Indoor illuminance detection system and detection method

Abstract

The invention discloses an indoor illuminance detection system and a detection method. The system comprises a management and control terminal and a luminosity detector. The management and control terminal can generate a detection starting instruction according to a detection request generated by touch control of detection personnel on a human-computer interaction interface of the management and control terminal and enables the luminosity detector to start working, and a main control module of the luminosity detector determines a detection point and a detection path according to obtained to-be-detected building basic data. The driving module drives the moving part to move according to the detection path, the distance measuring module detects the static distance with the wall and compares the static distance with the preset reference distance, whether the luminosity detector reaches the target detection position corresponding to the detection point or not can be accurately judged, and the accuracy of the detection position is guaranteed. By implementing the technical scheme provided by the invention, the problem that when a traditional luminosity detector is used for detecting indoor luminosity, a user needs to hold the luminosity detector manually for detection, and the position of a detection point is determined through subjective judgment to cause deviation of a detection result is solved.

Description

Technical Field

[0001] This application relates to the technical field of photometric detection, specifically to an indoor illuminance detection system and method. Background Technology

[0002] In the construction industry, indoor luminosity is a crucial indicator of building lighting quality, directly impacting people's visual experience, work efficiency, and physical and mental health. With the continuous development of the construction industry, the demand for accurate indoor luminosity measurement is increasing. Accurate luminosity measurement provides a scientific basis for building design, optimizes building lighting layout, improves energy efficiency, and helps ensure the quality of the living and working environment for indoor occupants. For example, in office buildings, appropriate luminosity can reduce employee visual fatigue and improve work efficiency; in residential buildings, good lighting can create a comfortable living atmosphere.

[0003] In traditional indoor photometric testing, the common method is for manual, handheld photometers to perform single-point measurements. The testing personnel need to carry the instrument to different locations indoors to take measurements one by one, recording the photometric data at each point. Another common approach is to install multiple photometric sensors at fixed locations indoors, transmitting data to a monitoring center via wired or wireless means. Yet another method uses portable photometric testing equipment for mobile testing indoors, but this requires manual operation and data recording by the testing personnel. While these methods can meet the needs of indoor photometric testing to some extent, they have some problems in practical applications.

[0004] Traditional methods for measuring indoor illuminance have significant drawbacks. Manual, handheld measurement is inefficient, requiring substantial manpower and time, and the results are easily influenced by human factors, making it difficult to guarantee accuracy and consistency. While fixed-location sensors can achieve real-time monitoring, their limited placement prevents comprehensive coverage of all indoor areas, potentially leading to blind spots in the data. Portable measurement devices offer some flexibility, but still require manual operation, and accurately determining the measurement point's location and planning the measurement path are challenging, resulting in inaccurate and incomplete results. Summary of the Invention

[0005] This application provides an indoor illuminance detection system. Traditional photometers require manual handheld operation to detect indoor illuminance, which leads to deviations in the detection results due to subjective judgment in determining the location of the detection point.

[0006] In a first aspect, this application provides an indoor illuminance detection system, the system comprising a photometer and a control terminal; The control terminal is communicatively connected to the photometer. The control terminal is used to generate a start detection command in response to a detection request and transmit the start detection command to the photometer. It is also used to receive photometric data of the building to be tested and the location information of the photometer collected by the photometer, generate a photometric detection report based on the photometric data and location information, and display the photometric detection report. The photometric instrument includes a base, a mounting base, a photometric detection module, a main control module, a data acquisition module, at least one ranging module, a drive module, and a movable component fixed to the output end of the drive module. The mounting base is installed on the top of the base, the main control module is installed in the mounting base, and the photometric detection module, data acquisition module, and ranging module are fixed on the mounting base. The main control module is communicatively connected to the photometric detection module, data acquisition module, ranging module, and drive module to control the operation of each module. The main control module receives a start detection command and controls the data acquisition module to acquire basic data of the building under test based on the command. It then determines the detection points and detection path of the building based on the basic data. The data acquisition module receives control from the main control module to acquire the basic data of the building under test and transmits the basic data to the main control module. The main control module also generates a movement control command based on the detection path and transmits the command to the drive module. The drive module drives the moving components according to the movement control command, causing the photometric detector to move along the detection path. When the photometric detector is at a detection point, each ranging module detects the static distance between itself and the wall of the building under test and transmits the detected static distance to the main control module. The main control module compares the static distance with a preset static reference distance for the corresponding detection point to determine whether the photometric detector has moved to the target detection position corresponding to the detection point. The photometric detection module collects photometric data from each detection point and transmits the photometric data to the main control module. The main control module transmits the photometric data from each detection point to the management terminal.

[0007] By adopting the above technical solution, this system can achieve automated photometric detection in practical applications of indoor photometric detection. The control terminal generates a start-of-detection command based on the detection request generated by the inspector's touch interface, initiating the photometric detector's operation. This avoids the tedious process of manually arranging each detector on-site, improving detection efficiency. The main control module of the photometric detector determines the detection points and paths based on the acquired basic data of the building under test, making the detection work more targeted and planned, and comprehensively covering all areas of the building. The drive module drives the moving parts along the detection path, ensuring the photometric detector accurately reaches each detection point. The distance measuring module detects the static distance to the wall and compares it with a preset reference distance, accurately determining whether the photometric detector has reached the target detection position corresponding to the detection point, ensuring the accuracy of the detection position. The photometric detection module collects photometric data from each detection point and transmits it to the control terminal. Based on this data and location information, the control terminal generates and displays a photometric detection report, providing an intuitive and reliable basis for the evaluation and adjustment of indoor photometric data, which helps optimize indoor lighting design and energy utilization.

[0008] Optionally, a height adjustment module for adjusting the distance between the photometric detection module and the detection point is also included. The height adjustment module includes a tripod, an adjustment rod, a support base, and a connecting base. The support base includes a load-bearing platform, a mounting plate, and a support seat fixed downwards. One end of the adjustment rod is fixed to the base. The top ends of each leg of the tripod are hinged to the side wall of the mounting plate at equal intervals along the circumference of the support base. The mounting plate is provided with an adjustment mechanism. The other end of the adjustment rod passes through the support base and slides with it. The adjustment rod is also in transmission cooperation with the adjustment mechanism. The adjustment mechanism drives the adjustment rod to slide up and down relative to the support base along its own axial direction, thereby adjusting the height of the photometric detection module. The adjustment rod is provided with an adjustment rack along its axial direction. The adjustment mechanism includes an adjustment motor and an adjustment gear rotatably mounted in the mounting plate. The adjustment gear meshes with the adjustment rack. The adjustment motor is fixedly mounted to the adjustment gear. A motor mount is installed on the side wall of the mounting plate. The adjustment motor is mounted on... The motor is mounted in the base and electrically connected to the drive module. The data acquisition module is mounted on the support platform, and its installation position is located opposite the adjustment motor. The data acquisition module is rotatably mounted on the outer periphery of the adjustment rod. Each of the outriggers is provided with a first pitch adjustment mechanism. The outrigger includes an outer rod and an inner rod. The outer rod is sleeved on the outer periphery of the inner rod. The first pitch adjustment mechanism includes an adjustment cylinder, a lifting motor, and an adjustment shaft fixedly mounted on the output shaft of the lifting motor. The adjustment cylinder is threadedly connected to the adjustment shaft and slidably mounted in the inner rod. The adjustment cylinder is mounted on the inner wall of the outer rod on the side away from the support seat. The lifting motor is mounted on the inner rod on the side away from the support seat. A guide rail is provided on the inner wall of the inner rod along the axial direction of the inner rod, penetrating the inner rod. A guide block is provided on the inner wall of the outer rod at a position corresponding to the guide rail, and it slidably engages with the guide rail. The guide block passes through the guide rail and is fixed to the adjustment cylinder. The outrigger is detachably mounted on the connecting seat. The drive module is mounted on the connecting seat, and the lifting motor is electrically connected to the drive module.

[0009] By adopting the above technical solution, when the regulating motor is started, its output shaft drives the regulating gear to rotate. Since the regulating gear meshes with the regulating rack on the regulating rod, the regulating rod slides up and down relative to the support seat along its own axis under the drive of the gear. During this process, the adjusting rod passes through the support base and maintains a sliding fit with it, thereby driving the photometric detection module connected to the adjusting rod to achieve height adjustment. The data acquisition module is installed on the bearing platform and located on the opposite side of the adjusting motor, which can effectively avoid the impact of vibration and electromagnetic interference generated by the adjusting motor on the accuracy of data acquisition, ensuring the accuracy of data acquisition. At the same time, it can also balance the weight distribution on both sides of the bearing platform, preventing the platform from tilting or shaking during the lifting process due to excessive weight on one side. The height adjustment module can adjust the distance between the photometric detection module and the detection point, so that the photometric detection module can be at a suitable height for photometric data acquisition, improving the accuracy of detection. At the same time, the data acquisition module is installed on the adjusting rod of the height adjustment module, ensuring that the collected basic data of the building under test is more accurate. The first pitch adjustment mechanism in each leg of the tripod can adjust the height of the leg, thereby realizing the pitch angle adjustment of the base fixed on the adjusting rod, and then realizing the pitch angle adjustment of the distance measuring module, photometric detection module, etc. installed on the base, so that the photometric detector can ensure the accuracy of the collected data even on uneven ground. The outriggers are detachably mounted on the connecting base, facilitating the assembly, disassembly, and transportation of the equipment. The drive module is electrically connected to the lifting motor, enabling control of the outriggers during movement, thus improving the equipment's flexibility and adaptability and better meeting the practical application needs of indoor photometric detection.

[0010] Optionally, the connecting base includes a base and support arms fixed to the side wall of the base, corresponding to each leg of the tripod. The drive module includes a drive control unit and a steering drive motor and a forward drive motor electrically connected to the drive control unit. The drive control unit is installed in the base. The moving component is installed at the free end of the support arm. The moving component includes a wheel cover and a travel wheel installed in the wheel cover. The forward drive motor is installed in the wheel cover, and the output shaft of the forward drive motor is fixed to the travel wheel. Each support arm is also provided with a second pitch adjustment mechanism. The pitch adjustment mechanism includes an adjustment arm and an adjustment wedge. The adjustment arm is hinged to the end of the support arm away from the moving component. The wedge is mounted on the wheel cover with its wedge surface facing the support arm. The wedge surface of the adjusting wedge has a limiting groove that matches the shape of the wedge surface. The adjusting arm includes an inner cylinder and an outer cylinder. The outer cylinder is slidably sleeved on the outer circumference of the inner cylinder along the axial direction of the inner cylinder. A connecting rod is provided between the outer cylinders of the two adjusting arms corresponding to each support arm to realize the connection between the two adjusting arms. A wedge rod is hinged at the midpoint of the connecting rod. The free end of the wedge rod abuts in the limiting groove. A drive shaft is fixed on the wheel cover. The drive shaft passes through the adjusting wedge and is fixedly connected to the output end of the steering drive motor. The outrigger is detachably mounted on the outer cylinder of the adjusting arm. A touch switch is installed on the side wall of each wheel cover. The touch switch is electrically connected to the drive control unit.

[0011] By adopting the above technical solution, the base and support arm design of the connecting seat, in conjunction with the drive control unit, steering drive motor, and forward drive motor of the drive module, can effectively drive the travel wheels of the moving parts, enabling the photometric detector to move and turn freely indoors. The second pitch adjustment mechanism allows for flexible adjustment of the pitch angle of the support arm relative to the support arm according to ground conditions and testing requirements, enhancing the detector's terrain adaptability. The steering drive motor rotates the adjusting wedge, which in turn causes the wedge rod to slide along the wedge surface of the adjusting wedge in the limiting groove, thereby causing the adjusting arm to swing up and down relative to the support arm. This up-and-down swing of the adjusting arm causes the legs of the tripod to change position, thus adjusting the height and / or pitch angle of the photometric adjustment module, enhancing the detector's adaptability and stability in different terrains. Simultaneously, the touch switch on the wheel cover allows the photometric detector to stop promptly when encountering obstacles during testing, preventing collisions and damage.

[0012] Optionally, the connecting seat further includes a support rod disposed between the base and each support arm. The support rod includes a fixed rod and a telescopic rod. The telescopic rod is slidably sleeved on the outer periphery of the fixed rod along the axial direction of the fixed rod. A telescopic motor is fixedly installed on the side of the fixed rod near the connecting seat. A telescopic shaft is fixedly installed on the output shaft of the telescopic motor. A telescopic cylinder is installed on the inner wall of the fixed rod near the base. The telescopic cylinder is threadedly connected to the telescopic shaft and slidably rotated in the fixed rod. A guide groove penetrating the fixed rod is opened on the side wall of the fixed rod along the axial direction of the fixed rod. A guide block that slides with the guide groove is provided at the corresponding position of the fixed rod and the guide groove. The guide block passes through the guide groove and is fixed to the telescopic cylinder.

[0013] By adopting the above technical solution, in the practical application of the indoor illuminance detection system, the support rod installed between the base and the support arm has a telescopic motor driving the telescopic shaft to rotate. With the cooperation of the guide groove and the guide rod, the telescopic rod is restricted from rotating with the telescopic shaft. Therefore, when the telescopic motor rotates, the telescopic cylinder and the telescopic shaft cooperate to drive the telescopic rod to slide along the fixed rod axis, thereby realizing the telescopic adjustment of the support arm. When the distance between the detection point and the wall is close, the telescopic motor can drive the telescopic rod to move towards the connecting seat side, thereby shortening the distance between the photometric detection module and the wall, so as to realize the photometric detection at that detection point. This allows the photometric detector to flexibly adjust the position and length of the support arm to adapt to the detection needs of different indoor spaces, enhancing the adaptability and flexibility of the detection system. It can better perform photometric detection on indoor environments with different layouts and sizes, improving the accuracy and comprehensiveness of the detection. At the same time, during the process of the telescopic motor changing the length of the support rod, the support arm changes synchronously, which will affect the height of the photometric detection module. Therefore, the height of the support leg can be changed by the lifting motor, thereby adjusting the photometric detection module to a suitable height.

[0014] Optionally, the mounting base has a number of first insertion slots on its side wall, the same number as the ranging modules. The ranging modules are inserted into the first insertion slots. Each first insertion slot has a first magnetic female end at its bottom. Each first magnetic female end is electrically connected to the main control module. Each ranging module has a first magnetic male end on its rear cover that matches the first magnetic female end. The first magnetic male end is electrically connected to the ranging module.

[0015] By adopting the above technical solution, the side wall of the mounting base is provided with the same number of first insertion slots as the ranging modules. The ranging modules are inserted into the first insertion slots through the magnetic attraction between the first magnetic male end and the first magnetic female end, which facilitates the installation and removal of the ranging modules and makes it convenient to replace the ranging modules when they are damaged. At the same time, it ensures a stable electrical connection between the ranging modules and the main control module, ensuring that the ranging data can be transmitted accurately.

[0016] Optionally, a motion attitude sensor is also included. An adjustment module is provided in the base. The motion attitude sensor is electrically connected to the main control module, and the adjustment module is communicatively connected to the main control module. The output end of the adjustment module is fixed to the bottom end of the mounting base. The motion attitude sensor is used to detect the current pose data of the mounting base and transmit the current pose data to the adjustment module. The main control module is also used to determine whether the mounting base is in a target yaw attitude based on the current pose data and a preset yaw angle. If it is not in the target yaw attitude, it generates an attitude adjustment command based on the current pose data and transmits the attitude adjustment command to the adjustment module. The adjustment module is used to adjust the mounting base to the target yaw attitude according to the yaw adjustment command. The main control module is also used to determine whether the mounting base is in a target pitch attitude based on the current pose data and a preset pitch angle. If it is not in the target pitch attitude, it generates a pitch adjustment command based on the current pose data and transmits the pitch and yaw adjustment command to the drive module. The drive module is used to adjust the mounting base to the target pitch adjustment attitude according to the pitch adjustment command.

[0017] By adopting the above technical solution, the motion attitude sensor can detect the current pose data of the mounting base in real time. The main control module compares this data with preset yaw and pitch angles. If the mounting base is not in the target yaw or pitch attitude, the main control module will generate attitude adjustment commands and pitch adjustment commands respectively. The adjustment module and drive module adjust the mounting base to the target yaw and pitch attitudes according to the commands. Since the main control module, ranging module, and photometric detection module are mounted on the mounting base, the adjustment of the main control module, ranging module, and photometric detection module is achieved by adjusting the attitude of the mounting base. This helps ensure that the photometric detection module is in the optimal detection angle and position, improving the accuracy and reliability of photometric data collection at different indoor locations. Consequently, the photometric detection report generated by the control terminal can more accurately reflect the actual photometric conditions of the building under test.

[0018] Optionally, the upper part of the base has a mounting groove, and the adjustment module is installed in the mounting groove. The adjustment module includes a rotation control unit and an angle servo mechanism. The rotation control unit is electrically connected to the angle servo mechanism, and the output shaft of the angle servo mechanism is coaxial with the base. A limiting platform is provided on the upper side wall of the mounting groove, and a wireless charging transmitting coil is installed on the limiting platform. The wireless charging transmitting coil is electrically connected to the rotation control unit. A charging interface is also provided on the base, and the charging interface is electrically connected to the rotation control unit. A connecting piece that mates with the output shaft of the angle servo mechanism is fixed at the center of the bottom of the mounting base. A fixing groove is provided on the bottom of the mounting base around the connecting piece, and a wireless charging receiving coil that matches the wireless charging transmitting coil is installed in the fixing groove. The wireless charging receiving coil is electrically connected to the main control module.

[0019] By adopting the above technical solution, the adjustment module is installed in the mounting slot on the upper part of the base, which facilitates the fixing and protection of the adjustment module; the rotation control unit is electrically connected to the angle servo mechanism and the output shaft of the angle servo mechanism is coaxial with the base, which can realize the precise rotation adjustment of the mounting base; a wireless charging transmitting coil is installed on the limiting platform on the upper side wall of the mounting slot and is electrically connected to the rotation control unit; the base has a charging interface that is also electrically connected to the rotation control unit; at the same time, a wireless charging receiving coil that matches the wireless charging transmitting coil is installed in the fixing slot at the bottom of the mounting base and is electrically connected to the main control module, which can realize wireless charging of the main control module on the mounting base, etc., improving the convenience and flexibility of the system.

[0020] A second aspect of this application provides an indoor illuminance detection method, applied to an indoor illuminance detection system as described in the first aspect, the method comprising: Receive the start detection command generated by the control terminal in response to the detection request, and obtain the basic information of the building to be tested collected by the data acquisition module based on the start detection command; Based on the aforementioned basic information, at least one detection point is determined for the building to be tested, and a detection path is planned based on the current location and the location of each detection point. According to the detection path, each detection point is determined as the target detection point in sequence, and a movement control command is generated so that the drive module drives the moving part to the position of the target detection point according to the movement control command. Obtain the static distance between each ranging module and the corresponding wall of the building to be measured; The static distance is compared with the preset static reference distance corresponding to the target detection point to determine whether the photometric detector has moved to the target detection position corresponding to the target detection point. If the current location is the target detection location, the photometric data collected by the photometric detection module is obtained, the photometric data of each target detection point is collected according to the detection path, and the photometric data of each target detection point is transmitted to the control terminal so that the control terminal can generate a photometric detection report of the corresponding building to be tested based on the photometric data of each target detection point.

[0021] By adopting the above technical solution, the indoor illuminance detection method, based on the indoor illuminance detection system, achieves an automated detection process in practical indoor photometric detection applications. Upon receiving the start detection command, the control data acquisition module acquires the basic information of the building to be tested, providing accurate data for subsequent detection and avoiding the tediousness and error-proneness of manual data collection. Based on the basic information, the detection points are determined and the detection path is planned, enabling the photometric instrument to efficiently detect various indoor points, improving detection efficiency. The drive module drives the photometric instrument to move along the detection path according to the movement control command, realizing automatic movement of the instrument and reducing manual operation. The distance measuring module detects the static distance to the wall and compares it with a preset benchmark distance, accurately determining whether the instrument has reached the target detection position, ensuring the accuracy of the detection location. After reaching the target detection position, photometric data is acquired and transmitted to the control terminal to generate a detection report, providing a scientific and accurate basis for indoor photometric assessment, contributing to the optimization and improvement of building lighting design, and enhancing indoor environmental quality.

[0022] Optionally, before obtaining the static distance detected by each ranging module between itself and the corresponding wall of the building to be measured, the method further includes: Acquire the current pose data detected by the motion attitude sensor, and determine the current yaw angle of the mounting base based on the current pose data; If the current yaw angle is inconsistent with the preset yaw angle, a yaw adjustment command is generated based on the current pose data, so that the adjustment module adjusts the mounting base to the target yaw attitude according to the yaw adjustment command.

[0023] By adopting the above technical solution, during indoor photometric testing, the motion attitude sensor acquires the current pose data in real time, enabling timely and accurate determination of whether the photometric testing module has undergone horizontal rotation. When horizontal rotation is detected, i.e., when the current yaw angle of the mounting base determined based on the current pose data is inconsistent with the preset yaw angle, a yaw adjustment command is generated based on the current pose data, and the adjustment module is controlled to adjust its attitude, returning the mounting base to its upright position. This ensures that the measuring axes of each ranging module mounted on the mounting base are perpendicular to the corresponding wall of the building under test, guaranteeing that each ranging module can accurately detect the static distance between itself and the wall of the building under test. This ensures that the static distance detected by the ranging module can be compared with the preset static reference distance to determine whether the current mounting base is located at the target detection position of the detection point, avoiding errors in the position determination of the detection point due to horizontal rotation. This improves the accuracy and reliability of indoor photometric testing, providing a strong guarantee for the subsequent generation of accurate photometric testing reports.

[0024] Optionally, after acquiring the current pose data detected by the motion posture sensor, the method further includes: The current pitch angle of the mounting base is determined based on the current pose data, and the difference between the current pitch angle and the preset pitch angle is calculated. If the difference is less than or equal to the pitch adjustment range of the second pitch adjustment mechanism, a first pitch adjustment command is generated so that the drive module controls the second pitch adjustment mechanism to adjust the mounting base to the target pitch attitude. If the difference is greater than the pitch adjustment range of the second pitch adjustment mechanism and less than or equal to the pitch adjustment range of the first pitch mechanism, a second pitch adjustment command is generated so that the drive module controls the first pitch adjustment mechanism to adjust the mounting base to the target pitch attitude. If the difference is greater than the pitch adjustment range of the first pitch adjustment mechanism and less than the sum of the pitch adjustment ranges of the first pitch adjustment mechanism and the second pitch adjustment mechanism, then a third pitch adjustment command is generated so that the drive module controls the first pitch adjustment mechanism and the second pitch adjustment mechanism to adjust the mounting base to the target pitch adjustment attitude. If the difference is greater than the sum of the pitch adjustment ranges of the first pitch adjustment mechanism and the second pitch adjustment mechanism, an alarm signal is generated and transmitted to the control terminal so that the control terminal issues an alarm prompt, wherein the pitch adjustment range of the first pitch adjustment mechanism is greater than the pitch adjustment range of the second pitch adjustment mechanism.

[0025] By adopting the above technical solution, after acquiring the current pose data, the current pitch angle of the mounting base can be determined based on the current pose data, and the difference between the current pitch angle and the preset pitch angle can be calculated. The first and second pitch adjustment mechanisms are flexibly controlled according to the magnitude of the difference, enabling the mounting base to accurately adjust to the target pitch attitude. Since the photometric detection module is mounted on the mounting base, adjusting the attitude of the mounting base achieves the adjustment of the photometric detection module, ensuring the accuracy and stability of the photometric detection module's attitude during the detection process, and improving the precision and reliability of photometric detection. When the difference exceeds the sum of the adjustment ranges of the two pitch adjustment mechanisms, an alarm signal is generated in a timely manner and transmitted to the control terminal to issue an alarm prompt. This allows operators to promptly identify problems and take measures to avoid affecting the detection results or causing equipment damage due to mounting base attitude issues, ensuring the normal operation of the indoor illuminance detection system in practical applications.

[0026] In summary, one or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. The indoor illuminance detection system works in tandem with a photometer and a control terminal to automatically complete indoor illuminance detection and generate a test report. This avoids the bias and inefficiency of manual measurement, as well as the discrepancy between simulation calculations and actual conditions. It can comprehensively, objectively, and accurately reflect the true indoor illuminance conditions, providing strong data support for building design and lighting planning. 2. The photometer can determine the detection point and detection path based on basic data, and determine whether the detection point has been reached by detecting the static distance to the wall through the ranging module. This avoids the deviation caused by subjective judgment of the detection point and objectively and comprehensively reflects the true indoor photometric situation. At the same time, the motion posture sensor can detect the current posture data of the photometer. The main control module determines whether horizontal rotation has occurred based on this data. If horizontal rotation occurs, the control adjustment module adjusts the posture of the mounting base so that the measuring axis of each ranging module can be perpendicular to the corresponding wall of the building under test. This ensures the accuracy of the ranging module when detecting static distance and further improves the reliability of the detection results. 3. When the motion attitude sensor detects a change in the pitch attitude of the mounting base, the main control module may determine the current pitch angle of the mounting base based on the current pose data and calculate the difference between the current pitch angle and the preset pitch angle. Based on the magnitude of the difference, the main control module flexibly controls the first pitch adjustment mechanism and the second pitch adjustment mechanism to ensure that the mounting base can be accurately adjusted to the target pitch attitude. Since the photometric detection module is mounted on the mounting base, the photometric detection module is adjusted by adjusting the attitude of the mounting base, ensuring the detection accuracy of the photometric detection module and thus improving the quality of the overall detection results. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the architecture of a light intensity detection system provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a light intensity detection system disclosed in an embodiment of this application; Figure 3 This is a cross-sectional schematic diagram of the base and various modules installed on the base of a light intensity detection system disclosed in an embodiment of this application; Figure 4 yes Figure 2 An enlarged schematic diagram of part A in the middle; Figure 5 This is a schematic diagram of the structure of the second pitch adjustment mechanism of a light intensity detection system disclosed in an embodiment of this application; Figure 6 This is a cross-sectional schematic diagram of a connector for a light intensity detection system disclosed in an embodiment of this application; Figure 7 This is a cross-sectional schematic diagram of a support rod of a light intensity detection system disclosed in an embodiment of this application; Figure 8 This is a cross-sectional schematic diagram of the first pitch adjustment mechanism and the support leg of a light intensity detection system disclosed in an embodiment of this application; Figure 9 This is a cross-sectional schematic diagram of the adjustment mechanism of a light intensity detection system disclosed in an embodiment of this application; Figure 10This is another cross-sectional schematic diagram of the adjustment mechanism of a light intensity detection system disclosed in an embodiment of this application; Figure 11 This is a schematic flowchart of an indoor illuminance detection method disclosed in an embodiment of this application.

[0028] Explanation of reference numerals in the attached drawings: 1. Photometer; 11. Base; 111. Mounting slot; 112. Adjustment module; 1121. Rotation control unit; 1122. Angle servo mechanism; 1123. Second communication unit; 1124. Wireless charging transmitting coil; 1125. First power supply; 113. Charging interface; 114. Snap-fit ​​block; 12. Mounting base; 121. Connector; 122. Wireless charging receiving coil; 123. First magnetic male terminal; 124. First magnetic female terminal; 13. Ranging module; 14. Main control module; 141. Main control unit; 142, First communication unit; 143, Motion state sensor; 144, Second power supply; 15, Photometric detection module; 16, Height adjustment module; 161, Adjustment rod; 162, Support base; 1621, Mounting plate; 1622, Support base; 1623, Bearing platform; 163, Outrigger; 1631, Outer rod; 16311, Guide block; 1632, Inner rod; 16321, Guide rail; 1633, First pitch adjustment mechanism; 16331, Lifting motor; 16332, Adjustment shaft; 16333, Adjustment... 164. Cylinder; 1641. Connecting seat; 1642. Base; 1643. Support arm; 16444. Transmission groove; 1645. Support rod; 16464. Outer cylinder; 164641. Guide block; 164642. Inner cylinder; 164642. Guide groove; 164633. Telescopic motor; 16464. Telescopic shaft; 16465. Telescopic cylinder; 1647. Second pitch adjustment mechanism; 16461. Adjusting arm; 16462. Adjusting wedge; 16462. Limiting groove; 16463. Connecting rod; 16464. Wedge rod; 165. 1651, Fixed block; 166, Snap-fit ​​slot; 166, Adjustment mechanism; 1661, Adjustment gear; 1662, Adjustment rack; 1663, Adjustment motor; 16631, Motor mount; 17, Drive module; 171, Drive control unit; 172, Steering drive motor; 173, Forward drive motor; 174, Drive shaft; 175, Drive shaft; 176, Drive belt; 18, Moving parts; 181, Wheel cover; 1811, Touch switch; 182, Forward wheel; 19, Data acquisition module; 191, Protective cover; 2, Control terminal. Detailed Implementation

[0029] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0030] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0031] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0032] Reference Figure 1 This is a schematic diagram of the framework of an indoor illuminance detection system disclosed in an embodiment of this application. Figures 1-10 As shown, the system includes a photometer 1 and a control terminal 2. The control terminal 2 is communicatively connected to the photometer 1, enabling data exchange and command transmission. This allows for remote control of the photometer 1 to perform measurements, process the data, and display the results, facilitating user access to and analysis of indoor photometric information. The communication connection between the photometer 1 and the control terminal 2 can be wireless, via WiFi or Bluetooth, or wired, via a USB interface, enabling command transmission and data exchange.

[0033] Specifically, the control terminal 2 is a device with data processing, display, and interactive functions, and can be a desktop computer, laptop computer, tablet computer, or dedicated touch terminal. Its core functions include receiving detection commands input by the user, such as generating a standardized "Start Detection Command" by clicking the "Start Detection" button on the interface, and transmitting the command to the photometric meter 1; it can also receive photometric data from each detection point uploaded by the photometric meter 1 in real time, basic information of the building to be tested, detection points and detection paths determined based on the basic information, and summarize and analyze the data, such as calculating the average, maximum, and minimum values ​​to determine whether they meet the preset photometric standards; and it generates a photometric detection report based on the processed data, which may include information such as the distribution of detection points, photometric values ​​at each point, and pass rate statistics, and is displayed in real time on the screen for easy viewing by the user.

[0034] The control terminal 2 and the photometer 1 can establish a communication connection via Wi-Fi, Bluetooth or wired Ethernet to ensure the stability and real-time performance of data transmission.

[0035] The detection requests received by the control terminal 2 can come from user manual input, preset detection time triggers, or instructions from other related systems.

[0036] In addition to the photometric data and location information of each detection point, the generated photometric test report may also include the comparison results of the photometric data of each detection point with the national standard or preset standard, the test time, and the information of the testing equipment.

[0037] The photometric detector 1 is the core detection unit of the system, used to autonomously move to the detection point, calibrate the position, adjust its attitude, and collect photometric data. Its structure includes a base 11, a mounting base 12, a photometric detection module 15, a main control module 14, a data acquisition module 19, at least one ranging module 13, a drive module 17, a moving part 18, a height adjustment module 112, a motion attitude sensor, and an adjustment module 112. The main control module 14 is mounted in the mounting base 12. The photometric detection module 15 and the ranging module 13 are fixed on the mounting base 12. The drive module 17 is mounted at the bottom of the base 11. The main control module 14 communicates with the photometric detection module 15, the data acquisition module 19, the ranging module 13, and the drive module 17 to control the operation of each module. The connection relationships and functions of each component are as follows: A mounting slot 111 is provided on the upper part of the base 11. The shape of the mounting slot 111 can be designed as rectangular or circular according to actual needs. Its depth must be adapted to the size of the adjustment module 112 to provide a stable installation space for the adjustment module 112. The adjustment module 112 is the core component for realizing the precise adjustment of the attitude of the mounting base 12. It includes a rotation control unit 1121 and an angle servo mechanism 1122. The rotation control unit 1121 can be a high-precision servo driver, which can precisely control the operation of the angle servo mechanism 1122 and support the precise setting of angle and speed. The angle servo mechanism 1122 preferably adopts a harmonic reduction servo motor, which utilizes its low backlash and high torque characteristics to ensure the accuracy and stability of attitude adjustment.

[0038] The rotation control unit 1121 and the angle servo mechanism 1122 are electrically connected via wires. The rotation control unit 1121 is responsible for receiving the attitude adjustment command transmitted by the main control module 14 and outputting the corresponding drive signal to the angle servo mechanism 1122. The output shaft of the angle servo mechanism 1122 is coaxially set with the base 11, which can ensure that the mounting base 12 rotates stably around the center of the base 11 during the adjustment process, avoiding attitude adjustment deviation caused by eccentric rotation. The top of the output shaft is rigidly connected to the connector 121 at the bottom of the mounting base 12 through conventional mechanical connection methods such as keyway, flange or coupling, so as to stably transmit the torque of the output shaft to the mounting base 12 and drive the mounting base 12 to perform yaw attitude adjustment operation.

[0039] A limiting platform is provided on the upper part of the mounting slot 111, on which a wireless charging transmitting coil 1124 is mounted. The wireless charging transmitting coil 1124 is electrically connected to the rotation control unit 1121. A charging interface 113 is also provided on the base 11, which is electrically connected to the rotation control unit 1121. A fixing slot corresponding to the mounting slot 111 is provided on the bottom of the mounting base 12, located on the outer periphery of the connector 121. A wireless charging receiving coil 122 matching the wireless charging coil is installed in the fixing slot. The wireless charging coil is electrically connected to the main control module 14. An external power supply is connected to the rotation control unit 1121 through the charging interface 113. The 21 electrical connection provides stable power support for the rotation control unit 1121 and the wireless charging transmitting coil 1124. When the device is placed in the mounting slot 111, the wireless charging receiving coil 122 in the fixed slot is precisely aligned with the wireless charging transmitting coil 1124 on the limiting platform. Non-contact charging is achieved through electromagnetic induction. The electrical energy is transmitted to the main control module 14 through the wireless charging receiving coil 122, which powers the main control module 14 and the various electronic components built into the photometer 1. At the same time, the setting of the charging interface 113 also supports wired charging when wireless charging is inconvenient, further improving the flexibility and reliability of the device power supply.

[0040] The charging port 113 uses a universal USB or Type-C interface, making it convenient to connect an external power source to charge the device.

[0041] At the center of the bottom of the mounting base 12, a connector 121 matching the output shaft of the angle servo mechanism 1122 is fixed, such as a connector sleeve with an internal spline, which is adapted to the external spline of the output shaft to ensure that the torque of the output shaft can be stably transmitted to the mounting base 12. A fixing groove is opened on the outer periphery of the connector 121 at the bottom of the mounting base 12. The fixing groove can be an annular groove, and its position corresponds to the wireless charging transmitting coil 1124. A wireless charging receiving coil 122 is embedded in the fixing groove. The receiving coil is structurally matched with the wireless charging transmitting coil 1124 and can receive electrical energy through induction. The wireless charging receiving coil 122 is electrically connected to the main control module 14 through a wire, and transmits the received electrical energy to the main control module 14, thereby supplying power to the main control module 14 and other power-consuming modules such as the photometric detection module 15 and the ranging module 13 on the mounting base 12, thus constructing a non-contact power supply channel and reducing the restrictions of cable connection on the movement and attitude adjustment of the equipment.

[0042] To ensure that the external power supply connected to the charging interface 113 does not damage the components of the photometer 1, a voltage regulator module is installed in the base 11, and a wireless charging voltage regulator module is installed in the main control module 14. These voltage regulator modules monitor and adjust the input external power voltage in real time, converting unstable external voltage into a stable operating voltage required by the rotation control unit 1121 and the wireless charging transmitting coil 1124, effectively preventing damage to the internal circuitry of the base 11 due to voltage fluctuations. Simultaneously, the wireless charging voltage regulator module in the main control module 14 performs secondary voltage regulation on the power transmitted by the wireless charging receiving coil 122, ensuring that the voltage entering the main control module 14 remains within the safe operating range of the electronic components of the photometer 1. Whether in wired or wireless charging mode, this dual voltage regulation mechanism provides continuous and safe power to the device, significantly reducing the risk of component burnout due to voltage abnormalities and extending the device's lifespan. Temperature sensors can also be installed in the base 11 and the main control module 14 to monitor their temperatures in real time and trigger corresponding protection mechanisms when the temperature exceeds a preset threshold. When the base 11 becomes too hot, the main control module 14 can immediately cut off the power input to the base 11, suspending the wired or wireless charging process, and restore power supply after the temperature drops to a safe range. If the temperature of the main control module 14 is abnormal, the system will automatically reduce the frequency of photometric detection or shut down some non-core functions to reduce the power consumption of internal components, thereby quickly suppressing the temperature rise. A first power supply 1125 can also be installed in the base 11, which can store the electrical energy input through the charging interface 113. A second power supply 144 can be installed in the main control module 14. During device operation, the electrical energy from the first power supply 1125 can be emitted by the wireless charging transmitting coil 1124 through the rotation control unit 1121, and the main control unit 141 controls the wireless charging receiving coil 122 to provide electrical energy to the main control module 14. The energy can also be stored in the second power supply 144 for convenient use.

[0043] The wireless charging transmitting coil 1124 and the wireless charging receiving coil 122 adopt a highly efficient electromagnetic induction coupling method, and the charging efficiency can reach more than 80%.

[0044] Data transmission between the main control module 14 and the adjustment module 112 can be achieved wirelessly. A first communication unit 142 is installed in the main control module 14, and a second communication unit 1123 is installed in the adjustment module 112. The first communication unit 142 is electrically connected to the main control unit 141, and the second communication unit 1123 is electrically connected to the rotation control unit 1121. Data transmission is achieved through the first communication unit 142 and the second communication unit 1123. At the same time, the first communication unit 142 is also used to realize data transmission with the control terminal 2. Similarly, a wireless communication unit can also be installed in the drive module 17 to realize data transmission and control with the main control module 14.

[0045] Understandably, to facilitate the use of the photometer 1, both the base 11 and the mounting bracket are equipped with batteries, which are electrically connected to the rotation control unit 1121 and the main control module 14, respectively. These batteries provide emergency power support when the external power supply is disconnected, ensuring that the photometer 1 can still operate normally in short-term power outages or when moved for use. The batteries are high-capacity lithium batteries, characterized by a high number of charge-discharge cycles and a low self-discharge rate. A single full charge can support continuous operation for more than 8 hours, meeting the daily battery life requirements for indoor photometer detection. Simultaneously, the main control module 14 has a built-in low-power management unit that automatically switches to sleep mode when the device is idle, reducing battery power consumption and further extending battery life.

[0046] The main control module 14 and the ranging module 13 are fixed on the photometric detection module 15. The main control module 14 includes a housing and a main control unit 141 and a communication unit fixed in the housing. The main control unit 141 can be a high-performance microprocessor, such as an ARM architecture chip, which can centrally control and process data from various modules. The communication unit can use wireless communication technologies, such as Wi-Fi or Bluetooth, to achieve communication between the photometric detector 1 and the control terminal 2.

[0047] The main control module 14 is the control core of the photometric detector 1. It uses an STM32 series microprocessor or an embedded chip with equivalent performance and is electrically connected to other modules via wires or a PCB board. It is responsible for coordinating the work of each module. Specific functions include receiving the "start detection command" sent by the control terminal 2, parsing the command content and starting the detection process; controlling the data acquisition module 19 to acquire the basic data of the building to be tested and planning the detection points and detection paths based on the basic data; generating movement control commands including parameters such as forward, backward, and turning according to the detection path and transmitting them to the drive module 17 to control the movement of the moving part 18; receiving the static distance data detected by the ranging module 13 and comparing it with the preset static reference distance to determine whether the photometric detector 1 has reached the target detection position corresponding to the target detection point; controlling the photometric detection module 15 to collect photometric data at the target detection position and transmitting the data to the control terminal 2 after packaging; receiving the pose data of the motion posture sensor, generating a posture adjustment command, and controlling the adjustment module 112 and the drive module 17 to adjust the posture of the mounting base 12.

[0048] The data acquisition module 19 is primarily responsible for collecting basic data of the building under test. Equipment used to acquire this data may include laser scanners, cameras, etc. Laser scanners can accurately measure room dimensions and facility locations, while cameras capture images and perform image processing to obtain information such as door and window positions. The data acquisition module 19 preprocesses the acquired basic data, such as performing format conversion and noise removal, before transmitting it to the main control module 14.

[0049] Among them, the lidar scans the space to be measured by emitting a laser beam to generate three-dimensional point cloud data, which can be analyzed to obtain the length, width, height of the room and the position of the walls; the camera captures the floor plan of the building to be measured or the on-site environment image, and combines the image recognition algorithm to extract basic data such as the position of doors and windows and the outline of obstacles.

[0050] The basic data includes the floor plan of the building to be tested, the length, width, and height dimensions of each room, the location and dimensions of indoor fixtures such as furniture and partitions, the location and size of doors and windows, and the location and type of lighting equipment. The main control module 14 analyzes this basic data to determine the detection points, taking into account factors such as the functional zoning of the rooms and the illumination range of the lighting equipment, ensuring that the detection points comprehensively reflect the lighting conditions in different areas of the room. For example, in an office area, detection points will be set up near each workstation; in a living room, detection points will be set up in the sofa area, television area, etc.

[0051] During path planning, the detection path is planned based on the determined detection points, prioritizing the shortest travel distance and avoiding repeated routes while also avoiding indoor obstacles. Path planning takes into account the motion performance of the drive module 17 and the moving parts 18 to ensure that the photometric detector 1 can pass smoothly.

[0052] The generated motion control command includes parameters such as motion direction, motion speed, and motion distance. The drive module 17 precisely controls the motion of the moving part 18 based on these parameters.

[0053] The photometric detection module 15 can be a photometric detection element. One way to install the photometric detection module 15 is to have a mounting hole at the top of the mounting base 12, install the photometric detection element in the mounting hole, and fix and seal it with a sealing ring or other means to prevent dust, moisture, etc. from affecting the detection accuracy. The photometric detection element can be a photometric sphere with high sensitivity, which collects and transmits photometric data from various detection points of the building under test.

[0054] The photometric detection module 15 uses a high-precision light sensor (such as TSL2591) and is fixed on the top or side of the mounting base 12 to collect photometric data at the detection point. Its detection range can cover 0-100000 lux with an accuracy of ±2%. The data is transmitted to the main control module 14 via wires.

[0055] The motion attitude sensor is used to detect the current pose data of the mounting base 12, such as tilt angle and pitch angle. That is, the motion attitude sensor is used to detect the current pose data of each module, such as the photometric detection module 15 and the ranging module 13, and transmit the current pose data to the adjustment module 112. The main control module 14 determines whether each ranging module 13 mounted on the mounting base 12 has rotated horizontally based on the current pose data. If horizontal rotation has occurred, it generates an attitude adjustment command based on the current pose data and transmits the attitude adjustment command to the adjustment module 112. The adjustment module 112 adjusts the attitude of the mounting base 12 according to the yaw adjustment command, that is, adjusts each ranging module 13 so that the measurement axis is perpendicular to the corresponding wall of the building to be measured. For example, when the motion attitude sensor detects that the mounting base 12 has rotated horizontally, the main control module 14 controls the angle servo mechanism 1122 to rotate, so that the mounting base 12 returns to the target yaw attitude, so that each ranging module 13 is perpendicular to the corresponding wall, enabling each ranging module 13 to accurately detect the static distance between itself and the wall, thereby ensuring that the photometric detection module 15 is accurately located at the detection point to achieve photometric detection at the detection point. In this embodiment, the motion attitude sensor can be a nine-axis sensor of model MPU9250, integrating an accelerometer, gyroscope, and magnetometer.

[0056] Among them, the motion attitude sensor can be a combination of gyroscope and accelerometer, which can detect the tilt angle, vibration and other status data of photometer 1 in real time, with a detection frequency of not less than 100Hz, to ensure timely detection of equipment deviation.

[0057] To better detect the current pose data of the mounting base 12, the motion state sensor 143 can be installed on the mounting base 12, and for the convenience of data transmission, the motion state sensor 143 can be installed in the main control module 14.

[0058] The ranging module 13 is mounted on the side wall of the mounting base 12 and is used to detect the static distance between it and the corresponding wall of the building to be measured. The ranging module 13 is installed and fixed to the mounting base 12 by magnetically inserting it into the first insertion slot opened in the side wall of the mounting base 12. The bottom of the first insertion slot is provided with a first magnetic female terminal 124, which is electrically connected to the main control module 14. The rear cover of each ranging module 13 is provided with a first magnetic male terminal 123 that matches the first magnetic female terminal 124. When the first magnetic female terminal 124 and the first magnetic male terminal 123 are in contact, not only is the ranging module 13 mechanically fixed to the mounting base 12, but the magnetic attraction also enables the circuit conduction between the ranging module 13 and the main control module 14, which is convenient for installation and disassembly and ensures the stability of the electrical connection.

[0059] The ranging module 13 can employ an infrared ranging sensor or an ultrasonic ranging sensor. When detecting static distance, the ranging module 13 sends a detection signal at a fixed frequency, and the average value of multiple measurements is taken as the final static distance, improving detection accuracy. The preset static reference distance is pre-calculated and determined based on the location of the detection point and the wall position of the building to be measured. When the difference between the static distance and the static reference distance is within a preset error range (e.g., ±2cm), the photometric detector 1 is determined to have moved to the corresponding detection point.

[0060] The first magnetic female terminal 124 and the first magnetic male terminal 123, as well as the second magnetic female terminal and the second magnetic male terminal, are made of strong magnetic materials to ensure a firm connection. At the same time, the magnetic connection has good conductivity, ensuring stable power and signal transmission between modules. During installation and disassembly, only a certain force needs to be applied to complete the process, which facilitates the maintenance and replacement of the equipment.

[0061] In one possible implementation, a height adjustment module 112 for adjusting the distance between the photometric detection module 15 and the detection point is also included. The height adjustment module 112 includes a tripod, an adjustment rod 161, a support base 162 and a connecting base 164. The support base 162 includes a load-bearing platform 1623, a mounting plate 1621 and the support base 162, which are fixed from top to bottom.

[0062] The data acquisition module 19 is fixedly installed on the support platform 1623 to collect basic data of the building under test. It is easy to imagine that in order to prevent the data acquisition module 19 from being contaminated by the environment, a protective cover 191 is provided on the outer periphery of the data acquisition module 19. The protective cover 191 is detachably installed on the support platform 1623, and the support platform 1623 is provided with ventilation holes that penetrate the support platform 1623 within the coverage area of ​​the protective cover 191. In order to prevent dust from entering the protective cover and contaminating the data acquisition module 19, a filter screen is fixedly installed in the ventilation hole. In one feasible approach, the data acquisition module 19 takes the YDLIDAR X4 PRO LiDAR as an example. The YDLIDAR X4 PRO LiDAR achieves 360° scanning by rotating its scanning mechanism through a motor, thereby constructing two-dimensional point cloud data of the building under test to determine the basic data of the building under test and provide accurate data support for subsequent determination of the detection points and detection path planning of the building under test. One end of the adjustment rod 161 is equipped with a fixing block 165. The top of the fixing block 165 has a snap-fit ​​groove 1651 that matches the snap-fit ​​block 114 that can be detachably installed at the bottom of the base 11. The height adjustment module 112 is connected to the base 11 by snap-fit.

[0063] The top ends of each leg 163 of the tripod are hinged to the mounting plate 162 at equal intervals along the circumferential axis of the mounting plate 162. The mounting plate 162 is provided with an adjustment mechanism 166. The other end of the adjustment rod 161 passes through the support seat 162 and slides with the support seat 162. At the same time, the adjustment rod 161 is driven by the adjustment mechanism 166. The adjustment mechanism 166 drives the adjustment rod 161 to slide up and down relative to the support seat 162 along its own axis, so that the photometric detection module 15 can be adjusted in height. An adjusting rack 1662 is provided on the adjusting rod 161. The adjusting mechanism 166 includes an adjusting motor 1663 and an adjusting gear 1661 rotatably mounted in the mounting plate 1621. The adjusting motor 1663 and the adjusting gear 1661 are fixedly mounted. The adjusting gear 1661 meshes with the adjusting rack 1662 of the adjusting rod 161. The adjusting motor 1663 is electrically connected to the drive module 17. When it is necessary to adjust the distance between the photometric detection module 15 and the detection point, the main control module 14 generates an adjustment signal and transmits the adjustment signal to the drive module 17. The drive module then adjusts the distance between the photometric detection module 15 and the detection point. Block 17 controls the operation of the adjusting motor 1663 so that the adjusting gear 1661 rotates through the operation of the adjusting motor 1663. The rotation of the adjusting gear 1661 causes the adjusting rod 161 to move along its axial direction, thereby realizing the height adjustment of the photometric detection module 15. In order to maintain the stability of the motor and balance the possible center of gravity shift after the data acquisition module 19 is installed, a motor base 16631 is installed on the side wall of the mounting base 12. The adjusting motor 1663 is installed in the motor base 16631, and the installation position of the data acquisition module 19 is located on the opposite side of the adjusting motor 1663.

[0064] The adjustment mechanism 166 includes an adjustment motor 1663 and an adjustment gear 1661 rotatably mounted in the mounting plate 1621. The support base 162 of the adjustment rod 161 also includes a support platform 1623. The data acquisition module 19 is mounted on the support platform 1623. In order to prevent the data acquisition module 19 from being affected by environmental pollution and thus affecting the data acquisition accuracy, a protective cover 191 is provided on the outer periphery of the data acquisition module 19 on the support platform 1623. The protective cover 191 is made of optical glass and polycarbonate (PC) material. The protective cover 191 is detachably mounted on the support platform 1623. The detachable mounting method can be snap-fit. The support platform 1623 has a snap-fit ​​groove for the protective cover 191. The bottom end of the protective cover 191 snaps into the support platform 1623 to achieve relative fixation between the protective cover 191 and the support platform 1623. It is conceivable that, to prevent the data acquisition module 19 from being affected by excessive temperature during operation, the support platform 1623 has multiple ventilation holes penetrating the support platform 1623 within the coverage area of ​​the protective cover 191. The inside of the ventilation holes is covered with a dust filter, which can not only ensure air circulation inside the cover and prevent the data acquisition module 19 from being affected by excessive temperature, but also further block fine particles from entering. Each leg 163 of the tripod is hollow and includes an outer rod 1631 and an inner rod 1632. The outer rod 1631 is slidably sleeved on the outer periphery of the inner rod 1632 along the axial direction of the inner rod 1632. A first pitch adjustment mechanism 1633 is provided between the outer rod 1631 and the inner rod 1632. The first pitch adjustment mechanism 1633 includes an adjustment cylinder 16333, a lifting motor 16331, and an adjustment shaft 16332 fixedly installed on the output shaft of the lifting motor 16331. The adjustment cylinder 16333 is slidably installed on the inner rod 163. 2. The adjusting cylinder 16333 is threadedly connected to the adjusting shaft 16332. The adjusting cylinder 16333 is installed on the inner wall of the outer rod 1631 on the side away from the support seat 162. The lifting motor 16331 is installed on the inner rod 1632 on the side away from the support seat 162. A guide rail 16321 is provided along the axial direction of the inner rod 1632, penetrating the side wall of the inner rod 1632. A guide block 16311 is provided on the inner wall of the outer rod 1631 at a position corresponding to the guide rail 16321. The guide block 16311 and the guide rail... The guide rail 16321 is slidably engaged, and the guide block 16311 passes through the guide rail 16321 and is fixedly connected to the adjusting cylinder 16333. The adjusting shaft 16332 is rotated by the lifting motor 16331. With the cooperation of the guide rail 16321, the guide block 16311 and the adjusting cylinder 16333, the adjusting cylinder 16333 slides along the axial direction of the adjusting shaft 16332, thereby realizing the lifting and lowering of the outrigger 163. The bottom end of the inner rod 1632 is detachably mounted on the connecting seat 164.

[0065] The connecting seat 164 includes a base 1641, support arms 1642, and support rods 1643. The base 1641 is a hollow structure, housing the drive control unit 171 of the drive module 17. Three support arms 1642 are evenly distributed circumferentially around the base 1641, corresponding to the positions of the legs 163 of the tripod. One end of each support arm 1642 is fixed to the base 1641, and the other end is fitted with a moving component 18. A second pitch adjustment mechanism 1644 is provided on each support arm 1642 for adjusting the pitch attitude of the mounting seat 12 within a small range. The second pitch adjustment mechanism 1644 includes an adjusting arm 16441 and an adjusting wedge 16442. The adjusting arm 16441 includes an inner cylinder 16432 and an outer cylinder 16431, with the outer cylinder 16431 sliding axially along the inner cylinder 16432. A movable sleeve is provided on the outer periphery of the inner cylinder 16432; one end of the adjusting arm 16441 is hinged to the end of the support arm 1642 away from the moving part 18; the adjusting wedge block 16442 is fixed on the wheel cover 181 with its wedge surface facing the support arm 1642, and a limiting groove 164421 matching the wedge surface shape of the adjusting wedge block 16442 is provided on the wedge surface of the two adjusting arms 16441 corresponding to the same support arm 1642; a connecting rod 16443 is provided on the outer cylinder 16431 of the two adjusting arms 16441 corresponding to the same support arm 1642, so as to realize the fixed connection of the two adjusting arms 16441 through the connecting rod 16443; a wedge rod 16444 is hinged at the midpoint of the connecting rod 16443; the free end of the wedge rod 16444 abuts against the adjusting wedge block 16442. The device can slide along the limiting groove 164421; the drive module 17 includes a steering drive motor 172, a forward drive motor 173, and a drive control unit 171. The steering drive motor 172 and the forward drive motor 173 are both electrically connected to the drive control unit 171. The drive control unit 171 is installed in the base 1641. The moving part 18 is installed below the free end of the support arm 1642. The moving part 18 includes a wheel cover 181 and a travel wheel installed on the wheel cover 181. The forward drive motor 173 is installed in the wheel cover 181, and the output shaft of the forward drive motor 173 is fixed to the travel wheel; a transmission shaft 174 is installed on the wheel cover 181, and the transmission shaft 174 passes through the adjusting wedge. Block 16442 is fixedly connected to the output end of steering drive motor 172. The support leg 163 of the tripod is fixed on the outer rod 1631 of the adjusting arm 16441 at the corresponding position. When the steering drive motor 172 drives the transmission shaft 174 to rotate and realize the steering of the moving part 18, the adjusting wedge block 16442 rotates with the rotation of the moving part 18. The wedge rod 16444, which abuts against the limiting groove 164421 of the adjusting wedge block 16442, drives the adjusting arm 16441 to swing up and down under the action of the adjusting wedge block 16442. The outer rod 1631 slides along the axial direction of the inner rod 1632, thereby driving the support leg 163 to swing up and down, thereby realizing the pitch attitude adjustment of the photometric detection module 15.

[0066] Each wheel cover 181 is equipped with a touch switch 1811 on its side wall. The touch switch 1811 is electrically connected to the drive control unit 171. When the photometer 1 is moving and performing photometer detection, if the wheel cover 181 is touched by an external force such as manual contact by the operator or collision with an obstacle, the touch switch 1811 is triggered, which can directly control the forward wheel 182 to stop rotating, preventing the equipment from continuing to move unexpectedly. If the wheel cover 181 accidentally collides with an obstacle such as a wall or the edge of the instrument table during the movement of the equipment, the touch switch 1811 is triggered. The control switch 1811 will sense the contact pressure and immediately trigger the shutdown protection to prevent the forward wheel 182 from being continuously subjected to force, which could cause equipment damage or detection position deviation. The main function of the wheel cover 181 is to protect the mechanical structure of the forward wheel 182, such as bearings and transmission components, from dust and debris. If the wheel cover 181 becomes loose, shifted, or even falls off due to vibration or external force, the control switch 1811 will be triggered by the position change, emitting alarm signals such as a buzzer or flashing indicator light to remind the operator to perform timely maintenance and avoid exposing the wheel body, which could affect the life of the equipment.

[0067] The connecting seat 164 also includes a support rod 1643 disposed between the base 1641 and each support arm 1642. The support rod 1643 includes a fixed rod and a telescopic rod. The telescopic rod is slidably sleeved on the outer periphery of the fixed rod along the axial direction of the fixed rod. A telescopic motor 16433 is fixedly installed on the side of the fixed rod near the base 1641. A telescopic shaft 16434 is fixedly installed on the output shaft of the telescopic motor 16433. A telescopic cylinder 16435 is slidably installed in the fixed rod. The telescopic cylinder 16435 is threadedly connected to the telescopic shaft 16434. A guide groove 1643 penetrating the side wall of the fixed rod is formed on the side wall of the fixed rod along the axial direction of the fixed rod. 21. A guide block 164311 is installed on the inner wall of the telescopic rod at a position corresponding to the guide groove 164321, which slides in cooperation with the guide groove 164321. The guide block 164311 passes through the guide groove 164321 and is fixedly connected to the telescopic cylinder 16435. When it is necessary to adjust the distance between the support arm 1642 and the base 1641, the telescopic motor 16433 is started. With the cooperation of the guide block 164311, the guide groove 164321 and the telescopic shaft 16434, the telescopic rod rotates and drives the telescopic rod to slide along the axis of the fixed rod, thereby realizing the length adjustment of the support rod 1643.

[0068] The need to adjust the length of the support rod 1643 can occur when, during the detection process, the static distance between the detection point and the cavity is less than the length of the support rod 1643 and the support arm 1642. In this case, the length of the support rod 1643 can be shortened by controlling the telescopic motor 16433 to achieve detection at that point. Alternatively, during the adjustment of the height of the photometric detection module 15, the height of the photometric detection module 15 can be automatically adjusted by changing the length of the support rod 1643. This is because the legs 163 of the triangular bracket are mounted on the adjusting arm 16441, which is essentially integrated with the support arm 1642. Adjusting the length of the support rod 1643 causes the adjusting arm 16441 to expand outward or converge inward around the axis of the base 1641, thereby achieving height adjustment of the photometric detection module 15. The telescopic adjustments of each support rod 1643 are relatively independent and do not affect each other.

[0069] Both the steering drive motor 172 and the forward drive motor 173 can be DC geared motors with large torque output. The drive control unit 171 uses a microcontroller, which can accurately receive and process the movement control commands from the main control module 14 and control the operation of the motors. In the second pitch adjustment mechanism 1644, when it is necessary to adjust the pitch angle of the moving part 18, the drive control unit 171 controls the transmission shaft 174 to rotate, driving the adjusting wedge 16442 to move. Under the action of the adjusting wedge 16442, the wedge rod 16444 pushes the adjusting arm 16441 to rotate, thereby realizing the pitch angle adjustment of the moving part 18 and ensuring that the photometer 1 can move stably on uneven ground. The travel wheels of the moving part 18 are made of non-slip material to ensure stable travel on different surfaces such as tiles, wooden floors, and carpets. According to the movement control commands, the drive module 17 drives the travel wheels to rotate by controlling the forward and reverse rotation and speed of the motor, realizing the forward, backward, and turning movements of the photometer 1.

[0070] Understandably, to protect the steering drive motor 172, its installation position can be the lower end of the support arm 1642 parallel to the moving part 18. The support arm 1642 has a transmission groove 16421 at its top end where the moving part 18 and steering drive motor 172 are located. The moving part 18 is located below the transmission groove 16421 near the free end of the support arm 1642. The steering drive motor 172 is located at the other end of the transmission groove 16421. The output shaft of the steering drive motor 172 is fixedly mounted with a drive shaft 175, which is rotatably mounted in the transmission groove 16421. The wheel cover 18 of the moving part 18... A fixed drive shaft 174 is rotatably mounted in a drive groove 16421, and the drive shaft 174 is parallel to the drive shaft 175. A drive belt 176 is installed between the drive shaft 174 and the drive shaft 175. To ensure power transmission, both the drive shaft 175 and the drive shaft 174 are provided with teeth, which mesh with the drive belt 176 to transmit power. In order to ensure the power transmission of the drive belt 176, a tensioning wheel is installed on the side wall of the drive groove 16421. The tensioning wheel meshes with the drive belt 176 and applies pressure to it so that the drive belt 176 always keeps in close contact with the drive shaft 175 and the drive shaft 174.

[0071] The height adjustment module 112 allows the photometer 1 to adjust the distance between the photometer detection module 15 and the detection point according to actual needs, thus expanding the detection range. The first pitch adjustment mechanism 1633 and the second pitch adjustment mechanism 1644 allow for precise adjustment of the pitch angle of the photometer 1, further improving the flexibility and accuracy of the detection. Simultaneously, the design of the support arm 1642 and support rod 1643 enhances the stability of the entire system, ensuring that the photometer 1 remains stable during movement and detection. Compared with existing technologies, the system in this embodiment can adapt to different detection scenarios and requirements, providing more comprehensive and accurate indoor photometer detection services.

[0072] For ease of disassembly and maintenance, each support rod 1643 has a second insertion slot at its free end. The support arm 1642 is inserted into the second insertion slot. Each second insertion slot has a second magnetic female end at its bottom, and each second magnetic female end is electrically connected to the drive control unit 171. Each support arm 1642 has a second magnetic male end at its contact position with the bottom of the second insertion slot, which matches the second magnetic female end. Each second magnetic male end is respectively connected to the steering drive motor 172, the forward drive motor 173, and the lifting drive motor on the corresponding support arm 1642. The support arm 1642 and the support rod 1643 are connected by a second magnetic female end at the bottom of the second insertion slot at the free end of the support rod 1643, and a second magnetic male end at the corresponding position of the support arm 1642. The two magnetically engage to achieve electrical connection between the drive control unit 171 and the steering drive motor 172, the forward drive motor 173, and the lifting motor 16331. When the second magnetic female end and the second magnetic male end touch, they not only achieve mechanical fixation, but also achieve circuit conduction through magnetic attraction. This facilitates installation and disassembly and ensures the stability of the electrical connection.

[0073] In this embodiment, the cable of the input port of the adjusting motor 1663 is connected to the output port of the drive control unit 171 through the inside of the tripod leg 163, thus realizing the electrical connection between the drive control unit 171 and the adjusting motor 1663. The driving control unit 171 then controls the working state of the adjusting motor 1663. Specifically, the length of the cable connecting the adjusting motor 1663 and the drive control unit 171 is greater than the sum of the maximum extension length of the support rod 1643, the maximum adjustment length of the leg 163, and the maximum range of rotation achieved by the hinge between the leg 163 and the mounting plate 1621. This ensures that the cable of the adjusting motor 1663 will not be damaged by pulling during equipment use. Simultaneously, the cable lengths connecting the lifting motor 16331 installed in the leg 163, the steering drive motor 172 installed on the support arm 1642, and the forward drive motor 173 installed in the wheel cover 181 to the drive control unit 171 are greater than the maximum extension range of the support rod 1643. This ensures that the cable will not be damaged by pulling during the adjustment of the support rod 1643.

[0074] In this embodiment, automated indoor photometric detection is achieved through the collaborative operation of the photometric detector 1 and the control terminal 2. The photometric detector 1 can automatically move to various detection points according to a preset detection path, accurately determining its own position using the ranging module 13 to ensure detection accuracy. Simultaneously, the photometric detection module 15 accurately collects photometric data and transmits the data to the control terminal 2 via the main control module 14. The control terminal 2 processes and analyzes the data, generating an intuitive photometric detection report to provide users with comprehensive and accurate indoor photometric information. Compared with existing technologies, this system avoids the subjective bias and inefficiency of manual measurement, and also solves the problems of high installation and maintenance costs and inflexible position adjustment of fixed sensors. It can detect indoor photometric data more comprehensively, accurately, and flexibly, meeting the needs of the construction industry for accurate indoor photometric detection and evaluation.

[0075] like Figure 11 The diagram shown is a flowchart illustrating a control method for an ice maker disclosed in an embodiment of this application. The illuminance detection system includes at least the following steps: S1 receives the start detection command generated by the control terminal in response to the detection request, and obtains the basic information of the building to be tested collected by the data acquisition module based on the start detection command.

[0076] Specifically, the testing personnel input a testing request via touch on the control terminal 2. The control terminal 2 generates a start testing command based on the testing request and transmits it to the photometric detector 1. After receiving the start testing command from the control terminal 2, the main control module 14 of the photometric detector 1 activates the data acquisition module. The data acquisition module acquires basic data such as room dimensions, wall coordinates, and obstacle locations of the building under test through LiDAR or a camera, and transmits the data to the main control module 14.

[0077] When acquiring basic information about the building under test, the laser scanner achieves a scanning accuracy of ±1mm, and its scanning range covers the entire interior space of the building. The camera captures images with a resolution of no less than 1920×1080 pixels, and image recognition algorithms accurately extract information such as the location of doors and windows.

[0078] It is readily apparent that, to ensure the integrity and accuracy of the basic data of the building under test collected by the data acquisition module 19, the main control module 14 generates a steering signal and transmits it to the drive control unit 171 while the data acquisition module 19 is collecting the basic data. The drive control unit 171 controls the steering drive motor to operate, driving the moving part 18 to turn, thereby causing the entire device to rotate in place, so that the data acquisition module 19, installed on the support platform 1623, can scan and collect indoor space data 360° without blind spots. During the rotation, the drive control unit 171 receives the status signals of each touch switch 1811 in real time. If an abnormal touch is detected, the rotation is stopped immediately and an alarm is issued to ensure the safety of the data acquisition process. After the data acquisition is completed, the main control module 14 preprocesses the basic data, including data denoising, coordinate calibration, and 3D modeling, generating a digital model of the indoor space of the building under test, providing an accurate environmental map for the subsequent determination of detection points and the planning of detection paths.

[0079] When the data acquisition module 19 acquires the basic data of the building under test, the rotation angle corresponding to the turning signal generated by the main control module 14 can be 0°~10°, for example, 5°, 7°, 10°, etc., to ensure the integrity of data acquisition without causing a large deflection of the entire device.

[0080] S2, based on basic information, determine at least one detection point of the building to be tested, and plan the detection path based on the current location and the location of each detection point.

[0081] Specifically, the main control module 14 determines the indoor detection points based on the acquired basic information, combined with preset algorithms and rules. Based on the basic data, the main control module 14 determines the detection points according to preset rules. When determining the detection points, factors such as the room's function, area, and window positions are considered. Typical locations are selected as detection points, such as the center of the room, window edges, and corners. Each detection point is assigned a unique identifier, such as coordinates (x1, y1, z1). Then, based on the current position (initial position) and the coordinates of each detection point, a path planning algorithm, such as the A* algorithm, is used to plan the detection path, ensuring the shortest path and avoiding obstacles.

[0082] The preset rules can be standard documents such as the "Standard for Lighting Design of Buildings".

[0083] When determining the detection points, the number of detection points will be appropriately increased for larger rooms to ensure the representativeness of the detection. After the detection path is planned, simulation verification will be performed in the main control module 14 to ensure the feasibility of the path.

[0084] S3, determine each detection point as the target detection point in sequence according to the detection path, generate a movement control command, so that the drive module drives the moving part to the location of the target detection point according to the movement control command.

[0085] Specifically, the main control module 14 sequentially determines each detection point as the target detection point according to the planned detection path and generates corresponding movement control commands, including forward, backward, and turning commands. After receiving the commands, the drive module 17 controls the steering drive motor 172 and the forward drive motor 173 to work, so that the moving part 18 drives the photometric detector 1 to move along the detection path, so that the photometric detector 1 gradually approaches the target detection point.

[0086] During the movement of the photometric detector 1 along the detection path, the main control module 14 receives feedback information from the drive module 17 and the moving component 18 in real time, such as the moving speed and position deviation. Based on the feedback information, the main control module 14 adjusts the moving control command in real time to ensure accurate movement to the detection point.

[0087] S4, obtain the static distance between each ranging module and the corresponding wall of the building to be measured.

[0088] Specifically, during its movement, the photometric detector 1 obtains its current position through a positioning system. When it reaches the detection point, the main control module 14 triggers the ranging module 13 to start working. The ranging module 13 can use technologies such as ultrasound or laser to accurately measure the distance between itself and the wall.

[0089] When detecting static distance, each ranging module 13 will start detection after the photometric detector 1 has been stable for 3-5 seconds to avoid the influence of equipment shaking on the detection results.

[0090] When the photometric detector 1 reaches the target detection point, the ranging module 13 is activated to detect the static distance to the corresponding wall. For example, the front ranging module 13 detects the distance to the front wall, the left ranging module 13 detects the distance to the left wall, and the right ranging module 13 detects the distance to the right wall. The main control module 14 compares the detected static distance with the preset static reference distance of the detection point, such as a preset distance of 2m to the front wall and 3m to the left wall. If the error is within the allowable range (e.g., ±5cm), it is determined that the target detection position has been reached. If the error exceeds the range, a fine-tuning command is generated to drive the moving part 18 to move slightly until the distance matches.

[0091] It is conceivable that, in order to ensure the accuracy of the static distances between each ranging module 13 and the corresponding walls of the building under test, the mounting base 12 is first adjusted to the target yaw and pitch states before acquiring the static distances. Specifically, this includes: acquiring the current pose data detected by the motion attitude sensor; determining the current yaw angle of the mounting base 12 based on the current pose data; if the current yaw angle is inconsistent with the preset yaw angle, generating a yaw adjustment command based on the current pose data, so that the adjustment module 112 adjusts the mounting base 12 to the target yaw attitude according to the yaw adjustment command; determining the current pitch angle of the mounting base 12 based on the current pose data, and calculating the difference between the current pitch angle and the preset pitch angle; if the difference is less than or equal to the pitch adjustment range of the second pitch adjustment mechanism 1644, generating a first pitch adjustment command, so that the drive module 17 controls the second pitch adjustment mechanism 1644 to adjust the mounting base 12 to the target pitch attitude; if the difference is greater than the second pitch adjustment mechanism 1644, generating a first pitch adjustment command; if the difference is greater than the second pitch adjustment mechanism 1644, generating a second pitch adjustment command; if the difference is greater than the second pitch adjustment mechanism 1644, generating a third ... When the pitch adjustment range of the first pitch mechanism 1633 is less than or equal to the pitch adjustment range of the second pitch mechanism 1644, a second pitch adjustment command is generated to control the first pitch adjustment mechanism 1633 to adjust the mounting base 12 to the target pitch attitude. If the difference is greater than the pitch adjustment range of the first pitch adjustment mechanism 1633 and less than the sum of the pitch adjustment ranges of the first pitch adjustment mechanism 1633 and the second pitch adjustment mechanism 1644, a third pitch adjustment command is generated to control the first pitch adjustment mechanism 1633 and the second pitch adjustment mechanism 1644 to adjust the mounting base 12 to the target pitch attitude. If the difference is greater than the sum of the pitch adjustment ranges of the first pitch adjustment mechanism 1633 and the second pitch adjustment mechanism 1644, an alarm signal is generated and transmitted to the control terminal 2 to issue an alarm prompt. The pitch adjustment range of the first pitch adjustment mechanism 1633 is greater than the pitch adjustment range of the second pitch adjustment mechanism 1644.

[0092] The motion attitude sensor detects the current pose data of the mounting base 12, and the main control module 14 parses it to obtain the current yaw angle and pitch angle. Yaw adjustment: If the current yaw angle is inconsistent with the preset yaw angle (such as 0°), the main control module 14 generates a yaw adjustment command, and the adjustment module 112 drives the mounting base 12 to rotate until the yaw angle matches. Pitch adjustment: Calculate the difference between the current pitch angle and the preset pitch angle (e.g., 0°), and adjust according to the following rules: Difference ≤ adjustment range of the second pitch adjustment mechanism 1644 (e.g., ±3°): Control the second pitch adjustment mechanism 1644 to make fine adjustments; 3° < Difference ≤ adjustment range of the first pitch adjustment mechanism 1633 (e.g., ±10°): Control the first pitch adjustment mechanism 1633 to adjust; 10° < Difference ≤ 13° (3° + 10°): Link the first and second pitch adjustment mechanisms 1644 to adjust; Difference > 13°: Generate an alarm signal to the control terminal 2, and the control terminal 2 issues an alarm prompt to inform the testing personnel that the current detection has failed; After the yaw angle and pitch angle are adjusted, each ranging module 13 then detects the static distance between itself and the corresponding wall to ensure that the detected data can be used to determine whether the current photometric detector 1 is at the target detection position of the detection point.

[0093] S5. Compare the static distance with the preset static reference distance corresponding to the target detection point to determine whether the photometric detector has moved to the target detection position corresponding to the target detection point.

[0094] Specifically, the main control module 14 compares the static distance detected by the ranging module 13 with the preset static reference distance. If the difference between the two is within the allowable error range, it is considered that the photometric detector 1 has moved to the target detection position; otherwise, the position of the photometric detector 1 will be readjusted until the requirements are met.

[0095] S6. If the current location is the target detection location, the photometric data collected by the photometric detection module is obtained, the photometric data of each target detection point is collected according to the detection path, and the photometric data of each target detection point is transmitted to the control terminal so that the control terminal can generate the corresponding photometric detection report of the building to be tested based on the photometric data of each target detection point.

[0096] Specifically, once the photometer 1 reaches the target detection location, the main control module 14 controls the photometer detection module 15 to begin collecting photometric data. The photometer detection module 15 transmits the collected data to the main control module 14, which then sends the data to the management terminal 2 via the communication unit. After receiving the photometric data from all detection points, the management terminal 2 processes and analyzes the data to generate a detailed photometric detection report, including information such as the photometric distribution curve and average photometric value.

[0097] When collecting photometric data, the photometric detection module 15 records the time point of collection to facilitate subsequent analysis of photometric changes over time. The main control module 14 organizes and packages the photometric data from each detection point and transmits it to the control terminal 2 in an encrypted manner to ensure data security.

[0098] The photometric detection module 15 collects photometric data from the current detection point. The collection time can be set to 1-5 seconds, and the error can be reduced by taking the average value. The main control module 14 associates the photometric data with the detection point identifier, packages it, and transmits it to the control terminal 2. The control terminal 2 receives the photometric data and corresponding location information of each detection point uploaded by the photometric detector 1, summarizes and analyzes the data, and generates a photometric detection report based on the processed data. The report may include information such as the distribution of detection points, photometric values ​​of each point, and pass rate statistics, and is displayed in real time on the screen for easy viewing by the user.

[0099] In this embodiment, the detector moves autonomously through the drive module 17 and path planning, reducing manual intervention and improving detection efficiency; the detection is accurate, with position calibration performed by the ranging module 13 and the attitude adjustment mechanism 166 ensuring accurate detection attitude and avoiding measurement errors caused by position or attitude deviations; it is highly adaptable, with the height adjustment module 112 and pitch adjustment mechanism 166 adapting to detection scenarios with different heights and ground slopes, expanding the application range; and the data is visualized, with the control terminal 2 generating intuitive detection reports, allowing users to quickly grasp indoor light conditions and providing a basis for lighting optimization.

[0100] It should be noted that the methods and system embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the system embodiments, which will not be repeated here.

[0101] The above description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Other embodiments of this disclosure will be readily apparent to those skilled in the art upon consideration of the specification and the disclosure of practical truths.

[0102] This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. An indoor illuminance detection system, characterized in that: The system includes a photometric detector (1) and a control terminal (2); The control terminal (2) is communicatively connected to the photometer (1). The control terminal (2) is used to generate a start detection command in response to a detection request and transmit the start detection command to the photometer (1); it is also used to receive the photometric data of the building to be tested and the location information of the photometer (1) collected by the photometer (1), generate a photometric detection report based on the photometric data and the location information, and display the photometric detection report. The photometric detector (1) includes a base (11), a mounting base (12), a photometric detection module (15), a main control module (14), a data acquisition module, at least one ranging module (13), a drive module (17), and a moving part (18) fixed to the output end of the drive module (17). The mounting base (12) is mounted on the top of the base (11), and the main control module (14) is mounted in the mounting base (12). The photometric detection module (15) and the ranging module (13) are fixed on the mounting base (12). The main control module (14) is communicatively connected to the photometric detection module (15), the data acquisition module, the ranging module (13), and the drive module (17) to control the operation of each module. The main control module (14) is used to receive a start detection command, control the data acquisition module to acquire basic data of the building under test based on the control command, and determine the detection points and detection path of the building under test based on the basic data; the data acquisition module is used to receive the control from the main control module (14) to acquire the basic data of the building under test, and transmit the basic data to the main control module (14); the main control module (14) is also used to generate a movement control command based on the detection path, and transmit the movement control command to the drive module (17); the drive module (17) drives the moving component (18) to move according to the movement control command, so that the photometric detector (1) moves along the detection path. Movement; when the photometric detector (1) is located at the detection point, each of the distance measuring modules (13) is used to detect the static distance between the distance measuring module (13) and the wall of the building to be measured, and transmit the detected static distance to the main control module (14); the main control module (14) is also used to compare the static distance with the preset static reference distance of the corresponding detection point to determine whether the photometric detector (1) has moved to the target detection position corresponding to the detection point; the photometric detection module (15) is used to collect the photometric data of each detection point and transmit the photometric data to the main control module (14); the main control module (14) is used to transmit the photometric data of each detection point to the control terminal (2).

2. The indoor illuminance detection system according to claim 1, characterized in that: It also includes a height adjustment module (112) for adjusting the distance between the photometric detection module (15) and the detection point. The height adjustment module (112) includes a tripod, an adjustment rod (161), a support base (162), and a connecting base (164). The support base (162) includes a bearing platform (1623), a mounting plate (1621), and a support seat (1622) fixed from top to bottom. One end of the adjustment rod (161) is fixed to the base (11). The top ends of each leg (163) of the tripod are evenly distributed and hinged to the side wall of the mounting plate (162) along the circumference of the mounting plate (162). The mounting plate (162) is provided with an adjustment mechanism (166). The other end of the adjustment rod (161) passes through the support base (162) and slides with the support base (162). The adjustment rod (161) is driven by the adjustment mechanism (166). The adjusting rod (161) slides up and down relative to the support seat (162) along its own axis to adjust the height of the photometric detection module (15); the adjusting rod (161) is provided with an adjusting rack (1662) along the axis; the adjusting mechanism (166) includes an adjusting motor (1663) and an adjusting gear (1661) rotatably installed in the mounting plate (1621); the adjusting gear (1661) meshes with the adjusting rack (1662); the adjusting motor (1663) is fixedly installed with the adjusting gear (1661); a motor seat (16631) is installed on the side wall of the mounting plate (1621); the adjusting motor (1663) is installed in the motor seat (16631) and electrically connected to the drive module (17); the data acquisition module (19) is installed on the bearing platform (1623), and the installation position of the data acquisition module (19) is located on the opposite side of the adjusting motor (1663);Each of the aforementioned outriggers (163) is provided with a first pitch adjustment mechanism (1633). Each outrigger (163) includes an outer rod (1631) and an inner rod (1632). The outer rod (1631) is sleeved around the outer periphery of the inner rod (1632). The first pitch adjustment mechanism (1633) includes an adjustment cylinder (16333), a lifting motor (16331), and an adjustment shaft (16332) fixedly installed on the output shaft of the lifting motor (16331). The adjustment cylinder (16333) is threadedly connected to the adjustment shaft (16332) and slidably installed in the inner rod (1632). The adjustment cylinder (16333) is installed on the inner wall of the outer rod (1631) on the side away from the support seat (162). The lifting motor (16331) is... 331) Installed on the side of the inner rod (1632) away from the support seat (162), a guide rail (16321) is provided on the side wall of the inner rod (1632) along the axial direction of the inner rod (1632) and passes through the side wall of the inner rod (1632). The inner wall of the outer rod (1631) is provided with a guide block (16311) at a position corresponding to the guide rail (16321) and slides with the guide rail (16321). The guide block (16311) passes through the guide rail (16321) and is fixed to the adjusting cylinder (16333). The support leg (163) is detachably installed on the connecting seat (164). The drive module (17) is installed on the connecting seat (164), and the lifting motor (16331) is electrically connected to the drive module (17).

3. The indoor illuminance detection system according to claim 2, characterized in that: The connecting base (164) includes a base (1641) and support arms (1642) fixed to the side wall of the base (1641) corresponding to each leg (163) of the tripod. The drive module (17) includes a drive control unit (171) and a steering drive motor (172) and a forward drive motor (173) electrically connected to the drive control unit (171). The drive control unit (171) is installed in the base (1641). The moving part (18) is installed at the free end of the support arm (1642). The moving part (18) includes a wheel cover (181) and a wheel cover mounted on the wheel cover. The traveling wheel in (181) has a forward drive motor (173) installed in the wheel cover (181), and the output shaft of the forward drive motor (173) is fixed to the traveling wheel. Each of the support arms (1642) is also provided with a second pitch adjustment mechanism (1644). The pitch adjustment mechanism (166) includes an adjustment arm (16441) and an adjustment wedge (16442). The adjustment arm (16441) is hinged to the end of the support arm (1642) away from the moving part (18), and the adjustment wedge (16442) is installed on the wheel with its wedge surface facing the support arm (1642). On the cover (181), the wedge surface of the adjusting wedge block (16442) is provided with a limiting groove (164421) that matches the shape of the wedge surface. The adjusting arm (16441) includes an inner cylinder (16432) and an outer cylinder (16431). The outer cylinder (16431) is slidably sleeved on the outer periphery of the inner cylinder (16432) along the axial direction of the inner cylinder (16432). A connecting rod (16443) is provided between the outer cylinders (16431) of the two adjusting arms (16441) corresponding to each of the support arms (1642) for connecting the two adjusting arms (16441). The midpoint of the connecting rod (16443) is... A wedge rod (16444) is hinged at the wheel cover (181), and the free end of the wedge rod (16444) abuts against the limiting groove (164421). A drive shaft (174) is fixed on the wheel cover (181), and the drive shaft (174) passes through the adjusting wedge block (16442) and is fixedly connected to the output end of the steering drive motor (172). The outrigger (163) is detachably installed on the outer cylinder (16431) of the adjusting arm (16441). A touch switch (1811) is installed on the side wall of each wheel cover (181), and the touch switch (1811) is electrically connected to the drive control unit (171).

4. The indoor illuminance detection system according to claim 3, characterized in that: The connecting seat (164) further includes a support rod (1643) disposed between the base (1641) and each support arm (1642). The support rod (1643) includes a fixed rod and a telescopic rod. The telescopic rod is slidably sleeved on the outer periphery of the fixed rod along the axial direction of the fixed rod. A telescopic motor (16433) is fixedly installed on the side of the fixed rod near the connecting seat (164). The output shaft of the telescopic motor (16433) is fixedly installed with a telescopic shaft (16434). The inner side of the fixed rod near the base (1641) A telescopic cylinder (16435) is installed on the wall. The telescopic cylinder (16435) is threadedly connected to the telescopic shaft (16434) and slidably mounted in the fixed rod. The side wall of the fixed rod is provided with a guide groove (164321) that passes through the fixed rod along the axial direction of the fixed rod. The fixed rod is provided with a guide block (164311) that slides with the guide groove (164321) at the corresponding position. The guide block (164311) passes through the guide groove (164321) and is fixed to the telescopic cylinder (16435).

5. The indoor illuminance detection system according to claim 4, characterized in that: The mounting base (12) has a number of first insertion slots on its side wall that are the same as the number of ranging modules (13). The ranging modules (13) are inserted into the first insertion slots. Each first insertion slot has a first magnetic female end (124) at its bottom. Each first magnetic female end (124) is electrically connected to the main control module (14). Each ranging module (13) has a first magnetic male end (123) on its rear cover that matches the first magnetic female end (124). The first magnetic male end (123) is electrically connected to the ranging module (13). The mechanical fixation of the ranging module to the mounting base and the circuit connection between the ranging module and the main control module are achieved through the magnetic attraction between the first magnetic female end and the first magnetic male end.

6. The indoor illuminance detection system according to claim 3, characterized in that: It also includes a motion attitude sensor. The base (11) is provided with an adjustment module (112). The motion attitude sensor is electrically connected to the main control module (14). The adjustment module (112) is communicatively connected to the main control module (14). The output end of the adjustment module (112) is fixed to the bottom end of the mounting base (12). The motion attitude sensor is used to detect the current pose data of the mounting base (12) and transmit the current pose data to the adjustment module (112). The main control module (14) is also used to determine whether the mounting base (12) is in the target yaw attitude according to the current pose data and the preset yaw angle. If it is not in the target yaw attitude, it generates an attitude adjustment command according to the current pose data and transmits the attitude adjustment command to the adjustment module (112). The adjustment module (112) is used to adjust the mounting base (12) to the target yaw attitude according to the yaw adjustment command. The main control module (14) is also used to determine the target pitch attitude of the mounting base (12) based on the current pose data and the preset pitch angle. If it is not the target pitch attitude, it generates a pitch adjustment command based on the current pose data and transmits the pitch and yaw adjustment command to the drive module (17). The drive module (17) is used to adjust the mounting base (12) to the target pitch adjustment attitude based on the pitch adjustment command.

7. The indoor illuminance detection system according to claim 6, characterized in that: The base (11) has an upper mounting groove (111) and the adjustment module (112) is installed in the mounting groove (111). The adjustment module (112) includes a rotation control unit (1121) and an angle servo mechanism (1122). The rotation control unit (1121) is electrically connected to the angle servo mechanism (1122), and the output shaft of the angle servo mechanism (1122) is coaxial with the base (11). A limiting platform is provided on the upper side wall of the mounting groove (111), and a wireless charging transmitting coil (1124) is installed on the limiting platform. The wireless charging transmitting coil (1124) is connected to the rotation control unit (1121) and the angle servo mechanism (1122). The control unit (1121) is electrically connected, and a charging interface (113) is also provided on the base (11). The charging interface (113) is electrically connected to the rotation control unit (1121). A connector (121) that cooperates with the output shaft of the angle servo mechanism (1122) is fixed at the center of the bottom of the mounting base (12). A fixing groove is provided on the bottom of the mounting base (12) on the outer periphery of the connector (121). A wireless charging receiving coil (122) that matches the wireless charging transmitting coil (1124) is installed in the fixing groove. The wireless charging receiving coil (122) is electrically connected to the main control module (14).

8. An indoor illuminance detection method, applied to an indoor illuminance detection system according to any one of claims 1-7, characterized in that, The method includes: Receive the start detection command generated by the control terminal in response to the detection request, and obtain the basic information of the building to be tested collected by the data acquisition module based on the start detection command; Based on the aforementioned basic information, at least one detection point is determined for the building to be tested, and a detection path is planned based on the current location and the location of each detection point. According to the detection path, each detection point is determined as the target detection point in sequence, and a movement control command is generated so that the drive module drives the moving part to the position of the target detection point according to the movement control command. Obtain the static distance between each ranging module and the corresponding wall of the building to be measured; The static distance is compared with the preset static reference distance corresponding to the target detection point to determine whether the photometric detector has moved to the target detection position corresponding to the target detection point. If the current location is the target detection location, the photometric data collected by the photometric detection module is obtained, the photometric data of each target detection point is collected according to the detection path, and the photometric data of each target detection point is transmitted to the control terminal so that the control terminal can generate a photometric detection report of the corresponding building to be tested based on the photometric data of each target detection point.

9. The method for detecting indoor illuminance according to claim 8, characterized in that, Before obtaining the static distance between each ranging module and the corresponding wall of the building to be measured, the process also includes: Acquire the current pose data detected by the motion attitude sensor, and determine the current yaw angle of the mounting base based on the current pose data; If the current yaw angle is inconsistent with the preset yaw angle, a yaw adjustment command is generated based on the current pose data, so that the adjustment module adjusts the mounting base to the target yaw attitude according to the yaw adjustment command.

10. The method for detecting indoor illuminance according to claim 9, characterized in that, After acquiring the current pose data detected by the motion posture sensor, the process also includes: The current pitch angle of the mounting base is determined based on the current pose data, and the difference between the current pitch angle and the preset pitch angle is calculated. If the difference is less than or equal to the pitch adjustment range of the second pitch adjustment mechanism, a first pitch adjustment command is generated so that the drive module controls the second pitch adjustment mechanism to adjust the mounting base to the target pitch attitude. If the difference is greater than the pitch adjustment range of the second pitch adjustment mechanism and less than or equal to the pitch adjustment range of the first pitch mechanism, a second pitch adjustment command is generated so that the drive module controls the first pitch adjustment mechanism to adjust the mounting base to the target pitch attitude. If the difference is greater than the pitch adjustment range of the first pitch adjustment mechanism and less than the sum of the pitch adjustment ranges of the first pitch adjustment mechanism and the second pitch adjustment mechanism, then a third pitch adjustment command is generated so that the drive module controls the first pitch adjustment mechanism and the second pitch adjustment mechanism to adjust the mounting base to the target pitch adjustment attitude. If the difference is greater than the sum of the pitch adjustment ranges of the first pitch adjustment mechanism and the second pitch adjustment mechanism, an alarm signal is generated and transmitted to the control terminal so that the control terminal issues an alarm prompt, wherein the pitch adjustment range of the first pitch adjustment mechanism is greater than the pitch adjustment range of the second pitch adjustment mechanism.

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