present embodiment, the evaluation result in the lighting evaluation system 10 is used for adjusting at least one of the orientation and the position of the lighting equipment 4. Further, in the present embodiment, as described above, the lighting evaluation system 10 evaluates at least the orientations of the plurality of light emitting units 41 in the lighting equipment 4 as the installation status of the lighting equipment 4. Therefore, the evaluation result in the lighting evaluation system 10 is used at least for adjusting the orientation of each of the plurality of light emitting units 41 in the lighting equipment 4.

More specifically, the lighting evaluation system 10 determines the orientation of each of the plurality of light emitting units 41 in the lighting equipment 4 when the installation status of the lighting equipment 4 is not within the permissible range based on the evaluation result of the lighting equipment 4. The lighting equipment 4 is controlled so as to make adjustments. Specifically, the lighting evaluation system 10 generates a control signal instructing the direction adjustment direction and the adjustment amount for each of the plurality of light emitting units 41 in the lighting equipment 4, and transmits the control signal to the lighting equipment 4. To do. As a result, in the lighting equipment 4 that receives the control signal, the actuator 42 operates according to the control signal, and the orientation of each of the plurality of light emitting units 41 is adjusted. Therefore, in the present embodiment, the lighting evaluation system 10 (upper system 3) and the lighting equipment 4 are configured to be communicable. The term "communicable" as used in the present disclosure means that signals can be exchanged directly or indirectly via a network 5 or a repeater by an appropriate communication method of wired communication or wireless communication. That is, the lighting evaluation system 10 (upper system 3) can send and receive signals to and from the lighting equipment 4.

The moving body 2 is configured to be autonomously movable in the target space A1. In this embodiment, as shown in FIG. 1, it has a housing 20, a plurality of wheels 24 composed of drive wheels, and a plurality of auxiliary wheels 25 composed of free wheels. The moving body 2 configured in this way autonomously travels on a substantially flat traveling surface F11 made of the ground or the like. In the present embodiment, as an example, the housing 20 is formed in a substantially rectangular shape in a plan view, and a plurality of wheels 24 and a plurality of training wheels 25 are arranged on the lower surface of the housing 20. The moving body 2 autonomously moves (runs) on the running surface F11 by individually driving a plurality of wheels 24.

Further, the moving body 2 has a drive unit 21, a control unit 22, and a battery 23 in the housing 20.

The drive unit 21 includes an electric motor, a speed reducer, and the like, and drives a plurality of wheels 24 using the electric energy stored in the battery 23. The control unit 22 controls the drive unit 21 based on the self-position estimated by the position estimation unit 12 described later, and realizes autonomous traveling of the moving body 2. That is, the control unit 22 determines at least the movement route of the moving body 2 to the destination based on the self-position which is the current position of the moving body 2 (route planning), and the moving body is along the moving route. The drive unit 21 is operated so that the 2 moves. As a result, autonomous traveling of the moving body 2 is realized. The battery 23 is not only the electric power for the operation of the moving body 2 (the driving unit 21 and the control unit 22), but also the electric power for the operation of each component of the lighting evaluation system 10 mounted on the moving body 2 such as the measuring unit 11. Also supplies. The battery 23 is a secondary battery such as a lithium ion battery (LIB) that can be charged and discharged.

Further, as shown in FIG. 1, the moving body 2 further has a detection unit 26 and an antenna 27.

The detection unit 26 is mounted on the moving body 2. The detection unit 26 detects the situation around the moving body 2. The "situation around the moving body 2" referred to in the present disclosure refers to the presence or absence and arrangement of structures such as walls, floors, pillars, or ceilings around the moving body 2, or other moving bodies around the moving body 2. Includes the presence and position of objects such as living things. The detection unit 26 includes, for example, a sensor such as an image sensor (camera), a sonar sensor, a radar, and a LiDAR (Light Detection and Ranging), and the situation around the moving body 2 (presence or absence of a structure or an object, etc.) is used by these sensors. ) Is detected. In the present embodiment, as an example, the detection unit 26 is arranged on the upper surface of the housing 20 of the moving body 2.

The antenna 27 is an antenna for the communication unit 17. As will be described later, the communication unit 17 transmits and receives radio waves as a transmission medium through the antenna 27. In the present embodiment, as an example, the antenna 27 is provided so as to project upward from the upper surface of the housing 20 of the moving body 2 at least in a plan view.

The measuring unit 11 is mounted on the moving body 2. The measuring unit 11 has a function of measuring the light from the lighting equipment 4, and as described above, is an illuminometer as an example in the present embodiment. Specifically, the measuring unit 11 has a light receiving unit, and measures the illuminance in the light receiving unit, that is, the luminous flux incident on the light receiving unit from the lighting equipment 4 per unit area. In particular, in the present embodiment, the measuring unit 11 is a digital illuminometer that outputs an electric signal according to the illuminance of the light receiving unit.

Here, as shown in FIGS. 1 and 3A to 3C, the moving body 2 includes an arm 61, a support base 62, a pole 63, and a pair of rotary support portions 64 as a configuration for supporting the measurement unit 11. Have. Further, the moving body 2 has a shielding body 65 as a configuration attached to the measuring unit 11.

The arm 61 projects forward from the front surface of the housing 20 (the surface facing forward in the traveling direction of the moving body 2) to the front in the traveling direction of the moving body 2. As an example, the arm 61 is configured to be telescopic so that the amount of protrusion from the housing 20 can be changed. The support base 62 is a base for supporting the measurement unit 11, and is supported by a pole 63 on the upper surface of the tip end portion of the arm 61. The support base 62 is formed in a disk shape and is configured to be rotatable around the central axis of the pole 63. The pole 63 is formed in a columnar shape, and is configured to be telescopic so that the height of the support base 62 from the upper surface of the arm 61 can be changed, for example, by a telescopic structure. The pair of rotation support portions 64 are arranged on the upper surface of the support base 62, and are configured to support the measurement unit 11. The pair of rotation support units 64 support the measurement unit 11 so that the measurement unit 11 can rotate around a rotation axis along the upper surface of the support base 62.

The shield 65 is attached to the front surface of the measuring unit 11 so as to surround the light receiving unit of the measuring unit 11. As shown in FIG. 3B, the shield body 65 has a first cylinder body 651 and a second cylinder body 652. The second tubular body 652 is formed in a tubular shape that is one size smaller than the first tubular body 651, and is combined with the first tubular body 651. That is, the shield 65 is formed in a tubular shape, and is configured to be expandable and contractable by a telescopic structure as an example so that the amount of protrusion from the front surface of the measuring unit 11 is variable. In the present embodiment, as an example, the first tubular body 651 and the second tubular body 652 are both formed in a cylindrical shape, and expand and contract in the direction indicated by the arrow A15 in FIG. 3B.

Here, the expansion and contraction of the arm 61, the rotation of the support base 62, the expansion and contraction of the pole 63, and the rotation of the measurement unit 11 with respect to the pair of rotation support units 64 can all be individually controlled by using the electric motor as a power source. Further, the expansion and contraction of the shield 65 can also be individually controlled by using an electric motor as a power source.

The position estimation unit 12 estimates the self-position, which is the current position of the moving body 2 in the target space A1. In the present embodiment, the position of the moving body 2 in the target space A1 is represented by the position in the target space A1 of the measuring unit 11 mounted on the moving body 2, so that the position estimating unit 12 measures. The current position of unit 11 is estimated as the self-position. In the present embodiment, as an example, the self-position of the moving body 2 is represented by three-dimensional coordinates including an orthogonal coordinate system of X-axis, Y-axis, and Z-axis which are orthogonal to each other. In other words, the position estimation unit 12 estimates the current position of the measurement unit 11 represented by the three-dimensional coordinates as the self-position of the moving body 2.

The term "estimate" as used in the present disclosure means to make a decision (decision), and in particular, it is not limited to a person making a decision by thinking about it, but also includes making a decision based on a certain fact. Therefore, for example, when input information is input to a computer system, if the computer system performs a calculation based on the input information and outputs some information as output information, the output information is "" in the computer system. It has been "estimated". That is, in the position estimation unit 12, the detection result of the detection unit 26 is input, and the self-position is estimated by specifying the current position (self-position) of the moving body 2 based on the detection result. ..

Here, the position estimation unit 12 basically estimates its own position based on the detection result of the detection unit 26. Further, in the present embodiment, the position estimation unit 12 estimates the self-position of the moving body 2 by using the position information and the measurement result of the measurement unit 11 in addition to the detection result of the detection unit 26. That is, when the measurement unit 11 is at the specific position of the target space A1, the position information regarding the relative positional relationship between the specific position and the lighting equipment 4 and the measurement result of the measurement unit 11 are the installation status of the lighting equipment 4. It is used not only for evaluation but also for estimating the self-position of the moving body 2. In other words, the position estimation unit 12 uses the position information and the measurement result of the measurement unit 11 to estimate the position of the moving body 2. The operation of the position estimation unit 12 will be described in detail in the column of "(3.2) Self-position correction".

The orientation changing unit 13 changes the orientation of the measuring unit 11 with respect to the reference direction B1 (see FIG. 3A) of the moving body 2. The reference direction B1 of the moving body 2 referred to here is a direction appropriately determined for the moving body 2, and is, as an example, in front of the traveling direction of the moving body 2 in the present embodiment. That is, the front of the moving body 2 indicated by the arrow “B1” in FIG. 3A is the “reference direction”, and the orientation changing unit 13 is relative to the front of the moving body 2 in the traveling direction of the measuring unit 11. Change the orientation. Therefore, in the present embodiment, the orientation of the measuring unit 11 is not fixed (immutable), but can be changed by the orientation changing unit 13. Specifically, the orientation changing unit 13 changes the orientation of the measuring unit 11 by controlling at least one of the rotation of the support base 62 and the rotation of the measuring unit 11 with respect to the pair of rotating support units 64. To do. That is, the direction of the measuring unit 11 in the direction indicated by the arrow A14 in FIG. 3C changes according to the rotation of the support base 62, and the arrow A13 in FIG. 3B changes according to the rotation of the measuring unit 11 with respect to the pair of rotating support units 64. The orientation of the measuring unit 11 in the direction indicated by is changed.

The position changing unit 14 changes the relative position of the measuring unit 11 with respect to the reference point B2 (see FIG. 3A) of the moving body 2. The reference point B2 of the moving body 2 referred to here is a point appropriately determined for the moving body 2, and is a virtual point set at the position of the center of gravity of the housing 20 of the moving body 2 as an example in the present embodiment. .. That is, the center of gravity of the housing 20 indicated by the point “B2” in FIG. 3A is the “reference point”, and the position changing unit 14 changes the relative position of the measuring unit 11 with respect to the center of gravity of the housing 20. Therefore, in the present embodiment, the position of the measuring unit 11 is not fixed (immutable) but can be changed by the position changing unit 14. Specifically, the position changing unit 14 changes the position of the measuring unit 11 by controlling at least one of the expansion and contraction of the arm 61 and the expansion and contraction of the pole 63 described above. That is, the position of the measuring unit 11 in the direction indicated by the arrow A11 in FIG. 3A changes according to the expansion and contraction of the arm 61, and the direction indicated by the arrow A12 in FIG. 3A (up and down) according to the expansion and contraction of the pole 63. The position of the measuring unit 11 in the direction) changes.

The directivity changing unit 15 changes the directivity of the measuring unit 11. The term "directivity" as used herein means that the sensitivity or gain of the function of measuring the light (illuminance in the present embodiment) from the lighting equipment 4 in the measuring unit 11 differs depending on the direction in which the light is incident on the measuring unit 11. Means nature. That is, the directivity changing unit 15 changes the sensitivity or gain for each direction with respect to the measurement of the light (illuminance in the present embodiment) from the lighting equipment 4 by the measuring unit 11. Therefore, in the present embodiment, the directivity (directivity characteristic) of the measuring unit 11 is not fixed (immutable) but can be changed by the directivity changing unit 15. Specifically, the directivity changing unit 15 controls the expansion and contraction of the shield 65 described above, so that the directivity of the measuring unit 11, particularly the angle at which light can be incident on the light receiving unit of the measuring unit 11 ( Change the size of the range).

That is, as shown in FIGS. 4A and 4B, the upper limit of the incident angle of the light that can be received by the measuring unit 11 changes according to the expansion and contraction of the shield 65. That is, as shown in FIG. 4A, if the second tubular body 652 is housed in the first tubular body 651 and the shield 65 is in a contracted state, the measuring unit 11 at a position surrounded by the shield 65 Light in a relatively wide range is incident on the light receiving portion. Therefore, in the state shown in FIG. 4A, for example, when the first light emitting unit 411 and the second light emitting unit 412 are assumed as the two light emitting units 41, the light of any of the first light emitting unit 411 and the second light emitting unit 412 is assumed. Can also be measured by the measuring unit 11. On the other hand, as shown in FIG. 4B, if the second cylinder 652 protrudes from the inside of the first cylinder 651 and the shield 65 is in an extended state, the light received by the measuring unit 11 at the position surrounded by the shield 65 is received. Light in a relatively narrow range is incident on the portion. Therefore, in the state shown in FIG. 4B, for example, the light from the second light emitting unit 412 is shielded by the shield 65, and only the light from the first light emitting unit 411 of the first light emitting unit 411 and the second light emitting unit 412 is provided. , The measurement unit 11 can measure.

In other words, the maximum light receiving angle θ2 when the shield 65 is extended as shown in FIG. 4B is smaller than the maximum light receiving angle θ1 when the shield 65 is contracted as shown in FIG. 4A (θ2 < θ1). As described above, in the present embodiment, the direction in which the measuring unit 11 receives light can be narrowed down (restricted) by the shield 65, and the angle (range) in which the measuring unit 11 receives light is wide. Can be changed by the directivity changing unit 15.

The output unit 16 outputs a data set in which the position information and the measurement result of the measurement unit 11 are associated with each other when the measurement unit 11 is at a specific position in the target space A1. That is, the data set is a combination of the position information regarding the relative positional relationship between the specific position and the lighting equipment 4 when the measurement unit 11 is at the specific position of the target space A1 and the measurement result of the measurement unit 11. Includes. In the present embodiment, as an example, the output unit 16 outputs the data set to the communication unit 17 and the storage unit 18. That is, the "output" referred to in the present disclosure includes not only the output to the outside of the device (mobile body 2) but also the output inside the device.

The communication unit 17 is configured to communicate with the host system 3 directly or indirectly via the network 5 or a repeater or the like. As a result, the mobile body 2 can exchange data such as a data set with and from the host system 3. In the present embodiment, as an example, the communication unit 17 is connected to a network 5 such as the Internet via a mobile phone network (carrier network) or a public wireless LAN (Local Area Network) provided by a telecommunications carrier. The mobile phone network includes, for example, a 3G (third generation) line, an LTE (Long Term Evolution) line, a 4G (fourth generation) line, a 5G (fifth generation) line, and the like. The communication unit 17 transmits and receives radio waves as a transmission medium through the antenna 27 described above.

The storage unit 18 stores position information regarding the relative positional relationship between the specific position and the lighting equipment 4, a data set including the measurement result of the measurement unit 11, and the like. Further, the storage unit 18 further stores information and the like necessary for the calculation by the position estimation unit 12 and the like. The storage unit 18 includes a rewritable non-volatile memory such as an EEPROM (Electrically Erasable Programmable Read-Only Memory).

The evaluation unit 31 evaluates the installation status of the lighting equipment 4 based on the position information and the measurement result of the measurement unit 11 when the measurement unit 11 is at a specific position in the target space A1. Here, the position information is information regarding the relative positional relationship between the specific position and the lighting equipment 4. Details will be explained in the column of "(3.1) Lighting evaluation method", but the evaluation unit 31 basically describes the data set (position information and measurement unit 11 of the position information and measurement unit 11) transmitted from the moving body 2 to the higher system 3. Based on (including the combination with the measurement result), the installation status of the lighting equipment 4 is evaluated.

The distribution estimation unit 32 estimates the distribution of the measurement results of the measurement unit 11 for the specific range R1 (see FIG. 6B) including a plurality of specific positions P0 (see FIG. 6C). That is, the illumination evaluation system 10 according to the present embodiment tells the distribution estimation unit 32 not only the illuminance for one specific position P0 but also the distribution of the illuminance within the specific range R1 including a plurality of specific positions P0. Can be estimated. In the present embodiment, the estimation result of the distribution estimation unit 32 (distribution of the measurement result of the measurement unit 11 for the specific range R1) is used for the evaluation of the installation status of the lighting equipment 4 by the evaluation unit 31. The distribution estimation unit 32 basically estimates the distribution based on the data set (including the combination of the position information and the measurement result of the measurement unit 11) transmitted from the mobile body 2 to the host system 3. The operation of the distribution estimation unit 32 will be described in detail in the column of "(3.1) Lighting evaluation method".

The adjusting unit 33 adjusts at least one of the orientation and the position of the lighting equipment 4 based on the evaluation result of the evaluation unit 31. As described above, in the present embodiment, the lighting evaluation system 10 evaluates at least the orientations of the plurality of light emitting units 41 in the lighting equipment 4 as the installation status of the lighting equipment 4. Therefore, the adjusting unit 33 adjusts the orientation of each of the plurality of light emitting units 41 in the lighting equipment 4 at least based on the evaluation result of the evaluation unit 31. Specifically, the adjusting unit 33 generates a control signal instructing the adjustment direction and the adjustment amount of the orientation of each of the plurality of light emitting units 41 in the lighting equipment 4, and sends the control signal higher than the lighting equipment 4. It is transmitted from the communication unit 34. As a result, in the lighting equipment 4 that receives the control signal, the actuator 42 operates according to the control signal, and the orientation of each of the plurality of light emitting units 41 is adjusted.

The upper communication unit 34 is configured to communicate with the mobile body 2 directly or indirectly via the network 5 or a repeater or the like. As a result, the host system 3 can exchange data such as a data set with and from the mobile body 2. In the present embodiment, as an example, the upper communication unit 34 is connected to a network 5 such as the Internet, and communicates with the mobile body 2 (communication unit 17) via the network 5. Further, in the present embodiment, as described above, since the lighting evaluation system 10 (upper system 3) and the lighting equipment 4 are configured to be communicable, the upper communication unit 34 is illuminated not only by the mobile body 2. It is configured so that it can communicate with the equipment 4. In the present embodiment, as an example, the lighting equipment 4 has a communication module like the mobile body 2, and the network 5 is provided via a mobile phone network (carrier network) provided by a telecommunications carrier, a public wireless LAN, or the like. Connected to. As a result, the upper communication unit 34 communicates with both the mobile body 2 and the lighting equipment 4 via the network 5.

The storage unit 35 stores a data set including position information and measurement results of the measurement unit 11, map information, lighting position information, target illuminance distribution information, and the like. The map information is information representing the floor plan of the facility F1 including the target space A1. The lighting position information is information that represents, for example, three-dimensional coordinates of the positions of the plurality of light emitting units 41 in the lighting equipment 4. The target illuminance distribution information is information regarding the target illuminance distribution in the target space A1. That is, if there is no deviation in the direction and position of the lighting equipment 4 and the illuminance distribution in the target space A1 is as ideal, the illuminance distribution in the target space A1 will be as represented by the target illuminance distribution information. In the present embodiment, as an example, it is assumed that the target illuminance distribution information is information representing the illuminance distribution in a state in which each of the plurality of light emitting units 41 of the lighting equipment 4 can be distinguished. Further, the storage unit 35 further stores information and the like necessary for calculations by the evaluation unit 31, the distribution estimation unit 32, the adjustment unit 33, and the like. The storage unit 35 includes a rewritable non-volatile memory such as an EEPROM (Electrically Erasable Programmable Read-Only Memory).

In the present embodiment, the lighting evaluation system 10 mainly includes a computer system including one or more memories and one or more processors. In other words, the function of the lighting evaluation system 10 is realized by the processor executing the program recorded in the memory of the computer system. In particular, among the lighting evaluation systems 10, the computer system is the main configuration for the functions of the position estimation unit 12, the output unit 16, the control unit 22, the evaluation unit 31, the distribution estimation unit 32, and the adjustment unit 33. The program may be pre-recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

Further, the lighting evaluation system 10 may further include a user interface and the like in addition to the above configuration. However, the user interface and the like are not essential configurations for the lighting evaluation system 10. The user interface includes, for example, a touch panel display, accepts operations by a person (worker, etc.), and presents (displays) information to the person. The user interface is not limited to the touch panel display, and may have an input device such as a keyboard, a pointing device, a mechanical switch, or a gesture sensor. Further, the user interface may have an audio input / output unit instead of the touch panel display or together with the touch panel display.

(3) Operation Hereinafter, the operation of the lighting evaluation system 10 according to the present embodiment, that is, the lighting evaluation method according to the present embodiment will be described with reference to FIGS. 5 to 8. Here, FIG. 6A is a schematic plan view (plan view) of the facility F1. FIG. 6B is an enlarged view of an area Z1 irradiated with light from one lighting facility 4 in FIG. 6A. FIG. 6C is an enlarged view of an overlapping portion of the first specific range R11 and the second specific range R12 in FIG. 6B.

(3.1) Lighting Evaluation Method Here, as an example, the lighting evaluation system 10 is one of a plurality of lighting equipments 4 installed in the facility F1. The lighting equipment 4 (the lighting equipment located in the upper right corner in FIG. 6A). Imagine a scene where you want to evaluate 4). Therefore, as shown in FIGS. 6A to 6C, the lighting evaluation system 10 sets a specific position P0 in the target space A1 at least within the range irradiated by the light from the lighting equipment 4 to be evaluated, and sets the specific position P0. The lighting equipment 4 is evaluated using the measurement result of the measurement unit 11 on P0.

More specifically, in the lighting evaluation system 10 according to the present embodiment, as described above, the evaluation of the installation status of the lighting equipment 4 by the evaluation unit 31 is the estimation result of the distribution estimation unit 32. The distribution of the measurement results of the measurement unit 11 for the specific range R1 including the position P0 is used. Therefore, the lighting evaluation system 10 sets not only one specific position P0 but also a plurality of specific positions P0 in the target space A1, and then performs measurement by the measuring unit 11 at these plurality of specific positions P0. , The distribution estimation unit 32 estimates the distribution of the measurement result (illuminance) of the measurement unit 11.

In this embodiment, as an example, it is a unit for estimating the distribution of illuminance in a region of the ground (running surface F11) of the target space A1 that is irradiated with light from each light emitting unit 41 in the lighting equipment 4 to be evaluated. The specific range is R1. That is, since the lighting equipment 4 has a plurality of light emitting units 41, as shown in FIG. 6B, the first specific range R11, the second specific range R12, and the third specific are placed on the ground (running surface F11) of the target space A1. A plurality of specific ranges R1 including the range R13 will be set.

FIG. 5 is a flowchart showing an example of the operation (that is, the lighting evaluation method) of the lighting evaluation system 10 according to the present embodiment.

That is, the lighting evaluation system 10 first acquires the map information, the lighting position information, and the target illuminance distribution information stored in the storage unit 35 from the host system 3 by the control unit 22 of the moving body 2 (S1). .. Then, in the lighting evaluation system 10, the control unit 22 determines the specific position P0, which is a “measurement point” for measuring the illuminance in the target space A1, at least based on the information such as the floor plan of the facility F1 indicated by the map information. Is set (S2). Here, as an example, the control unit 22 adopts a substantially grid-like arrangement with appropriate intervals as shown in FIG. 6C as a standard arrangement (standard arrangement) of the plurality of specific positions P0. That is, in the process S2, by adopting the standard arrangement, the specific position P0 as the measurement point is evenly set in the target space A1 in the plan view.

Next, the lighting evaluation system 10 starts the autonomous movement of the moving body 2 so that the moving body 2 circulates around the plurality of specific positions P0. Here, during the patrol period in which the moving body 2 patrolls the plurality of specific positions P0, the moving body 2 autonomously moves in the target space A1 along the path obtained by the control unit 22. In particular, in the present embodiment, the measuring unit 11 measures the illuminance of the light from the lighting equipment 4 at least once at each of the plurality of specific positions P0 during the patrol period. That is, in the patrol period, the moving body 2 moves in the target space A1 so as to pass through all of the plurality of specific positions P0.

That is, if n (n is a natural number) specific positions P0 set in the target space A1 are distinguished as specific positions P1, P2, P3, ... Pn, the moving body 2 has these plurality of specific positions P1. , P2, P3, ... Pn are patrolled in a predetermined order. Here, as an example, the movement path of the moving body 2 is set so that the moving body 2 passes through all of the plurality of specific positions P1, P2, P3, ... Pn once.

Specifically, when the patrol period starts, the lighting evaluation system 10 first sets the variable m to "1" (S3), and autonomously moves the moving body 2 to a position corresponding to the specific position Pm in the target space A1. (S4). When the moving body 2 reaches the specific position Pm, the moving body 2 stops (stops) and adjusts the direction and position of the measuring unit 11 (S5).

At this time, regarding the position of the measurement unit 11, the lighting evaluation system 10 uses the position change unit 14 to refer to the reference point B2 (see FIG. 3A) of the moving body 2 so that the measurement unit 11 is located at the specific position Pm. The relative position of the measuring unit 11 is adjusted. In particular, the position changing unit 14 controls at least one of the expansion and contraction of the arm 61 and the expansion and contraction of the pole 63 so that the measurement unit 11 is positioned at the specific position Pm and is measured when viewed from the lighting equipment 4. The relative position of the measuring unit 11 is adjusted so that the unit 11 does not become a shadow of the housing 20 or the like. Further, in the process S5, the illumination evaluation system 10 is, for example, in the control unit 22 based on the self-position (specific position Pm) of the moving body 2 estimated by the position estimation unit 12, the map information, the illumination position information, and the like. The position information regarding the relative positional relationship between the specific position Pm and the lighting equipment 4 is obtained. Then, based on the position information, the lighting evaluation system 10 uses the orientation changing unit 13 to make the reference direction B1 (of the moving body 2) of the moving body 2 so that at least the light from the lighting equipment 4 to be evaluated is incident on the measuring unit 11. The orientation of the measuring unit 11 with respect to (see FIG. 3A) is adjusted. That is, the orientation changing unit 13 controls at least one of the rotation of the support base 62 and the rotation of the measurement unit 11 with respect to the pair of rotation support units 64, so that the measurement unit 11 controls the lighting equipment 4 side to be evaluated. Adjust the orientation of the measuring unit 11 so that

With the orientation and position of the measuring unit 11 adjusted, the lighting evaluation system 10 measures the light (illuminance in this embodiment) from the lighting equipment 4 by the measuring unit 11 (S6). Then, the lighting evaluation system 10 outputs a data set in which the position information (relative positional relationship between the specific position Pm and the lighting equipment 4) at this time and the measurement result (illuminance) of the measurement unit 11 are associated with each other. Output to the communication unit 17 and the storage unit 18 at 16 (S7). As a result, the data set (position information and measurement result of the measurement unit 11) is transmitted to the host system 3 by the communication unit 17 and stored in the storage unit 18.

After that, in the lighting evaluation system 10, the measurement for all of the plurality of specific positions P0 is completed by determining whether or not the variable m has reached "n" (n is the number of the plurality of specific positions P0). Whether or not it is determined (S8). If the variable m is less than "n", it is determined that the measurement is not completed (S8: No), the lighting evaluation system 10 increments the variable m (S9), and returns to the process S4.

On the other hand, when the variable m reaches "n", it is determined that the measurement is completed (S8: Yes). At this point, the combination (data set) of the position information for all of the plurality of specific positions P0 and the measurement result (illuminance) of the measurement unit 11 is transmitted from the communication unit 17 to the host system 3 and stored in the storage unit 35. ing. Therefore, the lighting evaluation system 10 estimates the illuminance distribution of the specific range R1 by the distribution estimation unit 32 of the host system 3 based on the position information about the plurality of specific positions P0 and the measurement results of the measurement unit 11 ( S10).

The estimation of the illuminance distribution will be described in detail with reference to FIGS. 6A to 7. FIG. 7 conceptually represents an illuminance distribution over a plurality of specific ranges R1 including a first specific range R11 and a second specific range R12, as shown in FIGS. 6B and 6C. Here, the first specific range R11 is a range mainly irradiated with light from the first light emitting unit 411 among the plurality of light emitting units 41 in the lighting equipment 4. The second specific range R12 is a range mainly irradiated with light from the second light emitting unit 412 among the plurality of light emitting units 41 in the lighting equipment 4.

As described above, in the plurality of specific ranges R1 including the first specific range R11 and the second specific range R12, the plurality of specific positions P0 are set discretely as shown in FIG. 6C. In FIG. 6C, the specific position P0 is shown only for the overlapping portion between the first specific range R11 and the second specific range R12, but a plurality of specific positions P0 are set in addition to the overlapping portion. Then, if the measurement results (illuminance) of the measuring unit 11 at the plurality of specific positions P0 are known, the illuminance distribution of the specific range R1 including the plurality of specific positions P0 can be estimated as shown in FIG. .. In the lower part of FIG. 7, the graph G1 shows the illuminance distribution by the light from the first light emitting unit 411, the graph G2 shows the illuminance distribution by the light from the second light emitting unit 412, and the graph G10 shows the first light emitting unit 411 and the first light emitting unit 411. 2 The illuminance distribution due to the light from both of the light emitting units 412 is shown. As is clear from FIG. 7, the peak of the graph G1 is located on the optical axis Ax1 of the first light emitting unit 411, and the peak of the graph G2 is located on the optical axis Ax1 of the second light emitting unit 412.

Here, whether to obtain the illuminance distribution by light from a single light emitting unit 41 as in graphs G1 and G2 or to obtain the illuminance distribution by light from a plurality of light emitting units 41 as in graph G10 is determined, for example. , It can be changed by the directivity changing unit 15. That is, by reducing the maximum light receiving angle θ2 (see FIG. 4B) in the directivity changing unit 15 and narrowing down the direction in which the measuring unit 11 receives light, the measuring unit 11 performs the measurement. As shown in the graphs G1 and G2, the illuminance distribution due to the light from a single light emitting unit 41 can be obtained. On the other hand, the directivity changing unit 15 increases the maximum light receiving angle θ1 (see FIG. 4A), and the measuring unit 11 performs the measurement without narrowing down the direction in which the measuring unit 11 receives the light. As shown in the graph G10, the illuminance distribution due to the light from the plurality of light emitting units 41 can be obtained. Here, it is assumed that the illuminance distribution by the light from a single light emitting unit 41 is obtained as shown in the graphs G1 and G2.

When the illuminance distribution is estimated, the lighting evaluation system 10 next evaluates the installation status of the lighting equipment 4 by the evaluation unit 31 of the higher-level system 3 (S11). At this time, the evaluation unit 31 basically receives the lighting equipment 4 based on the position information and the measurement result (that is, the data set) of the measurement unit 11 when the measurement unit 11 is at a specific position in the target space A1. Evaluate the installation status. In the present embodiment, as an example, the evaluation unit 31 evaluates the installation status of the lighting equipment 4 by using the estimation result (illuminance distribution) of the distribution estimation unit 32. That is, the evaluation unit 31 evaluates the installation status of the lighting equipment 4 by using the position information and the illuminance distribution estimated from the measurement result of the measurement unit 11 when the measurement unit 11 is at a specific position in the target space A1. Do. In other words, the evaluation unit 31 does not directly use the position information and the measurement result of the measurement unit 11 when the measurement unit 11 is at a specific position in the target space A1, but indirectly uses the lighting equipment 4 Evaluate the installation status of.

Specifically, the evaluation unit 31 compares the illuminance distribution estimated by the distribution estimation unit 32 with the illuminance distribution (target distribution) represented by the target illuminance distribution information to show the installation status of the lighting equipment 4. To evaluate. Since the target distribution is the target illuminance distribution in the target space A1, if the illuminance distribution estimated by the distribution estimation unit 32 matches the target distribution, at least each of the plurality of light emitting units 41 in the lighting equipment 4 The installation status of the lighting equipment 4 including the direction of is normal. Therefore, the evaluation unit 31 determines, for example, the amount of deviation between the illuminance distribution estimated by the distribution estimation unit 32 and the target distribution, specifically, the cumulative value (area) of the difference between the graphs G1 and G2 and the target distribution. Calculated as an evaluation value.

In the present embodiment, as described above, the installation status of the lighting equipment 4 includes the orientation of the lighting equipment 4. More specifically, the installation status of the lighting equipment 4 includes the orientation of each of the plurality of light emitting units 41 in the lighting equipment 4. As an example, if the optical axis Ax1 of the first light emitting unit 411 is upward from the target design value, in the illuminance distribution shown in FIG. 7, the peak of the graph G1 shifts to the left, so that the distribution estimation unit The illuminance distribution (graph G1) estimated in 32 also deviates from the target distribution. Then, as the deviation from the design value of the orientation of each light emitting unit 41 increases, the deviation amount from the target distribution also increases for the illuminance distribution (graph G1) estimated by the distribution estimation unit 32, and as a result, the evaluation is performed. The value increases. Here, the deviation of the rotation angle (elevation angle) of the optical axis Ax1 of the light emitting unit 41 around the axis along the horizontal direction from the design value is mentioned, but the light of the light emitting unit 41 around the axis along the vertical direction is mentioned. The same applies to the deviation of the rotation angle (azimuth) of the axis Ax1 from the design value.

Here, since it is assumed that the illuminance distribution due to the light from a single light emitting unit 41 is obtained, the evaluation unit 31 has the illuminance distribution estimated by the distribution estimation unit 32 and the target illuminance for each light emitting unit 41. Compare with the illuminance distribution (target distribution) represented by the distribution information. Therefore, the evaluation unit 31 evaluates the installation status of the lighting equipment 4 individually for each of the plurality of light emitting units 41 in the lighting equipment 4. In other words, the lighting equipment 4 has a plurality of light emitting units 41. The evaluation unit 31 evaluates the installation status of each of the plurality of light emitting units 41.

Then, the lighting evaluation system 10 compares such an evaluation value (deviation amount) with the threshold value in the evaluation unit 31, and determines whether or not the installation state of the lighting equipment 4 is within the permissible range (S12). That is, if the evaluation value is less than the threshold value, the lighting evaluation system 10 determines in the evaluation unit 31 that the installation status of the lighting equipment 4 is within the permissible range (S12: Yes), and ends the series of processes. ..

On the other hand, if the evaluation value is equal to or higher than the threshold value, the lighting evaluation system 10 determines that the installation status of the lighting equipment 4 is not within the permissible range by the evaluation unit 31 (S12: No), and the adjustment unit 33 determines that the lighting equipment The orientation of 4 is adjusted (S13). At this time, the adjusting unit 33 adjusts at least the orientation of each of the plurality of light emitting units 41 in the lighting equipment 4 according to the magnitude of the evaluation value (deviation amount) of the evaluation unit 31. As an example, if the optical axis Ax1 of the first light emitting unit 411 is upward from the target design value, the adjusting unit 33 is set so that the first light emitting unit 411 is directed downward by the rotation angle corresponding to the evaluation value. , Generates a control signal instructing the adjustment direction and adjustment amount of the direction of the first light emitting unit 411. When the control signal generated by the adjusting unit 33 is transmitted from the upper communication unit 34 to the lighting equipment 4, the actuator 42 operates according to the control signal in the lighting equipment 4, and the orientation of each of the plurality of light emitting units 41 is Is adjusted.

The flowchart of FIG. 5 is merely an example of the operation of the lighting evaluation system 10, and the processing may be omitted or added as appropriate, or the order of the processing may be changed as appropriate. For example, a process of outputting the illuminance distribution estimated by the distribution estimation unit 32 to the output unit 16 may be added.

(3.2) Correction of self-position Next, the self-position correction process of the moving body 2 will be described in detail with reference to FIG. FIG. 8 is a plan view schematically showing the positional relationship between the moving body 2 and the lighting equipment 4 (light emitting unit 41) in a plan view. In FIG. 8, the first light emitting unit 411 and the second light emitting unit 412 are shown as the light emitting unit 41, but the first light emitting unit 411 and the second light emitting unit 412 are included in separate lighting equipment 4. To do.

That is, as described above, the position estimation unit 12 uses the position information and the measurement result of the measurement unit 11 to estimate the position of the moving body 2. Specifically, the position estimation unit 12 uses a specific light emitting unit 41 (first light emitting unit 411 or second light emitting unit 412) among the plurality of light emitting units 41 in the lighting equipment 4 as a mark, and these specific light emitting units. The self-position of the moving body 2 is estimated by using the relative positional relationship between the 41 and the measuring unit 11. In particular, in the present embodiment, the position estimation unit 12 basically estimates the self-position based on the detection result of the detection unit 26, so that the position information and the measurement result of the measurement unit 11 are estimated self. Used for position correction.

Therefore, in order to make it easier to distinguish the specific light emitting unit 41 that serves as a mark from the other light emitting unit 41, the directivity changing unit 15 reduces the maximum light receiving angle θ2 (see FIG. 4B) for measurement. It is assumed that the measurement unit 11 performs the measurement in a state where the unit 11 narrows down the direction in which the light is received. As a result, basically, only the light from the specific light emitting unit 41 that serves as a mark is incident on the measuring unit 11 among the plurality of light emitting units 41 included in the lighting equipment 4. Further, in order to make it easy to distinguish between the specific light emitting unit 41 as a mark and the light emitting unit 41 adjacent thereto, for example, a characteristic position such as a corner portion among a plurality of light emitting units 41 in the lighting equipment 4. It is preferable to use the light emitting unit 41 in the above as a mark.

In short, in the example of FIG. 8, the position estimation unit 12 first estimates the specific position P0 represented by the coordinate positions “X1, Y1” as its own position based on the detection result of the detection unit 26. In this case, if the coordinate positions are "X1, Y1", the specific light emitting unit 41 (first light emitting unit 411 or second light emitting unit 412), which is originally a mark, is an imaginary line (2) in FIG. It exists at the position indicated by the dotted line). Nevertheless, in the example of FIG. 8, the specific light emitting unit 41 (first light emitting unit 411 or second light emitting unit 412) serving as a mark is shown by a solid line in FIG. 8 based on the position information and the measurement result of the measuring unit 11. It exists at the indicated position. Then, as the self-position of the moving body 2 (measurement unit 11), the specific position P0 represented by the coordinate positions "X2, Y2" should be correct. Therefore, the position estimation unit 12 corrects the self-position from the coordinate position "X1, Y1" to the coordinate position "X2, Y2" based on the position information and the measurement result of the measurement unit 11.

In this way, the position estimation unit 12 uses the position information and the measurement result of the measurement unit 11 to estimate the position of the moving body 2, thereby improving the estimation accuracy of the self-position of the moving body 2. Further, in the present embodiment, since the distribution estimation unit 32 estimates the illuminance distribution, not only the position information when the measurement unit 11 is at one specific position P0 and the measurement result of the measurement unit 11, but also the illuminance. The estimation result of the distribution may be used for the estimation of the self-position by the position estimation unit 12. That is, by transmitting the estimation result of the distribution estimation unit 32 from the host system 3 to the moving body 2, the position estimation unit 12 mounted on the moving body 2 uses the estimation result of the distribution estimation unit 32 to perform the self-position. Can be estimated. In this case, the self-position of the moving body 2 can be estimated more accurately.

(4) Modified Example The first embodiment is only one of the various embodiments of the present disclosure. The first embodiment can be changed in various ways depending on the design and the like as long as the object of the present disclosure can be achieved. Each figure described in the present disclosure is a schematic view, and the ratio of the size and the thickness of each component in each figure does not necessarily reflect the actual dimensional ratio. Further, the same function as the lighting evaluation system 10 according to the first embodiment may be embodied by a measurement method, a computer program, a non-temporary recording medium on which the computer program is recorded, or the like. The lighting evaluation method according to one aspect includes a measurement process (corresponding to “S3 to S8” in FIG. 5) and an evaluation process (corresponding to “S11” in FIG. 5). The measurement process is a process of measuring the light from the lighting equipment 4 by the measuring unit 11 mounted on the moving body 2 that can autonomously move in the target space A1 illuminated by the lighting equipment 4. The evaluation process is a process of evaluating the installation status of the lighting equipment 4 based on the position information and the measurement result of the measurement process when the measurement unit 11 is at a specific position of the target space A1. Here, the position information is information regarding the relative positional relationship between the specific position and the lighting equipment 4. The (computer) program according to one aspect is a program for causing one or more processors to execute the above measurement method.

Hereinafter, modifications of the first embodiment will be listed. The modifications described below can be applied in combination as appropriate.

The lighting evaluation system 10 in the present disclosure includes a computer system. A computer system mainly consists of a processor and a memory as hardware. When the processor executes the program recorded in the memory of the computer system, the function as the lighting evaluation system 10 in the present disclosure is realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. May be provided. A processor in a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The integrated circuit such as IC or LSI referred to here has a different name depending on the degree of integration, and includes an integrated circuit called a system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Further, an FPGA (Field-Programmable Gate Array) programmed after the LSI is manufactured, or a logical device capable of reconfiguring the junction relationship inside the LSI or reconfiguring the circuit partition inside the LSI should also be adopted as a processor. Can be done. A plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips. The plurality of chips may be integrated in one device, or may be distributed in a plurality of devices. The computer system referred to here includes a microprocessor having one or more processors and one or more memories. Therefore, the microprocessor is also composed of one or a plurality of electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

Further, it is not essential for the lighting evaluation system 10 that at least a part of the functions of the lighting evaluation system 10 are integrated in one housing, and the components of the lighting evaluation system 10 are contained in a plurality of housings. It may be provided in a distributed manner. For example, the distribution estimation unit 32, the adjustment unit 33, and the like in the lighting evaluation system 10 may be provided in a housing different from the evaluation unit 31. Further, at least a part of the functions of the lighting evaluation system 10, for example, at least a part of the functions of the evaluation unit 31, the distribution estimation unit 32, the adjustment unit 33, and the like may be realized by the cloud (cloud computing) or the like.

On the contrary, in the first embodiment, at least a part of the functions distributed in a plurality of devices may be integrated in one housing. For example, the functions distributed in the mobile body 2 and the higher-level system 3 may be integrated in one housing.

In the first embodiment, the lighting evaluation system 10 does not include the lighting equipment 4 to be evaluated as a component. However, the lighting equipment 4 to be evaluated may be included in the components of the lighting evaluation system 10.

Further, the lighting evaluation system 10 includes a moving body 2, a measuring unit 11, a position estimation unit 12, a direction changing unit 13, a position changing unit 14, a directivity changing unit 15, an output unit 16, and a communication unit. It is not essential to have all of the 17 and the storage unit 18. Further, the illumination evaluation system 10 includes a drive unit 21, a control unit 22, a battery 23, an evaluation unit 31, a distribution estimation unit 32, an adjustment unit 33, and an upper communication unit 34. It is not essential to include all of the storage unit 35.

As an example, when the position estimation unit 12 is omitted, the moving body 2 patrols a plurality of specific positions P0 by moving along a predetermined path, for example, without estimating its own position. It is possible. For example, if an optical or magnetic marker or the like indicating a route and a measurement point is installed (or notated) on a traveling surface F11 composed of the ground or the like of the target space A1, the self-position does not need to be estimated. , The moving body 2 can move autonomously. That is, in this case, the moving body 2 can go around a plurality of specific positions P0 while moving along the route by relying on the marker without estimating the self-position.

Further, the application of the lighting evaluation system 10 is not limited to the adjustment of at least one of the orientation and the position of the lighting equipment 4. That is, according to the lighting evaluation system 10, the installation status of the lighting equipment 4 that illuminates the target space A1 can be evaluated, and the evaluation results can be used for various purposes. As an example, the target space A1 can be maintained by using the evaluation result generated by the lighting evaluation system 10.

Further, the power source of the moving body 2 is not limited to an electric motor, and may be a device such as a prime mover that generates power with energy other than electric energy.

Further, the electric power for the operation of the mobile body 2 is not limited to the configuration supplied from the battery 23. For example, when the mobile body 2 is connected to an outlet with a cable or the like, the electric power for the operation of the mobile body 2 is systematized. It may be configured to be supplied from a power source (commercial power source).

Further, the position estimation unit 12 is not limited to a configuration that estimates its own position (current position of the moving body 2) based on the detection result of the detection unit 26. For example, the position estimation unit 12 may estimate its own position (current position of the moving body 2) by using a satellite positioning system such as GPS (Global Positioning System). Alternatively, the position estimation unit 12 estimates its own position (current position of the moving body 2) based on, for example, a notification from a monitoring system that monitors the position of the moving body 2 in the target space A1 from a bird's-eye view. You may.

Further, the measuring unit 11 may measure the illuminance when the measuring unit 11 is located at each specific position P0 in association with each specific position P0 during the patrol period in which the moving body 2 patrols the plurality of specific positions P0. The illuminance may be measured a plurality of times for one specific position P0. In this case, a representative value of the measured values related to a plurality of measurements for one specific position P0, for example, an average value, a median value, a mode value, or the like, may be adopted as the measurement result for the specific position P0. preferable.

Further, the mode of outputting the data set by the output unit 16 is not limited to the output to the communication unit 17 and the storage unit 18. For example, the output unit 16 may output (transmit) the data set to a system other than the lighting evaluation system 10 by communication, or may write the data set to a non-temporary recording medium and print it out. It may be output. Further, the output unit 16 is a means such as display, transmission to an information terminal (owned by the operator), sound (including voice and alarm sound) output, optical output (including blinking and the like), and printout. Then, the data set may be output (presented) to a person (worker, etc.).

Further, the standard arrangement of the specific position P0 is not limited to the lattice point-like arrangement, and may be, for example, a zigzag pattern arrangement. Further, in the standard arrangement, the distance (interval) between the pair of specific positions P0 adjacent in the vertical direction and the horizontal direction is not constant and may vary. Further, in the standard arrangement, the distance (interval) between a pair of specific positions P0 adjacent in the vertical direction and the horizontal direction, the number of specific positions P0, and the like may be adjustable by a person (operator).

Further, the moving body 2 may be configured to autonomously move in the target space A1 and is not limited to the configuration of traveling on the traveling surface F11, and may be configured to autonomously move by flight, for example, like a drone. ..

Further, the function of the adjusting unit 33 that adjusts at least one of the orientation and the position of the lighting equipment 4 based on the evaluation result of the evaluation unit 31 is not an essential configuration for the lighting evaluation system 10, and may be omitted as appropriate. .. That is, the lighting evaluation system 10 does not have to adjust at least one of the orientation and the position of the lighting equipment 4. In this case, for example, the lighting evaluation system 10 outputs the evaluation result of the evaluation unit 31, and the person (worker) adjusts at least one of the orientation and the position of the lighting equipment 4 based on the evaluation result. May be good.

Further, even if the lighting evaluation system 10 completely automates the work related to the evaluation of the installation status of the lighting equipment 4 by performing the measurement of the illuminance and the evaluation of the installation status of the lighting equipment 4 on behalf of the worker. Good, but not limited to this example. That is, the lighting evaluation system 10 may, for example, share with the worker to measure the illuminance and evaluate the installation status of the lighting equipment 4 in cooperation with the worker. Even in this case, the lighting evaluation system 10 can reduce the burden on the operator.

Further, the lighting equipment 4 is not limited to a configuration having a plurality of light emitting units 41, and may have only one light emitting unit 41. Even when the lighting equipment 4 has a plurality of light emitting units 41, it is not essential to change the orientation and position of each of the plurality of light emitting units 41, and the orientation and position of the plurality of light emitting units 41 are changed all at once. It may be.

Further, it is not essential that a plurality of lighting facilities 4 are installed in the facility F1, and only one lighting facility 4 may be installed in the facility F1.

Further, if the facility F1 is an indoor facility such as a dome, an arena, a studio, a gymnasium, a stage, or a theater, the lighting facility 4 is a lighting facility installed on the ceiling, such as a high ceiling lighting. May be good.

(Embodiment 2)
As shown in FIGS. 9A and 9B, the lighting evaluation system 10A according to the present embodiment is implemented in that the installation status is evaluated in a state where each of the plurality of light emitting units 41 in the lighting equipment 4 is individually lit. It is different from the lighting evaluation system 10 according to the first embodiment. Hereinafter, the same configurations as those in the first embodiment are designated by common reference numerals, and the description thereof will be omitted as appropriate.

That is, in the present embodiment, when the lighting equipment 4 has a plurality of light emitting units 41 including the first light emitting unit 411 and the second light emitting unit 412, all of the plurality of light emitting units 41 are not turned on at the same time. The installation state is evaluated with the lights turned on one by one.

For example, in the state shown in FIG. 9A, of the plurality of light emitting units 41 in the lighting equipment 4, only the first light emitting unit 411 is lit, and the lighting evaluation system 10A is mounted on the moving body 2 in this state. The measurement unit 11 measures the illuminance. From the measurement result of the measuring unit 11 obtained at this time, it is possible to evaluate the installation status of the first light emitting unit 411. In the state shown in FIG. 9B, of the plurality of light emitting units 41 in the lighting equipment 4, only the second light emitting unit 412 is lit, and in this state, the lighting evaluation system 10A is a measuring unit mounted on the moving body 2. The illuminance is measured at 11. From the measurement result of the measuring unit 11 obtained at this time, it is possible to evaluate the installation status of the second light emitting unit 412.

In this way, by sequentially lighting the plurality of light emitting units 41, the lighting evaluation system 10A can evaluate the installation status of each of the plurality of light emitting units 41. As a result, for example, the directivity changing unit 15 does not have to reduce the maximum light receiving angle θ2 (see FIG. 4B) to narrow down the direction in which the measuring unit 11 receives light, but a single light emitting unit 41. The light from the light can be measured by the measuring unit 11.

Further, as a modification of the second embodiment, for example, the emission colors of the plurality of light emitting units 41 are different from each other, the blinking patterns of the plurality of light emitting units 41 are different from each other, or the plurality of light emitting units 41 are subjected to visible light communication or the like. The identification information may be output. Even in these cases, since each of the plurality of light emitting units 41 can be distinguished, it is possible for the measuring unit 11 to measure the light from the single light emitting unit 41.

The various configurations (including the modified examples) described in the second embodiment can be appropriately combined with the various configurations (including the modified examples) described in the first embodiment.

(Summary)
As described above, the lighting evaluation system (10, 10A) according to the first aspect includes a moving body (2), a measurement unit (11), and an evaluation unit (31). The moving body (2) can autonomously move in the target space (A1) illuminated by the lighting equipment (4). The measuring unit (11) is mounted on the moving body (2). The measuring unit (11) measures the light from the lighting equipment (4). The evaluation unit (31) of the lighting equipment (4) is based on the position information and the measurement result of the measurement unit (11) when the measurement unit (11) is at the specific position (P0) of the target space (A1). Evaluate the installation status. The position information is information on the relative positional relationship between the specific position (P0) and the lighting equipment (4).

According to this aspect, the work of measuring the light from the lighting equipment (4) at the specific position (P0) can be executed by the moving body (2) that can autonomously move in the target space (A1). As described above, in the lighting evaluation system (10, 10A), the moving body (2) moves in the target space (A1) on behalf of the worker or together with the worker, and the lighting equipment (P0) at the specific position (P0). Since the light from 4) can be measured, the work load on the operator can be reduced. Moreover, since the measurement unit (11) is mounted on the moving body (2) that autonomously moves in the target space (A1), the position where the measurement unit (11) measures is less likely to shift, and the measurement result is obtained. Reliability is also unlikely to decline. Further, since the installation status of the lighting equipment (4) is evaluated from the measurement result of the measurement unit (11), it becomes easy to determine, for example, whether or not the orientation of the lighting equipment (4) needs to be corrected. As a result, there is an advantage that the evaluation of the lighting equipment (4) that illuminates the target space (A1) can be simplified.

The lighting evaluation system (10, 10A) according to the second aspect further includes an orientation changing unit (13) in the first aspect. The orientation changing unit (13) changes the orientation of the measuring unit (11) with respect to the reference direction (B1) of the moving body (2).

According to this aspect, by changing the direction of the measuring unit (11) with respect to the reference direction (B1) of the moving body (2), the measuring unit (11) is directed toward the lighting equipment (4) and the lighting equipment (4) is directed. ) Can be efficiently measured.

The lighting evaluation system (10, 10A) according to the third aspect further includes a position changing unit (14) in the first or second aspect. The position changing unit (14) changes the relative position of the measuring unit (11) with respect to the reference point (B2) of the moving body (2).

According to this aspect, by changing the relative position of the measuring unit (11) with respect to the reference point (B2) of the moving body (2), the measuring unit (11) does not become a shadow of the moving body (2) or the like. In this way, the light from the lighting equipment (4) can be efficiently measured.

In the lighting evaluation system (10, 10A) according to the fourth aspect, in any one of the first to third aspects, the installation status includes the orientation of the lighting equipment (4).

According to this aspect, at least the orientation of the lighting equipment (4) can be evaluated as the installation status.

The lighting evaluation system (10, 10A) according to the fifth aspect further includes a distribution estimation unit (32) in any one of the first to fourth aspects. The distribution estimation unit (32) estimates the distribution of the measurement results of the measurement unit (11) for the specific range (R1) including a plurality of specific positions (P0).

According to this aspect, it is possible to estimate the distribution of the measurement results of the measurement unit (11) for the specific range (R1).

The lighting evaluation system (10, 10A) according to the sixth aspect further includes a directivity changing unit (15) in any one of the first to fifth aspects. The directivity changing unit (15) changes the directivity of the measuring unit (11).

According to this aspect, the light from the lighting equipment (4) can be efficiently measured by changing the directivity of the measuring unit (11).

The lighting evaluation system (10, 10A) according to the seventh aspect further includes a position estimation unit (12) in any one of the first to sixth aspects. The position estimation unit (12) uses the position information and the measurement result of the measurement unit (11) to estimate the position of the moving body (2).

According to this aspect, it is possible to improve the estimation accuracy of the position of the moving body (2) based on the position information and the measurement result of the measuring unit (11).

In the lighting evaluation system (10, 10A) according to the eighth aspect, in any one of the first to seventh aspects, the lighting equipment (4) has a plurality of light emitting units (41). The evaluation unit (31) evaluates the installation status of each of the plurality of light emitting units (41).

According to this aspect, it is possible to evaluate the installation status of each of the plurality of light emitting units (41).

The lighting evaluation system (10, 10A) according to the ninth aspect further includes an output unit (16) in any one of the first to eighth aspects. The output unit (16) outputs a data set in which the position information and the measurement result of the measurement unit (11) are associated with each other when the measurement unit (11) is at a specific position (P0) in the target space (A1). ..

According to this aspect, calculation and the like can be performed based on a data set in which the storage information and the measurement result of the measurement unit (11) are associated with each other.

The lighting evaluation system (10, 10A) according to the tenth aspect further includes an adjusting unit (33) in any one of the first to ninth aspects. The adjusting unit (33) adjusts at least one of the orientation and the position of the lighting equipment (4) based on the evaluation result of the evaluation unit (31).

According to this aspect, at least one of the orientation and the position of the lighting equipment (4) can be automatically optimized based on the evaluation result of the evaluation unit (31).

The lighting evaluation method according to the eleventh aspect includes a measurement process and an evaluation process. In the measurement process, the light from the lighting equipment (4) is measured by the measuring unit (11) mounted on the moving body (2) that can autonomously move in the target space (A1) illuminated by the lighting equipment (4). It is a process to do. The evaluation process evaluates the installation status of the lighting equipment (4) based on the position information and the measurement result of the measurement process when the measurement unit (11) is at the specific position (P0) of the target space (A1). It is a process. The position information is information on the relative positional relationship between the specific position (P0) and the lighting equipment (4).

According to this aspect, there is an advantage that the evaluation of the lighting equipment (4) that illuminates the target space (A1) can be simplified.

The program according to the twelfth aspect is a program for causing one or more processors to execute the lighting evaluation method according to the eleventh aspect.

According to this aspect, there is an advantage that the evaluation of the lighting equipment (4) that illuminates the target space (A1) can be simplified.

Not limited to the above aspects, various configurations (including modifications) of the lighting evaluation system (10, 10A) according to the first and second embodiments can be embodied by a lighting evaluation method or a program.

The configurations according to the second to tenth aspects are not essential configurations for the lighting evaluation system (10, 10A) and can be omitted as appropriate.

2 Moving body 4 Lighting equipment 10, 10A Lighting evaluation system 11 Measuring unit 12 Position estimation unit 13 Direction change unit 14 Position change unit 15 Directivity change unit 16 Output unit 31 Evaluation unit 32 Distribution estimation unit 33 Adjustment unit 41 Light emitting unit A1 Target Space B1 Reference direction B2 Reference point P0 Specific position R1 Specific range

Claims (12)

A moving body that can move autonomously in the target space illuminated by lighting equipment,
A measuring unit mounted on the moving body and measuring light from the lighting equipment,
The installation status of the lighting equipment is based on the position information regarding the relative positional relationship between the specific position and the lighting equipment when the measuring unit is at the specific position in the target space and the measurement result of the measuring unit. Equipped with an evaluation unit for evaluation
Lighting evaluation system. A direction changing unit for changing the direction of the measuring unit with respect to the reference direction of the moving body is further provided.
The lighting evaluation system according to claim 1. A position changing unit for changing the relative position of the measuring unit with respect to the reference point of the moving body is further provided.
The lighting evaluation system according to claim 1 or 2. The installation status includes the orientation of the lighting equipment.
The lighting evaluation system according to any one of claims 1 to 3. A distribution estimation unit for estimating the distribution of measurement results of the measurement unit for a specific range including a plurality of specific positions is further provided.
The lighting evaluation system according to any one of claims 1 to 4. A directivity changing unit for changing the directivity of the measuring unit is further provided.
The lighting evaluation system according to any one of claims 1 to 5. A position estimation unit that uses the position information and the measurement result of the measurement unit to estimate the position of the moving body is further provided.
The lighting evaluation system according to any one of claims 1 to 6. The lighting equipment has a plurality of light emitting units and has a plurality of light emitting units.
The evaluation unit evaluates the installation status of each of the plurality of light emitting units.
The lighting evaluation system according to any one of claims 1 to 7. Further provided is an output unit that outputs a data set in which the position information and the measurement result of the measurement unit are associated with each other when the measurement unit is at a specific position in the target space.
The lighting evaluation system according to any one of claims 1 to 8. An adjustment unit that adjusts at least one of the orientation and the position of the lighting equipment based on the evaluation result of the evaluation unit is further provided.
The lighting evaluation system according to any one of claims 1 to 9. A measurement process that measures the light from the lighting equipment with a measurement unit mounted on a moving body that can move autonomously in the target space illuminated by the lighting equipment.
The installation status of the lighting equipment is based on the position information regarding the relative positional relationship between the specific position and the lighting equipment when the measuring unit is at the specific position in the target space and the measurement result of the measurement process. Has an evaluation process to perform evaluation,
Lighting evaluation method. A program for causing one or more processors to execute the lighting evaluation method according to claim 11.

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