CN-121994456-A - Light source irradiation distribution measurement system and method based on multi-rotor unmanned aerial vehicle

CN121994456ACN 121994456 ACN121994456 ACN 121994456ACN-121994456-A

Abstract

The invention discloses a light source irradiation distribution measurement system and method based on a multi-rotor unmanned plane, belonging to the technical field of light source irradiation distribution measurement, wherein the system comprises a photoelectric detector, a sensor and a sensor, wherein the photoelectric detector is statically arranged on the ground; the system comprises a multi-rotor unmanned aerial vehicle, a clock synchronization module, a data acquisition processing device and a high-precision positioning module, wherein the multi-rotor unmanned aerial vehicle is used for carrying on and supplying power to airborne equipment, the airborne high-precision pointing cloud platform is arranged on the multi-rotor unmanned aerial vehicle and carries on a light source and a camera to be tested, the clock synchronization module is arranged on the multi-rotor unmanned aerial vehicle and the data acquisition processing device and used for synchronizing clocks of the airborne high-precision pointing cloud platform and the data acquisition processing device, the data acquisition processing device is statically arranged on the ground and controls a photoelectric detector to work, and the high-precision positioning module is arranged on the multi-rotor unmanned aerial vehicle and adopts a positioning technology to obtain the real-time position of the multi-rotor unmanned aerial vehicle. The invention can solve the difficulty in site selection, equipment layout control, equidistant sampling and the like when measuring the long-distance irradiation distribution of a large-beam scattered-angle light source.

Inventors

LUO RUIYAO
LI YANG
ZHANG XI
WU XIAOSONG
XIAO YAWEI
ZHANG ZHENYU
HUANG LINHAI

Assignees

中国科学院光电技术研究所

Dates

Publication Date: 20260508
Application Date: 20260120

Claims (13)

1. A light source irradiation distribution measurement system based on a multi-rotor unmanned aerial vehicle is characterized by comprising a photoelectric detector (1), the multi-rotor unmanned aerial vehicle (2), an airborne high-precision pointing cradle head (3), a clock synchronization module (4), data acquisition and processing equipment (5) and a high-precision positioning module (6), wherein: the photoelectric detector (1) is arranged on the ground in a static way and is provided with a color filter and a cosine corrector; the multi-rotor unmanned aerial vehicle (2) is a carrying and power supply carrier of airborne equipment; The airborne high-precision pointing cradle head (3) is arranged on the multi-rotor unmanned aerial vehicle (2) and is used for carrying a light source to be detected and is provided with a camera for monitoring the pointing direction of the light source to be detected; The clock synchronization module (4) is mounted on the multi-rotor unmanned aerial vehicle (2) and the data acquisition and processing equipment (5) and is used for enabling the onboard high-precision pointing holder (3) and the data acquisition and processing equipment (5) to be in clock synchronization; the data acquisition and processing equipment (5) is arranged on the ground in a static way and is used for controlling the photoelectric detector (1) to work, and The high-precision positioning module (6) is mounted on the multi-rotor unmanned aerial vehicle (2), and a real-time dynamic differential positioning technology is adopted for positioning so as to obtain the real-time position of the multi-rotor unmanned aerial vehicle (2).
2. The multi-rotor unmanned aerial vehicle-based light source irradiation distribution measurement system according to claim 1, wherein the multi-rotor unmanned aerial vehicle (2) interacts with the high-precision positioning module (6) in real time and controls the flying and hovering of the multi-rotor unmanned aerial vehicle (2) according to the route planning and the real-time position of the multi-rotor unmanned aerial vehicle (2).
3. The multi-rotor unmanned aerial vehicle-based light source irradiation distribution measurement system according to claim 2, wherein the on-board high precision pointing cradle head (3) is configured to: Compensating for vibrations of the multi-rotor unmanned aerial vehicle (2); Acquiring time information from the clock synchronization module (4), storing and outputting time-stamped attitude data of the airborne high-precision pointing cradle head (3) in real time, wherein the attitude data is acquired through a built-in attitude sensing sensor, and The onboard high-precision pointing cradle head (3) is adjusted to drive the light source to be tested and the camera to realize synchronous pointing adjustment; the center of the field of view of the camera is not only the pointing direction of the airborne high-precision pointing cradle head (3), but also the irradiation direction of the light source to be detected.
4. A multi-rotor unmanned aerial vehicle-based light source irradiation distribution measurement system according to claim 3, wherein the clock synchronization module (4) performs clock synchronization through wireless communication, and the clock synchronization module (4) is configured to time the onboard high-precision pointing cradle head (3) and the data acquisition processing device (5) respectively, so that the onboard high-precision pointing cradle head (3) and the data acquisition processing device (5) are clock-synchronized.
5. The multi-rotor unmanned aerial vehicle-based light source irradiance distribution measuring system of claim 4, wherein the data acquisition processing device (5) is configured to: the work of the photoelectric detector (1) is controlled in real time through a wired or wireless data transmission mode, the light source irradiation distribution sampling data to be detected, which are acquired by the photoelectric detector (1), are acquired, stored and processed, and And acquiring, storing and processing the attitude data of the airborne high-precision pointing cradle head (3) through a wireless real-time data transmission mode or a wired post-hoc data transmission mode.
6. A light source irradiation distribution measurement method based on a multi-rotor unmanned aerial vehicle, which is characterized in that the method is executed by adopting the photoelectric detector (1), the multi-rotor unmanned aerial vehicle (2), an onboard high-precision pointing holder (3), a clock synchronization module (4), a data acquisition processing device (5) and a high-precision positioning module (6) according to any one of claims 1 to 5, and the method comprises the following steps: Step S1, determining an irradiation region to be detected corresponding to a predetermined height of a light source to be detected, an arrangement point C of a photoelectric detector (1) and an initial pointing point P of an airborne high-precision pointing holder (3) according to a predetermined irradiation direction and an irradiation range of interest of the light source to be detected, wherein the irradiation region to be detected is divided into a plurality of sampling subareas, and the center of each sampling subarea is a sampling point of the photoelectric detector (1); Step S2, the onboard high-precision pointing holder (3) and the data acquisition and processing equipment (5) are subjected to clock synchronization through the clock synchronization module (4); Step S3, based on a high-precision positioning module (6), the multi-rotor unmanned aerial vehicle (2) is controlled to climb to a preset height, the horizontal position of the multi-rotor unmanned aerial vehicle (2) and the pointing direction of the airborne high-precision pointing holder (3) are adjusted, the light source to be detected irradiates an initial pointing point P according to a preset pointing angle, and then the photoelectric detector (1) is exactly positioned at the center of an irradiation area to be detected when the point C is arranged; Step S4, controlling the multi-rotor unmanned aerial vehicle (2) to horizontally fly according to a spiral route based on the high-precision positioning module (6), enabling an irradiation area to be detected to horizontally move relative to the photoelectric detector (1), enabling the photoelectric detector (1) to traverse each sampling point, and controlling the multi-rotor unmanned aerial vehicle (2) to hover for a preset time length when the photoelectric detector (1) is located at each sampling point during traversing; Step S5, controlling the photoelectric detector (1) to acquire time-stamped light source irradiation distribution sampling data to be tested when the multi-rotor unmanned aerial vehicle (2) hovers each time until all sampling points are sampled, and And S6, performing time stamp alignment on the attitude data and the light source irradiation distribution sampling data to be detected acquired by the photoelectric detector (1), and screening out the light source irradiation distribution sampling data to be detected acquired by the photoelectric detector (1) corresponding to the moment of minimum pointing deviation of the airborne high-precision pointing cradle head (3) during each sampling point of the photoelectric detector (1) so as to acquire an irradiation distribution measurement value of the light source to be detected.
7. The multi-rotor unmanned aerial vehicle-based light source irradiance distribution measuring method of claim 6, further comprising: Determining an irradiation area to be measured and 3 point positions in the step S1, wherein the irradiation area to be measured, the photoelectric detector (1) arrangement point C and the initial pointing point P of the airborne high-precision pointing cloud platform (3) corresponding to the light source to be measured at a preset height h are determined according to a preset irradiation direction theta and an irradiation range of interest of the light source to be measured, the irradiation area to be measured is divided into N multiplied by N sampling subareas, and the center of each sampling subarea is used as a sampling point of the photoelectric detector (1) to obtain N multiplied by N sampling points, wherein N is an odd number larger than 1; the step S2 of clock synchronization comprises the step of enabling the onboard high-precision pointing holder (3) and the data acquisition and processing equipment (5) to be in clock synchronization through the clock synchronization module (4) under the condition that the photoelectric detector (1), the multi-rotor unmanned aerial vehicle (2), the onboard high-precision pointing holder (3), a light source to be detected, the clock synchronization module (4), the data acquisition and processing equipment (5) and the high-precision positioning module (6) are started; The unmanned aerial vehicle lift-off and cradle head adjustment in the step S3 comprises the steps of controlling the multi-rotor unmanned aerial vehicle (2) to climb to a preset height h along a vertical z axis based on a high-precision positioning module (6), adjusting the horizontal position of the multi-rotor unmanned aerial vehicle (2) and the pointing direction of the airborne high-precision pointing cradle head (3), enabling a light source to be detected to irradiate an initial pointing point P according to the preset irradiation direction theta, and enabling the photoelectric detector (1) to be exactly positioned in the center of an irradiation area to be detected when the point C is arranged; Controlling the multi-rotor unmanned aerial vehicle (2) to horizontally fly according to a spiral route based on the high-precision positioning module (6), enabling an irradiation area to be detected to horizontally move relative to the photoelectric detector (1), enabling the photoelectric detector (1) to traverse all N multiplied by N sampling points, controlling the multi-rotor unmanned aerial vehicle (2) to hover for a preset time length T h when the photoelectric detector (1) is positioned at each sampling point during traversing, enabling the irradiation area to be detected to be subjected to N multiplied by N under the condition that the photoelectric detector (1) is not moved, and controlling the multi-rotor unmanned aerial vehicle (2) to enable the field of view center of an onboard high-precision pointing tripod head (3) camera to return to an initial pointing point P along a horizontal straight line after completing traversing of the sampling points, and then landing to the ground along a z axis; The step S5 of carrying out irradiation distribution sampling comprises the steps that during the flight of the multi-rotor unmanned aerial vehicle (2) according to a spiral route, the data acquisition processing equipment (5) controls the photoelectric detector (1) to acquire light source irradiation distribution sampling data to be detected with a timestamp when the multi-rotor unmanned aerial vehicle (2) hovers each time until all N multiplied by N sampling points are sampled, and The step S6 of screening and determining data comprises the steps that after the machine-mounted high-precision pointing cloud platform (3) is started, time-stamped gesture data of the machine-mounted high-precision pointing cloud platform (3) are obtained through a built-in gesture sensing sensor and transmitted to the data acquisition processing equipment (5), the gesture data are aligned with time stamps of the to-be-tested light source irradiation distribution sampling data obtained by the photoelectric detector (1), and the sampling data of the machine-mounted high-precision pointing cloud platform (3) corresponding to the moment with minimum pointing deviation of the photoelectric detector (1) during the period that the photoelectric detector (1) is located at each sampling point are screened out, so that irradiation distribution measurement values of the to-be-tested light source are obtained.
8. The method according to claim 7, wherein in the step S1, when the irradiation range of interest is a rectangular area where the ground is irradiated, the length L x and the width L y of the irradiation area to be measured are respectively the length and the width of the rectangular area, and when the irradiation range of interest is a beam divergence angle range α×β of the light source to be measured, the length L x and the width L y of the irradiation area to be measured are respectively: Wherein alpha represents the beam divergence angle width of the light source to be measured in the x direction, and beta represents the beam divergence angle width of the light source to be measured in the y direction.
9. The method for measuring the light source irradiation distribution based on the multi-rotor unmanned aerial vehicle according to claim 8, wherein in the step S1, the arrangement point C of the photodetector (1) is located at the center of the irradiation area to be measured of the length L x and the width L y .
10. The method for measuring light source irradiation distribution based on the multi-rotor unmanned aerial vehicle according to claim 8 and 9, wherein in the step S1, an initial pointing point P of the on-board high-precision pointing pan-tilt (3) is located on a line segment UC formed by a point C where the photo detector (1) is arranged and a perpendicular projection point U of the multi-rotor unmanned aerial vehicle (2) on a plane of an irradiation area to be measured, and a distance l PC between the initial pointing point P and the point C where the photo detector (1) is arranged is: 。
11. The multi-rotor unmanned aerial vehicle-based light source irradiation distribution measurement method according to claim 7, wherein in the step S2, the clock synchronization module (4) satisfies clock synchronization accuracy Δt be less than or equal to 1/(10 f max ), wherein f max is the highest vibration frequency at which the power spectral density value of the residual vibration of the onboard high-accuracy pointing pan-tilt (3) is greater than a preset threshold, wherein the correspondence between the power spectral density of the residual vibration and the vibration frequency is obtained according to the attitude data output by the onboard high-accuracy pointing pan-tilt (3) built-in attitude sensing sensor during hovering of the multi-rotor unmanned aerial vehicle (2).
12. The multi-rotor unmanned aerial vehicle-based light source irradiation distribution measurement method according to claim 8, wherein in the step S4, the on-board high-precision pointing pan-tilt (3) points at a precision of the multi-rotor unmanned aerial vehicle (2) hovering The method meets the following conditions: ; Wherein, l y =L y /N.
13. The multi-rotor unmanned aerial vehicle-based light source irradiation distribution measurement method according to claim 7, wherein in the step S4, the multi-rotor unmanned aerial vehicle (2) hovers for a predetermined period of time T h while the photodetector (1) is located at each sampling point: ; Wherein, the The method comprises the steps that an on-to-be-detected light source carried on the multi-rotor unmanned aerial vehicle (2) is firstly climbed to the preset height h along a z axis, then the horizontal position of the multi-rotor unmanned aerial vehicle (2) and the pointing direction of the airborne high-precision pointing cloud platform (3) are immediately adjusted, the to-be-detected light source irradiates an initial pointing point P according to a preset pointing angle, and finally the power consumption percentage is actually measured in the whole process of falling to the ground along the z axis immediately; The method comprises the steps that the multi-rotor unmanned aerial vehicle (2) is provided with an actual measurement power consumption percentage per kilometer of an opened light source to be measured, which horizontally flies at a height h; the method comprises the steps that the horizontal flight route length after the multi-rotor unmanned aerial vehicle (2) starts to fly in a spiral route is provided; and carrying the actual measurement of the power consumption percentage per minute of the turned-on light source to be tested when hovering at the height h for the multi-rotor unmanned aerial vehicle (2).

Description

Light source irradiation distribution measurement system and method based on multi-rotor unmanned aerial vehicle Technical Field The invention relates to the field of light source irradiation distribution measurement, in particular to a light source irradiation distribution measurement system and method based on a multi-rotor unmanned aerial vehicle. Background The irradiation distribution (including irradiation power distribution, irradiation energy distribution, irradiation coverage area, irradiation uniformity and the like) of the light source on the plane to be measured is a core index for evaluating the performance of the light source and determining the application scene of the light source, and the effective measurement and evaluation of the irradiation distribution is an important work in the development and application of the light source. The traditional light source irradiation distribution measurement method needs to select a rectangular irradiation area to be measured in the irradiation range of the light source to be measured, then N multiplied by N sampling is carried out on the irradiation distribution of the light source to be measured in the irradiation area at equal intervals, and then the irradiation distribution of the light source to be measured is evaluated based on sampling data. However, when measuring the remote irradiation distribution of a large-beam angular light source (such as a projection lamp, a security searchlight, a laser communication transmitting end and the like), irradiation distribution sampling is often required to be performed in a plane to be measured on the order of hundreds of meters or even thousands of meters. This results in significant difficulties in site selection, equipment layout control, equidistant sampling, etc. with conventional methods. Therefore, a new system and method for measuring the irradiance distribution of a light source, which has low requirements on field equipment, is fast and convenient to implement, and supports ultra-large-range equidistant sampling, is needed. Disclosure of Invention The invention aims to provide a light source irradiation distribution measuring system and method based on a multi-rotor unmanned aerial vehicle, which are used for solving the problems of site selection, equipment layout control, equidistant interval sampling and the like when the traditional light source irradiation distribution measuring method is used for measuring the long-distance irradiation distribution of a large-beam scattered-angle light source. The invention provides a light source irradiation distribution measurement system based on a multi-rotor unmanned aerial vehicle, which comprises a photoelectric detector, the multi-rotor unmanned aerial vehicle, an onboard high-precision pointing cloud deck, a clock synchronization module, data acquisition processing equipment and a high-precision positioning module, wherein the photoelectric detector is statically arranged on the ground and is provided with a color filter and a cosine corrector, the multi-rotor unmanned aerial vehicle is a carrying and power supply carrier of the onboard equipment, the onboard high-precision pointing cloud deck is arranged on the multi-rotor unmanned aerial vehicle and is used for carrying a light source to be measured and is provided with a camera for monitoring the pointing of the light source to be measured, the clock synchronization module is carried on the multi-rotor unmanned aerial vehicle and the data acquisition processing equipment and is used for synchronizing clocks of the onboard high-precision pointing cloud deck and the data acquisition processing equipment, the data acquisition processing equipment is static arranged on the ground and is used for controlling the photoelectric detector to work, and the high-precision positioning module is carried on the multi-rotor unmanned aerial vehicle and is positioned by adopting a real-time dynamic differential positioning technology to obtain the real-time position of the multi-rotor unmanned aerial vehicle. Preferably, the multi-rotor unmanned aerial vehicle interacts with the high-precision positioning module in real time, and the flying and hovering of the multi-rotor unmanned aerial vehicle are controlled according to route planning and the real-time position of the multi-rotor unmanned aerial vehicle. The airborne high-precision pointing cradle head is used for compensating vibration of the multi-rotor unmanned aerial vehicle, acquiring time information from the clock synchronization module, storing and outputting time-stamped gesture data of the airborne high-precision pointing cradle head in real time, acquiring the gesture data through a built-in gesture sensing sensor, and driving the light source to be tested and the camera to realize synchronous adjustment by adjusting the airborne high-precision pointing cradle head, wherein the field of view center of the camera is not only the pointing direction of