System and method for measuring display visual angle of LED screen based on sky-ground cooperation

Abstract

The invention provides an LED screen display visual angle measurement system and method based on sky-ground collaboration. The system comprises an air measuring device and a ground measuring device. And the aerial measurement equipment and / or the ground measurement equipment perform multi-point display visual angle measurement on the target LED display screen based on the obtained measurement demand information to obtain a multi-point visual angle measurement result of the target LED display screen, and perform display visual angle attribute classification on the multi-point visual angle measurement result to obtain a corresponding visual angle classification result. The measurement mode adopted by the visual angle measurement system not only improves the measurement coverage rate, the measurement efficiency and the measurement safety, but also effectively reduces the measurement cost and the measurement duration.

Description

Technical Field

[0001] This application relates to the field of measurement technologies, and particularly to a measurement system and method for the viewing angle of an LED screen based on sky-earth collaboration. Background Art

[0002] With the progress of LED display technologies, the maturity of the industrial chain, and the upgrading of market demands, the application scope of LED display screens has been expanding day by day. They are not only widely installed in outdoor places such as high-rise building facades, highways, park squares, and stadiums, but also largely installed in indoor places such as airports, subways, cinemas, theaters, supermarkets, shopping malls, and gymnasiums.

[0003] However, in the construction and operation and maintenance processes of LED display screens, problems such as low coverage, low efficiency, low safety, long duration, and high cost in the viewing angle measurement work of LED display screens have long troubled the development of the industry. For example, for the LED display screen in a large shopping mall, it is necessary to take into account the viewing needs of pedestrians on the ground, pedestrians on the floors, escalator passengers, elevator passengers, etc. from multiple directions and angles. When setting the viewing angle measurement points of the LED display screen to achieve full-space and all-round coverage, this means that a large amount of manpower, material resources, and time need to be invested in the viewing angle measurement work of the LED display screen. For another example, for the LED display screen in a stadium, it not only needs to meet the viewing of different-level audiences in the stands, but also fully considers the viewing of athletes, coaches, and staff in the competition venue. At this time, when setting the viewing angle measurement points for the LED display screen, not only full coverage is required, but also refined measurement is required. It is necessary to accurately find the position of the minimum effective viewing angle in a timely manner to reasonably adjust the seat arrangement and avoid affecting the viewing experience of the audience. Currently, if point-by-point measurement is still relied on manually or semi-manually, it will not only consume a large amount of manpower, material resources, and measurement time, but also cannot effectively guarantee measurement accuracy, coverage, safety, and efficiency. Summary of the Invention

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of this application is to provide a measurement system and method for the viewing angle of an LED screen based on sky-earth collaboration, which is used to solve the problems of low measurement accuracy and low efficiency in the viewing angle measurement of LED display screens in the prior art.

[0005] To achieve the above-mentioned purpose and other related purposes, the first aspect of this application provides a measurement system for the viewing angle of an LED screen based on sky-earth collaboration, including: an aerial measurement device and a ground measurement device; wherein, the aerial measurement device and / or the ground measurement device perform multi-point viewing angle measurement on a target LED screen based on the obtained measurement requirement information, obtain the multi-point viewing angle measurement results of the target LED screen, and perform viewing angle attribute classification on the multi-point viewing angle measurement results to obtain corresponding viewing angle classification results.

[0006] In some embodiments of the first aspect of the present application, the aerial measurement device includes: a flight navigation module, a flight path planning module, a first color analyzer module, a first processor module, a first wireless communication module, and a first rangefinder module; the ground measurement device includes: a mobile navigation module, a mobile path planning module, a second color analyzer module, a second processor module, a second wireless communication module, and a second rangefinder module.

[0007] In some embodiments of the first aspect of the present application, the process of the aerial measurement device performing display angle measurement includes: the flight path planning module plans a corresponding first flight path according to the obtained measurement requirement information and sends it to the flight navigation module to assist the aerial measurement device in moving; wherein, the first flight path covers all measurement points included in the measurement requirement information; during the movement of the aerial measurement device, the first rangefinder module performs distance detection on the target LED display screen at each measurement point to obtain a distance measurement value for each measurement point, for the first processor module to perform corresponding angle calculation operations based on the distance measurement value of each measurement point to obtain an angle measurement result for each measurement point, and further obtain a multi-point angle measurement result; the process of the aerial measurement device performing display angle attribute classification includes: during the movement of the aerial measurement device, the first color analyzer module respectively performs brightness detection on the target LED display screen at each measurement point to obtain a display brightness value for each measurement point, for the first processor module to classify the multi-point angle measurement result based on the display brightness value of each measurement point according to the display angle classification rule to obtain a corresponding angle classification result.

[0008] In some embodiments of the first aspect of the present application, the process of the ground measurement device performing display angle measurement includes: the mobile path planning module plans a corresponding first mobile path according to the acquired measurement requirement information and sends it to the mobile navigation module to assist the ground measurement device in moving; wherein, the first mobile path covers all the measurement points included in the measurement requirement information; during the movement of the ground measurement device, the second rangefinder module detects the distance to the target LED display screen at each measurement point to obtain the distance measurement value at each measurement point, for the second processor module to perform corresponding angle calculation operations based on the distance measurement values at each measurement point, obtain the angle measurement result at each measurement point, and further obtain the multi-point angle measurement result; the process of the ground measurement device performing display angle attribute classification includes: during the movement of the ground measurement device, the second color analyzer module respectively detects the brightness of the target LED display screen at each measurement point to obtain the display brightness value at each measurement point, for the second processor module to classify the multi-point angle measurement result according to the display angle classification rules based on the display brightness values at each measurement point to obtain the corresponding angle classification result.

[0009] In some embodiments of the first aspect of the present application, the process of the aerial measurement device and the ground measurement device performing display viewing angle measurement includes: the first processor module and the second processor module perform information interaction through the first wireless communication module and the second wireless communication module to assist the flight path planning module and the mobile path planning module in respectively planning corresponding second flight paths and second mobile paths based on the acquired measurement requirement information; wherein, the second flight path and the second mobile path cover all the measurement points included in the measurement requirement information; during the process of the aerial measurement device moving along the second flight path, the first rangefinder module performs distance detection on the target LED display screen at each measurement point located on the second flight path to obtain the distance measurement value of each measurement point located on the second flight path, so that the first processor module performs corresponding viewing angle calculation operations based on the distance measurement values of each measurement point located on the first flight path to obtain the viewing angle measurement results of each measurement point located on the first flight path, and further obtains the multi-point viewing angle measurement results of the aerial measurement device; during the process of the ground measurement device moving along the second mobile path, the second rangefinder module performs distance detection on the target LED display screen at each measurement point located on the second mobile path to obtain the distance measurement value of each measurement point located on the second mobile path, so that the second processor module performs corresponding viewing angle calculation operations based on the distance measurement values of each measurement point located on the second mobile path to obtain the viewing angle measurement results of each measurement point located on the second mobile path, and further obtains the multi-point viewing angle measurement results of the mobile measurement device; output the multi-point viewing angle measurement results of the aerial measurement device and the multi-point viewing angle measurement results of the ground measurement device as the multi-point viewing angle measurement results of the target LED display screen; the process of the aerial measurement device and the ground measurement device performing display viewing angle attribute classification includes: during the process of the aerial measurement device moving along the second flight path, the first color analyzer module performs brightness detection on the target LED display screen at each measurement point located on the second flight path to obtain the display brightness values of each measurement point located on the second flight path, so that the first processor module classifies the multi-point viewing angle measurement results of the aerial measurement device according to the display viewing angle classification rules based on the display brightness values of each measurement point located on the second flight path to obtain the corresponding viewing angle classification results of the aerial measurement device;In the process of the ground measurement device moving along the second moving path, the second color analyzer module respectively detects the brightness of the target LED display screen at each measuring point on the second moving path, and obtains the display brightness value of each measuring point on the second moving path, so that the second processor module can classify the multi-point viewing angle measurement results of the ground measurement device according to the display viewing angle classification rule based on the display brightness value of each measuring point on the second moving path, and obtain the corresponding viewing angle classification result of the ground measurement device; the viewing angle classification result of the aerial measurement device and the viewing angle classification result of the ground measurement device are output as the viewing angle classification result of the target LED display screen. ;

[0010] In some embodiments of the first aspect of the present application, the first processor module and the second processor module are also used to adjust the measurement equipment for measurement points that cannot be reached or require remeasurement through the first wireless communication module and the second wireless communication module.

[0011] In some embodiments of the first aspect of the present application, the viewing angle calculation operation includes: performing a coordinate system conversion on the acquired three-dimensional geographic coordinates of the measurement point to obtain the relative horizontal coordinates of the measurement point to the target LED display screen; performing an angle calculation based on the distance measurement value of the measurement point and the relative horizontal coordinates of the measurement point to the target LED display screen to obtain the viewing angle measurement result of the measurement point.

[0012] In some embodiments of the first aspect of the present application, the display viewing angle classification rules include: classifying the viewing angle measurement results of the measurement points that are greater than the minimum effective viewing angle and less than 90 degrees as visible display viewing angles; and classifying the viewing angle measurement results of the measurement points that are greater than 0 degrees and less than the minimum effective viewing angle as invisible display viewing angles.

[0013] In some embodiments of the first aspect of the present application, the aerial measurement equipment also includes: a first environmental perception module and a first autonomous obstacle avoidance module; wherein the first environmental perception module is used to collect environmental information on the flight path to assist the first autonomous obstacle avoidance module in guiding the aerial measurement equipment to avoid obstacles; the ground measurement equipment also includes: a second environmental perception module and a second autonomous obstacle avoidance module; wherein the second environmental perception module is used to collect environmental information on the flight path to assist the second autonomous obstacle avoidance module in guiding the aerial measurement equipment to avoid obstacles.

[0014] To achieve the above and other related objectives, the second aspect of the present application provides a method for measuring the display viewing angle of an LED screen based on sky-earth collaboration, including: obtaining measurement requirement information; enabling an aerial measurement device and / or a ground measurement device to perform multi-point display viewing angle measurement on a target LED display based on the obtained measurement requirement information, obtaining the multi-point viewing angle measurement results of the target LED display, and classifying their display viewing angle attributes.

[0015] As described above, the sky-earth collaborative LED screen display viewing angle measurement system and method of the present application have the following beneficial effects:

[0016] The measurement method adopted by the viewing angle measurement system of the present application not only improves the measurement coverage rate, measurement efficiency, and measurement safety, but also effectively reduces the measurement cost and measurement duration. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It shows a schematic block diagram of a sky-earth collaborative LED screen display viewing angle measurement system in an embodiment of the present application.

[0018] Figure 2 It shows a schematic block diagram of an aerial measurement device and a ground measurement device in an embodiment of the present application.

[0019] Figure 3 It shows a schematic flow diagram of the separate measurement by the aerial measurement device in an embodiment of the present application.

[0020] Figure 4 It shows a schematic flow diagram of the separate measurement by the ground measurement device in an embodiment of the present application.

[0021] Figure 5 It shows a schematic flow diagram of the collaborative measurement by the aerial measurement device and the ground measurement device in an embodiment of the present application.

[0022] Figure 6 It shows a schematic diagram of coordinate transformation in an embodiment of the present application.

[0023] Figure 7 It shows a schematic flow diagram of a method for measuring the display viewing angle of an LED screen based on sky-earth collaboration in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The following describes the implementation manners of the present application through specific examples. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0025] In the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. For example, the first flight path and the second flight path are only used to distinguish different flight paths, and do not limit their sequence. Those skilled in the art can understand that terms such as "first" and "second" do not limit the quantity and execution order, and "first", "second", etc. do not necessarily mean different.

[0026] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, using words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0027] In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one (item)" or its similar expression below refers to any combination of these items, including any combination of single item (item) or multiple items (items). For example, at least one (item) of a, b or c can represent: a, b, c, a - b, a - c, b - c or a - b - c, where a, b, c can be single or multiple.

[0028] To facilitate the understanding of the embodiments of the present application, first in combination with Figure 1 Detailed description. Figure 1 The schematic block diagram of a LED screen display viewing angle measurement system based on sky - ground cooperation in the embodiments of the present invention is shown. The LED screen display viewing angle measurement system based on sky - ground cooperation in this embodiment includes:

[0029] An aerial measurement device 1 and a ground measurement device 2;

[0030] Among them, the aerial measurement device 1 and / or the ground measurement device 2 perform multi-point display angle measurement on the target LED display based on the acquired measurement requirement information, obtain the multi-point angle measurement results of the target LED display, and classify the multi-point angle measurement results according to the display angle attributes to obtain the corresponding angle classification results.

[0031] It should be understood that in this embodiment, it can be a single aerial measurement device or a single ground measurement device that performs the measurement alone, or multiple aerial measurement devices that cooperate to complete the measurement, or multiple ground measurement devices that cooperate to complete the measurement, or a single aerial measurement device and a single ground measurement device that cooperate to complete the measurement, or a single aerial measurement device and multiple ground measurement devices that cooperate to complete the measurement, or multiple aerial measurement devices and a single ground measurement device that cooperate to complete the measurement, or multiple aerial measurement devices and multiple ground measurement devices that cooperate to complete the measurement.

[0032] In one embodiment, the target LED display is the LED display to be measured; the LED display to be measured is mainly a flat LED display. It should be noted that if it is necessary to measure special-shaped LED displays such as multi-folded, curved, and circular-arc ones, the special-shaped LED display can be divided into multiple local flat ranges and measured separately. It should be understood that an LED display is generally composed of small flat modules spliced together.

[0033] In one embodiment, the types of aerial measurement devices include but are not limited to various low-altitude aircraft such as drones.

[0034] In one embodiment, the types of ground measurement devices include but are not limited to devices that walk on the ground such as robots and robotic dogs. It should be understood that the ground can generally refer to the ground, stairs / elevators between floors, or the ground on different floors, etc.

[0035] In one embodiment, as Figure 2 shown, the aerial measurement device includes: a flight navigation module, a flight path planning module, a first color analyzer module, a first processor module, a first wireless communication module, a first rangefinder module, a first environment perception module, and a first autonomous obstacle avoidance module.

[0036] It should be understood that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division. In actual implementation, there may be other division methods. In addition, in each embodiment of the present application, the various functional modules can be integrated in one processor, or exist separately physically, or two or more modules can be integrated in one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0037] In one embodiment, the flight navigation module is equipped with positioning devices, including but not limited to Beidou positioning, GPS positioning, indoor positioning and other devices. The flight navigation module is used to perform flight navigation of the aerial measurement device according to the flight path planned by the flight path planning module; the flight navigation module is also used to obtain the three-dimensional geographical position coordinates of the aerial measurement device in real time and synchronously send them to the first processor module; the flight navigation module is also used to timely correct the horizontal position and vertical height of the aerial measurement device according to the flight path and through the positioning device.

[0038] In one embodiment, the first wireless communication module can be connected to a remote operation and management center or a handheld control device. It should be noted that the aerial measurement device can be remotely controlled to fly through the handheld control device.

[0039] In one embodiment, as Figure 3 shown, the first environmental perception module includes units such as image acquisition, radar, ultrasonic, infrared, etc. The types of image acquisition units include but are not limited to cameras, etc. The first environmental perception module is installed at the front or around the aerial measurement device. The first environmental perception module is used to collect environmental information during the movement of the aerial measurement device and send it to the first processor module for the first processor module to identify obstacles in the environmental information during the movement of the aerial measurement device and obtain the first obstacle recognition result. The first environmental perception module is also used to collect the display content of the target LED display screen. The information collected by the first environmental perception module can be sequentially sent to the remote operation center through the first processor module and the first wireless communication module.

[0040] In one embodiment, as Figure 3 shown, the first autonomous obstacle avoidance module is used to guide the aerial measurement device to flexibly avoid different obstacles according to the first obstacle recognition result under the control of the first processor module during the flight of the aerial measurement device to avoid collisions.

[0041] In one embodiment, the first processor module is mainly used for information processing, data calculation, instruction issuance and management of each module. Specifically, the first processor module sends the obtained measurement requirement information to the flight path planning module; the first processor module can save the three-dimensional geographical position coordinates of the aerial measurement device synchronously in real time by the flight navigation module for subsequent drawing of the actual flight path map of the aerial measurement device. It should be noted that the first processor module uses a processor, and the present invention does not limit the model of the processor.

[0042] In one embodiment, the first color analyzer module is arranged at the front of the aerial measurement device and is used for collecting brightness values.

[0043] In one embodiment, the first rangefinder module is arranged at the front of the aerial measurement device and is used for distance collection.

[0044] In one embodiment, as Figure 2 shown, the ground measurement device includes: a mobile navigation module, a mobile path planning module, a second color analyzer module, a second processor module, a second wireless communication module, a second rangefinder module, a second environmental perception module, and a second autonomous obstacle avoidance module.

[0045] It should be understood that the division of modules in the embodiments of the present application is illustrative, merely a logical function division, and there may be other division methods in actual implementation. In addition, each functional module in various embodiments of the present application may be integrated in one processor, may exist separately physically, or two or more modules may be integrated in one module. The above integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0046] In one embodiment, the mobile navigation module is equipped with positioning devices, including but not limited to Beidou positioning, GPS positioning, indoor positioning and other devices. The mobile navigation module is used to perform mobile navigation of the ground measurement device according to the mobile path planned by the mobile path planning module; the mobile navigation module is also used to obtain the three-dimensional geographical location coordinates of the ground measurement device in real time and synchronously send them to the second processor module; the mobile navigation module is also used to timely correct the horizontal position and vertical height of the ground measurement device according to the mobile path and through the positioning device (referring to climbing stairs, going up stairs or walking elevators, etc.).

[0047] In one embodiment, the second wireless communication module can be connected to a remote operation management center or a handheld control device. It should be noted that the ground measurement device can be remotely controlled to move through the handheld control device. The second wireless communication module can also communicate with the first wireless communication module.

[0048] In one embodiment, as Figure 4 shown, the second environmental perception module includes units such as image acquisition, radar, ultrasonic, and infrared. The types of image acquisition units include but are not limited to cameras, etc. The second environmental perception module is installed at the front or around the ground measurement device. The second environmental perception module is used to collect environmental information during the movement of the ground measurement device and send it to the second processor module for the second processor module to identify obstacles in the environmental information during the movement of the ground measurement device and obtain a second obstacle identification result. The second environmental perception module is also used to collect the display content of the target LED display screen. The information collected by the second environmental perception module can be sent to the remote operation center through the second processor module and the second wireless communication module in sequence.

[0049] In one embodiment, as Figure 4As shown, the second autonomous obstacle avoidance module is used to guide the ground measurement device to flexibly avoid different obstacles under the control of the second processor module according to the second obstacle recognition result during the flight of the ground measurement device, so as to avoid collisions.

[0050] In one embodiment, the second processor module is mainly used for information processing, data calculation, instruction issuance, and management of each module. Specifically, the second processor module sends the obtained measurement requirement information to the mobile path planning module; the second processor module can save the three-dimensional geographical location coordinates of the ground measurement device synchronously in real time by the mobile navigation module for subsequent drawing of the actual movement path diagram of the ground measurement device. It should be noted that the second processor module uses a processor, and the present invention does not limit the model of the processor.

[0051] In one embodiment, the second color analyzer module is arranged at the front of the ground measurement device and is used for collecting the display brightness value.

[0052] In one embodiment, the second rangefinder module is arranged at the front of the ground measurement device and is used for distance collection.

[0053] In one embodiment, the LED screen display angle measurement system based on sky-earth cooperation mainly adopts three measurement methods, namely the separate measurement method of the aerial measurement device, the separate measurement method of the ground measurement device, and the cooperative measurement method of the aerial measurement device and the ground measurement device.

[0054] In one embodiment, before measurement, the brightness value in the normal direction of the target LED display screen is determined first. Specifically, a measured area is selected in the center of the target LED display screen, and then the color analyzer is used to measure the brightness value in the normal direction of the measured area, which is used as the brightness value in the normal direction of the target LED display screen. It should be understood that the specific measurement process can refer to the standards of SJ-T 11141-2017 "General Specification for Light Emitting Diode (LED) Display Screens" and SJ-T 11281-2017 "Test Methods for Light Emitting Diode (LED) Display Screens", which will not be elaborated here.

[0055] The following will explain these three measurement methods with reference to the accompanying drawings:

[0056] Separate measurement method of the aerial measurement device: As Figure 3As shown, the first processor module obtains measurement requirement information and sends it to the flight path planning module. The measurement requirement information contains information about each measurement point. The flight path planning module plans a corresponding first flight path based on the obtained measurement requirement information and sends it to the flight navigation module to assist the aerial measurement device in moving; among them, the first flight path covers all the measurement points included in the measurement requirement information (the aerial flight device can reach all the measurement points included in the measurement requirement information along the first flight path). When the aerial measurement device flies along the first flight path, it can hover at each measurement point in turn. For any measurement point, when the aerial measurement device hovers at this measurement point, the first rangefinder module measures the distance from this measurement point to the designated area of the target LED display screen at this measurement point, obtains the distance measurement value of this measurement point, and sends it to the first processor module. At the same time, the flight navigation module collects the three-dimensional geographical coordinates of this measurement point and sends them to the first processor module; the first color analyzer module performs brightness detection on the designated area of the target LED display screen at this measurement point and sends the detected display brightness value to the first processor module. It should be understood that the designated area when the first rangefinder module performs distance measurement is the same as the designated area when the first color analyzer performs brightness measurement. The designated area can be any area on the target LED display screen and the designated area can be determined by the display content of the target LED display screen collected by the first environment perception module.

[0057] The first processor module performs a corresponding perspective calculation operation based on the distance measurement value and three-dimensional geographical coordinates of this measurement point, and obtains the perspective measurement result of this measurement point. When all the measurement points are measured, a multi-point perspective measurement result of the target LED display screen is obtained.

[0058] Furthermore, according to the display brightness values of all the measurement points, the multi-point perspective measurement results are classified based on the display perspective classification rules: for a measurement point, if the display brightness value of this measurement point is equal to half of the brightness value in the normal direction of the target LED display screen, then the perspective measurement result of this measurement point is determined as the minimum effective display perspective; if the display brightness value of this measurement point is greater than half of the brightness value in the normal direction of the target LED display screen (greater than the minimum effective display perspective) and less than 90 degrees, then the perspective measurement result of this measurement point is classified as a visible display perspective; if the display brightness value of this measurement point is less than half of the brightness value in the normal direction of the target LED display screen (less than the minimum effective display perspective) and greater than 0 degrees, then the perspective measurement result of this measurement point is classified as an invisible display perspective.

[0059] It should be understood that the visible display viewing angle refers to the angle at which the content displayed on the target LED screen can be clearly seen at the measurement point. The non-visible display viewing angle refers to the angle at which the content displayed on the target LED screen cannot be clearly seen at the measurement point.

[0060] Separate measurement method of ground measurement equipment: As Figure 4 shown, the second processor module obtains the measurement requirement information and sends it to the mobile path planning module. The measurement requirement information contains the information of each measurement point. The mobile path planning module plans the corresponding first mobile path according to the obtained measurement requirement information and sends it to the mobile navigation module to assist the ground measurement equipment in moving; among them, the first mobile path covers all the measurement points included in the measurement requirement information (the ground measurement equipment can reach all the measurement points included in the measurement requirement information along the first mobile path). When the ground measurement equipment moves along the first mobile path, it can pause at each measurement point in turn. For any measurement point, when the ground measurement equipment pauses at this measurement point, the second rangefinder module measures the distance from this measurement point to the specified area of the target LED display screen at this measurement point, obtains the distance measurement value of this measurement point, and sends it to the second processor module. At the same time, the mobile navigation module collects the three-dimensional geographical coordinates of this measurement point and sends them to the second processor module; the second color analyzer module performs brightness detection on the specified area of the target LED display screen at this measurement point and sends the detected display brightness value to the second processor module. It should be understood that the specified area when the second rangefinder module performs distance measurement is the same as the specified area when the second color analyzer performs brightness measurement. The specified area can be any area on the target LED display screen and the specified area can be determined by the display content of the target LED display screen collected by the second environmental perception module.

[0061] The second processor module performs the corresponding viewing angle calculation operation based on the distance measurement value and the three-dimensional geographical coordinates of this measurement point, and obtains the viewing angle measurement result of this measurement point. When all the measurement points are measured, the multi-point viewing angle measurement result of the target LED display screen is obtained.

[0062] Further, based on the display brightness values of all the measurement points, the multi-point perspective measurement results are classified according to the display perspective classification rules: for a measurement point, if the display brightness value of this measurement point is equal to half of the brightness value in the normal direction of the target LED display screen, the perspective measurement result of this measurement point is determined as the minimum effective display perspective; if the display brightness value of this measurement point is greater than half of the brightness value in the normal direction of the target LED display screen (greater than the minimum effective display perspective) and less than 90 degrees, the perspective measurement result of this measurement point is classified as a visible display perspective; if the display brightness value of this measurement point is less than half of the brightness value in the normal direction of the target LED display screen (less than the minimum effective display perspective) and greater than 0 degrees, the perspective measurement result of this measurement point is classified as an invisible display perspective.

[0063] It should be understood that the visible display perspective means that the content displayed on the target LED screen can be clearly seen at this measurement point. The invisible display perspective means that the content displayed on the target LED screen cannot be clearly seen at this measurement point.

[0064] Cooperative measurement method of the aerial measurement device and the ground measurement device: In this cooperative measurement method, the aerial measurement device is mainly responsible for measuring the top view and front view display perspectives of the target LED display screen, and the ground measurement device mainly measures the upward view perspective of the target LED display screen.

[0065] As Figure 5 shown, the first processor module and the second processor module respectively obtain the measurement requirement information. The first processor module sends the measurement requirement information to the flight path planning module, and the second processor module sends the measurement requirement information to the movement path planning module. During the path planning process, the first processor module and the second processor module perform interaction of the measurement points through the first wireless communication module and the second wireless communication module to determine the measurement points assigned to the aerial measurement device and the measurement points assigned to the ground measurement device, so that the flight path planning module can plan the second flight path according to the measurement points assigned to the aerial measurement device, and the movement path planning module can plan the second movement path according to the measurement points assigned to the ground measurement device. Among them, the second flight path and the second movement path cover all the measurement points included in the measurement requirement information, so that all the measurement points can be measured under the cooperation of the aerial measurement device and the ground measurement device. It should be understood that the measurement points assigned to the aerial measurement device and the measurement points assigned to the ground measurement device do not repeat each other to avoid repeated measurement.

[0066] During the movement of the aerial measurement device along the second flight path, the first rangefinder module detects the distance to the target LED display at each measurement point located on the second flight path, obtaining the distance measurement value at each measurement point located on the second flight path, for the first processor module to perform corresponding perspective calculation operations based on the distance measurement values at each measurement point located on the first flight path, obtaining the perspective measurement results at each measurement point located on the first flight path, and further obtaining the multi-point perspective measurement results of the aerial measurement device;

[0067] During the movement of the ground measurement device along the second movement path, the second rangefinder module detects the distance to the target LED display at each measurement point located on the second movement path, obtaining the distance measurement value at each measurement point located on the second movement path, for the second processor module to perform corresponding perspective calculation operations based on the distance measurement values at each measurement point located on the second movement path, obtaining the perspective measurement results at each measurement point located on the second movement path, and further obtaining the multi-point perspective measurement results of the mobile measurement device; The multi-point perspective measurement results of the aerial measurement device and the multi-point perspective measurement results of the ground measurement device are used as the multi-point perspective measurement results of the target LED display;

[0068] The process of the aerial measurement device and the ground measurement device performing display perspective attribute classification includes: During the movement of the aerial measurement device along the second flight path, the first color analyzer module respectively detects the brightness of the target LED display at each measurement point located on the second flight path, obtaining the display brightness values at each measurement point located on the second flight path for the first processor module to classify the multi-point perspective measurement results of the aerial measurement device according to the display perspective classification rules based on the display brightness values at each measurement point located on the second flight path, obtaining the corresponding perspective classification results of the aerial measurement device;

[0069] During the movement of the ground measurement device along the second movement path, the second color analyzer module respectively detects the brightness of the target LED display at each measurement point located on the second movement path, obtaining the display brightness values at each measurement point located on the second movement path, for the second processor module to classify the multi-point perspective measurement results of the ground measurement device according to the display perspective classification rules based on the display brightness values at each measurement point located on the second movement path, obtaining the corresponding perspective classification results of the ground measurement device; The perspective classification results of the aerial measurement device and the perspective classification results of the ground measurement device are used as the perspective classification results of the target LED display.

[0070] It should be understood that when the aerial measurement device and the ground measurement device perform measurements respectively, the angle measurement method and classification method adopted by the two devices are the same as the separate measurement mentioned in the above embodiment, and will not be repeated here.

[0071] In one embodiment, if Figure 5 As shown, during the movement of the aerial measurement device, when the first processor module determines that there is a point that the aerial measurement device has not measured, if the aerial measurement device can easily reach the measurement point, the aerial measurement device will continue to measure; if the aerial measurement device is not convenient to reach (for example, the aerial measurement device is far away from the measurement point, there are obstacles during the movement, etc.), the first wireless communication module interacts with the ground measurement device, and the ground measurement device performs the measurement. During the movement of the ground measurement device, when the second processor module determines that there is a point that the ground measurement device has not measured, if the ground measurement device can easily reach the measurement point, the ground measurement device will continue to measure; if the ground measurement device is not convenient to reach (for example, the ground measurement device is far away from the measurement point, there are obstacles during the movement, etc.), the second wireless communication module interacts with the aerial measurement device, and the aerial measurement device performs the measurement.

[0072] In one embodiment, if Figure 5 As shown, when the first processor module determines that there are measurement points that need to be remeasured and / or the second processor module determines that there are measurement points that need to be remeasured, the first processor module and the second processor module interact with the measurement points that need to be remeasured, so as to allocate appropriate measurement equipment to the measurement points that need to be remeasured according to the rule of proximity and convenience. It should be understood that when the measurement result of a measurement point exceeds the error range, etc., the measurement point is determined to need to be remeasured.

[0073] In one embodiment, the viewing angle calculation operation includes: performing a coordinate system conversion on the three-dimensional geographic coordinates of the measurement point to obtain the relative horizontal coordinates of the measurement point to the target LED display screen; performing an angle calculation based on the distance measurement value of the measurement point and the relative horizontal coordinates of the measurement point to the target LED display screen to obtain the viewing angle measurement result of the measurement point.

[0074] Specifically, Figure 6 As shown in the figure, the horizontal coordinates of the geographical locations of point P1 at the upper left corner and point P2 at the upper right corner of the target LED display are obtained, P1(x B1 ,y B1 ) and P2(x B2 ,y B2 ).

[0075] Further, taking point P1 as the origin (0, 0), the line connecting point P1 and point P2 as the x-axis, and the normal line of this line at point P1 as the y-axis, a relative horizontal coordinate system of the target LED display screen is established.

[0076] When the aerial measurement device conducts measurement, the three-dimensional geographical coordinates of a measurement point obtained by the aerial measurement device are P B (x B , y B , z B ). Among them, P B (x B , y B ) is the geographical location horizontal coordinate of this measurement point, and z B is the geographical location vertical height of this measurement point. The following formula 1 and formula 2 are used to perform coordinate transformation on this measurement point to obtain the relative horizontal coordinate P f (x f , y f ) of this measurement point to the target LED display screen.

[0077]

[0078] Among them, Δx = (x B2 - x B1 ), Δy = (y B2 - y B1 ), y f is the vertical distance from this measurement point to the target LED display screen.

[0079] Further, referring to the following formula 3, based on the distance measurement value l f of this measurement point and the vertical distance y f from this measurement point to the target LED display screen, calculate the viewing angle measurement result α f of this measurement point:

[0080]

[0081] When the ground measurement device conducts measurement, the three-dimensional geographical coordinates of a measurement point obtained by the ground measurement device are P' B (x' B , y' B , z' B ). Among them, P' B (x' B , y' B ) is the geographical location horizontal coordinate of this measurement point, and z' BThe vertical height of the geographical location of the measurement point. The following formula 4 and formula 5 are used to perform coordinate transformation on the measurement point to obtain the relative horizontal coordinate P of the measurement point to the target LED display screen m (x m ,y m ).

[0082]

[0083] Among them, Δx = (x B2 -x B1 ), Δy = (y B2 -y B1 ), y m is the vertical distance from the measurement point to the target LED display screen.

[0084] Furthermore, referring to the following formula 6, based on the distance measurement value l of the measurement point m and the vertical distance y from the measurement point to the target LED display screen m , calculate the viewing angle measurement result α of the measurement point m :[[]]END]]

[0085]

[0086] In an embodiment, a first sky-earth collaboration module is further provided in the aerial measurement device, and a second sky-earth collaboration module is further provided in the ground measurement device; among them, the first sky-earth collaboration module can be implemented through a processor and a wireless communication module; the second sky-earth collaboration module can be implemented through a processor and a wireless communication module. The first sky-earth collaboration module and the second sky-earth collaboration module are used for information interaction between the aerial measurement device and the ground measurement device (the information for interaction refers to the collaborative measurement method of the aerial measurement device and the ground measurement device), so as to reduce the processing pressure of the first processor module and the second processor module, and improve the working speed and real-time performance of the collaborative work of multiple aerial measurement devices and / or ground measurement devices.

[0087] Figure 7 is a schematic flowchart of the LED screen display viewing angle measurement method based on sky-earth collaboration provided by the embodiment of the present application. As Figure 7 shown, the LED screen display viewing angle measurement method based on sky-earth collaboration includes:

[0088] Step S71: Obtain measurement requirement information.

[0089] Step S72: Cause the aerial measurement device and / or the ground measurement device to perform multi-point display viewing angle measurement on the target LED display screen based on the obtained measurement requirement information, obtain the multi-point viewing angle measurement results of the target LED display screen, and classify their display viewing angle attributes.

[0090] It should be understood that the specific implementation processes of each step have been described in the above system embodiments. For the sake of brevity, they will not be repeated here.

[0091] In one embodiment, the aerial measurement device includes: a flight navigation module, a flight path planning module, a first color analyzer module, a first processor module, a first wireless communication module, and a first rangefinder module; the ground measurement device includes: a mobile navigation module, a mobile path planning module, a second color analyzer module, a second processor module, a second wireless communication module, and a second rangefinder module.

[0092] In one embodiment, the process of the aerial measurement device performing display angle measurement includes: the flight path planning module plans a corresponding first flight path according to the acquired measurement requirement information and sends it to the flight navigation module to assist the aerial measurement device in moving; wherein, the first flight path covers all the measurement points included in the measurement requirement information; during the movement of the aerial measurement device, the first rangefinder module performs distance detection on the target LED display screen at each measurement point to obtain the distance measurement value of each measurement point, for the first processor module to perform corresponding angle calculation operations based on the distance measurement value of each measurement point to obtain the angle measurement result of each measurement point, and further obtain the multi-point angle measurement result; the process of the aerial measurement device performing display angle attribute classification includes: during the movement of the aerial measurement device, the first color analyzer module respectively performs brightness detection on the target LED display screen at each measurement point to obtain the display brightness value of each measurement point, for the first processor module to classify the multi-point angle measurement result based on the display brightness value of each measurement point according to the display angle classification rule to obtain the corresponding angle classification result.

[0093] In one embodiment, the process of the ground measurement device performing display viewing angle measurement includes: the moving path planning module plans a corresponding first moving path according to the obtained measurement requirement information and sends it to the moving navigation module to assist the ground measurement device in moving; wherein, the first moving path covers all the measurement points included in the measurement requirement information; during the movement of the ground measurement device, the second distance measuring module performs distance detection on the target LED display screen at each measurement point to obtain the distance measurement value of each measurement point, for the second processor module to perform corresponding viewing angle calculation operations based on the distance measurement value of each measurement point, obtain the viewing angle measurement result of each measurement point, and further obtain the multi-point viewing angle measurement result; the process of the ground measurement device performing display viewing angle attribute classification includes: during the movement of the ground measurement device, the second color analyzer module performs brightness detection on the target LED display screen at each measurement point to obtain the display brightness value of each measurement point, for the second processor module to classify the multi-point viewing angle measurement result according to the display viewing angle classification rule based on the display brightness value of each measurement point, and obtain the corresponding viewing angle classification result.

[0094] In one embodiment, the process of the aerial measurement device and the ground measurement device performing display viewing angle measurement includes: the first processor module and the second processor module perform information interaction through the first wireless communication module and the second wireless communication module to assist the flight path planning module and the mobile path planning module in respectively planning corresponding second flight paths and second mobile paths based on the obtained measurement requirement information; wherein, the second flight path and the second mobile path cover all the measurement points included in the measurement requirement information; during the process of the aerial measurement device moving along the second flight path, the first rangefinder module performs distance detection on the target LED display screen at each measurement point located on the second flight path to obtain the distance measurement value of each measurement point located on the second flight path, so that the first processor module performs corresponding viewing angle calculation operations based on the distance measurement values of each measurement point located on the first flight path to obtain the viewing angle measurement results of each measurement point located on the first flight path, and further obtains the multi-point viewing angle measurement results of the aerial measurement device; during the process of the ground measurement device moving along the second mobile path, the second rangefinder module performs distance detection on the target LED display screen at each measurement point located on the second mobile path to obtain the distance measurement value of each measurement point located on the second mobile path, so that the second processor module performs corresponding viewing angle calculation operations based on the distance measurement values of each measurement point located on the second mobile path to obtain the viewing angle measurement results of each measurement point located on the second mobile path, and further obtains the multi-point viewing angle measurement results of the mobile measurement device; output the multi-point viewing angle measurement results of the aerial measurement device and the multi-point viewing angle measurement results of the ground measurement device as the multi-point viewing angle measurement results of the target LED display screen; the process of the aerial measurement device and the ground measurement device performing display viewing angle attribute classification includes: during the process of the aerial measurement device moving along the second flight path, the first color analyzer module performs brightness detection on the target LED display screen at each measurement point located on the second flight path to obtain the display brightness values of each measurement point located on the second flight path, so that the first processor module classifies the multi-point viewing angle measurement results of the aerial measurement device according to the display viewing angle classification rules based on the display brightness values of each measurement point located on the second flight path to obtain the corresponding viewing angle classification results of the aerial measurement device;In the process of the ground measurement device moving along the second moving path, the second color analyzer module respectively detects the brightness of the target LED display screen at each measuring point on the second moving path, and obtains the display brightness value of each measuring point on the second moving path, so that the second processor module can classify the multi-point viewing angle measurement results of the ground measurement device according to the display viewing angle classification rule based on the display brightness value of each measuring point on the second moving path, and obtain the corresponding viewing angle classification result of the ground measurement device; the viewing angle classification result of the aerial measurement device and the viewing angle classification result of the ground measurement device are output as the viewing angle classification result of the target LED display screen. ;

[0095] In one embodiment, the first processor module and the second processor module are further used to adjust the measurement equipment for the measurement points that cannot be reached or the measurement points that need to be remeasured through the first wireless communication module and the second wireless communication module.

[0096] In one embodiment, the viewing angle calculation operation includes: performing a coordinate system conversion on the acquired three-dimensional geographic coordinates of the measuring point to obtain the relative horizontal coordinates of the measuring point to the target LED display screen; performing an angle calculation based on the distance measurement value of the measuring point and the relative horizontal coordinates of the measuring point to the target LED display screen to obtain the viewing angle measurement result of the measuring point.

[0097] In one embodiment, the display viewing angle classification rule includes: classifying the viewing angle measurement results of the measurement points that are greater than the minimum effective viewing angle and less than 90 degrees as visible display viewing angles; and classifying the viewing angle measurement results of the measurement points that are greater than 0 degrees and less than the minimum effective viewing angle as invisible display viewing angles.

[0098] In one embodiment, the aerial measurement equipment also includes: a first environmental perception module and a first autonomous obstacle avoidance module; wherein the first environmental perception module is used to collect environmental information on the flight path to assist the first autonomous obstacle avoidance module in guiding the aerial measurement equipment to avoid obstacles; the ground measurement equipment also includes: a second environmental perception module and a second autonomous obstacle avoidance module; wherein the second environmental perception module is used to collect environmental information on the flight path to assist the second autonomous obstacle avoidance module in guiding the aerial measurement equipment to avoid obstacles.

[0099] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0100] In summary, the present application provides an LED screen display viewing angle measurement system and method based on space-ground collaboration. The system includes: an aerial measurement device and a ground measurement device; the aerial measurement device and / or the ground measurement device perform multi-point display viewing angle measurements on a target LED display screen based on the acquired measurement requirement information, obtain the multi-point viewing angle measurement results of the target LED display screen, and classify the viewing angle attributes of the multi-point viewing angle measurement results to obtain corresponding viewing angle classification results. The measurement method adopted by the viewing angle measurement system of the present application not only improves the measurement coverage rate, measurement efficiency and measurement safety, but also effectively reduces the measurement cost and measurement duration. Therefore, the present application effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0101] The above embodiments are only illustrative of the principles and effects of the present application, and are not intended to limit the present application. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present application should still be covered by the claims of the present application.

Claims

1. An LED screen display viewing angle measurement system based on space-ground collaboration, characterized in that Including: An aerial measurement device and a ground measurement device; Wherein, the aerial measurement device and / or the ground measurement device perform multi-point display angle measurement on the target LED display screen based on the obtained measurement requirement information, obtain the multi-point angle measurement results of the target LED display screen, and classify the multi-point angle measurement results according to the display angle attribute to obtain the corresponding angle classification results.

2. The LED screen display viewing angle measurement system based on space-ground collaboration according to claim 1, wherein The aerial measurement device includes: a flight navigation module, a flight path planning module, a first color analyzer module, a first processor module, a first wireless communication module, and a first rangefinder module; the ground measurement device includes: a mobile navigation module, a mobile path planning module, a second color analyzer module, a second processor module, a second wireless communication module, and a second rangefinder module.

3. The LED screen display viewing angle measurement system based on space-ground collaboration according to claim 2, characterized in that The process of the aerial measurement device performing display angle measurement includes: The flight path planning module plans a corresponding first flight path according to the obtained measurement requirement information and sends it to the flight navigation module to assist the aerial measurement device in moving; wherein, the first flight path covers all the measurement points included in the measurement requirement information; During the movement of the aerial measurement device, the first rangefinder module performs distance detection on the target LED display screen at each measurement point to obtain the distance measurement value of each measurement point, so that the first processor module can perform corresponding angle calculation operations based on the distance measurement value of each measurement point to obtain the angle measurement result of each measurement point, and further obtain the multi-point angle measurement results; The process of the aerial measurement device classifying the display angle attributes includes: during the movement of the aerial measurement device, the first color analyzer module performs brightness detection on the target LED display screen at each measurement point to obtain the display brightness value of each measurement point, so that the first processor module can classify the multi-point angle measurement results based on the display brightness value of each measurement point according to the display angle classification rules to obtain the corresponding angle classification results.

4. The LED screen display viewing angle measurement system based on space-ground collaboration according to claim 2, wherein The process of the ground measurement device performing display angle measurement includes: The mobile path planning module plans a corresponding first mobile path according to the obtained measurement requirement information and sends it to the mobile navigation module to assist the ground measurement device in moving; wherein, the first mobile path covers all the measurement points included in the measurement requirement information; During the movement of the ground measurement device, the second rangefinder module performs distance detection on the target LED display screen at each measurement point to obtain the distance measurement value of each measurement point, so that the second processor module can perform corresponding angle calculation operations based on the distance measurement value of each measurement point to obtain the angle measurement result of each measurement point, and further obtain the multi-point angle measurement results; The process of the ground measurement device performing display viewing angle attribute classification includes: during the movement of the ground measurement device, the second color analyzer module respectively performs brightness detection on the target LED display screen at each measurement point to obtain the display brightness values of each measurement point, so that the second processor module can classify the multi-point viewing angle measurement results according to the display viewing angle classification rules based on the display brightness values of each measurement point, and obtain the corresponding viewing angle classification results.

5. The method of the LED screen display viewing angle measurement system based on space-ground collaboration according to claim 2, wherein The process of the aerial measurement device and the ground measurement device performing display viewing angle measurement includes: The first processor module and the second processor module perform information interaction through the first wireless communication module and the second wireless communication module to assist the flight path planning module and the mobile path planning module in respectively planning the corresponding second flight path and second mobile path based on the obtained measurement requirement information; wherein, the second flight path and the second mobile path cover all the measurement points included in the measurement requirement information; During the movement of the aerial measurement device along the second flight path, the first rangefinder module performs distance detection on the target LED display screen at each measurement point located on the second flight path to obtain the distance measurement value of each measurement point located on the second flight path, so that the first processor module can perform the corresponding viewing angle calculation operation based on the distance measurement value of each measurement point located on the first flight path, obtain the viewing angle measurement result of each measurement point located on the first flight path, and further obtain the multi-point viewing angle measurement result of the aerial measurement device; During the movement of the ground measurement device along the second mobile path, the second rangefinder module performs distance detection on the target LED display screen at each measurement point located on the second mobile path to obtain the distance measurement value of each measurement point located on the second mobile path, so that the second processor module can perform the corresponding viewing angle calculation operation based on the distance measurement value of each measurement point located on the second mobile path, obtain the viewing angle measurement result of each measurement point located on the second mobile path, and further obtain the multi-point viewing angle measurement result of the mobile measurement device; output the multi-point viewing angle measurement results of the aerial measurement device and the multi-point viewing angle measurement results of the ground measurement device as the multi-point viewing angle measurement results of the target LED display screen; The process of the aerial measurement device and the ground measurement device performing display viewing angle attribute classification includes: during the movement of the aerial measurement device along the second flight path, the first color analyzer module respectively performs brightness detection on the target LED display screen at each measurement point located on the second flight path to obtain the display brightness values of each measurement point located on the second flight path, so that the first processor module can classify the multi-point viewing angle measurement results of the aerial measurement device according to the display viewing angle classification rules based on the display brightness values of each measurement point located on the second flight path, and obtain the corresponding viewing angle classification results of the aerial measurement device; In the process of the ground measurement device moving along the second moving path, the second color analyzer module respectively detects the brightness of the target LED display screen at each measurement point on the second moving path, and obtains the display brightness value of each measurement point on the second moving path, so that the second processor module can classify the multi-point perspective measurement results of the ground measurement device according to the display perspective classification rules based on the display brightness values of each measurement point on the second moving path, and obtain the corresponding perspective classification results of the ground measurement device; the perspective classification results of the aerial measurement device and the perspective classification results of the ground measurement device are output as the perspective classification results of the target LED display screen.

6. The LED screen display viewing angle measurement system based on space-earth collaboration according to claim 5, wherein, The first processor module and the second processor module are further used to adjust the measuring equipment for the measuring points that cannot be reached or the measuring points that need to be remeasured through the first wireless communication module and the second wireless communication module.

7. The LED screen display viewing angle measurement system based on space-ground cooperation according to any one of claims 2 to 5, characterized in that The viewing angle calculation operation includes: The three-dimensional geographic coordinates of the obtained measuring point are converted into a coordinate system to obtain the relative horizontal coordinates of the measuring point to the target LED display screen; The angle is calculated based on the distance measurement value of the measuring point and the relative horizontal coordinates from the measuring point to the target LED display screen to obtain the viewing angle measurement result of the measuring point.

8. The LED screen display viewing angle measurement system based on space-ground collaboration according to any one of claims 2 to 5, characterized in that The display viewing angle classification rules include: The viewing angle measurement results of the measurement points that are greater than the minimum effective viewing angle and less than 90 degrees are classified as visible display viewing angles; the viewing angle measurement results of the measurement points that are greater than 0 degrees and less than the minimum effective viewing angle are classified as non-visible display viewing angles.

9. The LED screen display viewing angle measurement system based on space-ground collaboration according to claim 2, wherein, The aerial measurement equipment also includes: a first environmental perception module and a first autonomous obstacle avoidance module; wherein the first environmental perception module is used to collect environmental information on the flight path to assist the first autonomous obstacle avoidance module in guiding the aerial measurement equipment to avoid obstacles; the ground measurement equipment also includes: a second environmental perception module and a second autonomous obstacle avoidance module; wherein the second environmental perception module is used to collect environmental information on the flight path to assist the second autonomous obstacle avoidance module in guiding the aerial measurement equipment to avoid obstacles.

10. A method for measuring the viewing angle of an LED screen based on space-ground collaboration, characterized in that, include: Obtain measurement requirement information; The aerial measurement device and / or the ground measurement device is enabled to perform multi-point display viewing angle measurement on the target LED display screen based on the acquired measurement requirement information, obtain the multi-point viewing angle measurement results of the target LED display screen, and classify the display viewing angle attributes thereof.

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