A vehicle-mounted tunnel lighting index measurement system, method, electronic device and medium

Abstract

The application discloses a kind of vehicle-mounted tunnel lighting index measurement system, method, electronic equipment and medium, belong to highway tunnel lighting measurement technical field, comprising: mobile carrier, luminance acquisition module, for collecting luminance information in tunnel is set to the upper end of mobile carrier;Real-time calibration module is set to mobile carrier, and with the luminance acquisition module communication connection, for the real-time calibration of collected image luminance information;Tunnel positioning module is set to mobile carrier, for constructing the 3D point cloud of tunnel environment, carries out equidistance luminance dot distribution analysis to tunnel pavement;Visual display module is set to mobile carrier, and with the luminance acquisition module, real-time calibration module and tunnel positioning module communication connection, for showing equidistance luminance dot distribution and analysis result.The application effectively reduces the time cost, manpower cost and field layout cost of traditional lighting detection, realizes tunnel lighting index full-line automatic detection.

Description

Technical Field

[0001] This invention belongs to the field of highway tunnel lighting measurement technology, and more specifically, relates to a vehicle-mounted tunnel lighting index measurement system, method, electronic device and medium. Background Technology

[0002] In recent years, with the rapid development of transportation, the total number of highway tunnels and the mileage of open roads have been increasing year by year. The number of long tunnels, extra-long tunnels and tunnel groups in operation is increasing. Tunnel lighting inspection, as a quick way to evaluate the operation and maintenance effect of tunnels, can help operating units understand the operating status of tunnel lighting systems, guide tunnel lighting system maintenance and management decisions, and ensure the safe operation of highway tunnel electromechanical facilities.

[0003] Tunnel lighting inspection mainly uses illuminance, luminance, and derived indicators such as uniformity, longitudinal uniformity, and glare threshold increment as indicators. Key indicators of tunnel lighting quality include average road surface luminance (entrance section, transition section, middle section, and exit section), overall road surface luminance uniformity, longitudinal road surface luminance uniformity, and other indicators such as lighting-related color temperature, visually induced road-to-wall luminance ratio, and color rendering index of emergency stopping lanes.

[0004] Traditional tunnel lighting detection methods mainly include illuminance conversion and direct luminance methods, using portable illuminance meters and point luminance meters as the primary equipment. Tunnel lighting fixtures are arranged in four sections: entrance, transition, middle, and exit (e.g.,...). Figure 1 The entrance and exit sections are divided into two segments, I and II, while the transition section is divided into three segments, I, II, and III. Therefore, a typical one-way traffic tunnel lighting system is divided into eight segments. Current testing standards require testing of each segment, with the brightness of the middle segment sampled every 100 meters. The testing employs a grid method, dividing the measurement area into several rectangular grids and setting a measurement point at the center of each grid (e.g., ...). Figure 2 Each inspection section contains 30 measurement points. Completing the full lighting inspection of a tunnel of average length takes at least 2-3 hours.

[0005] The traditional tunnel lighting detection method described above has the following drawbacks:

[0006] 1) Measurement requires closing the lanes, resulting in high social costs;

[0007] 2) There are many measurement points, and the same area needs to be measured multiple times, resulting in slow measurement speed and long measurement cycle;

[0008] 3) Relying on manual on-site recording of measurement results, followed by re-entry of test data for calculation, is time-consuming and labor-intensive;

[0009] 4) Only the test results of the sampling interval can be obtained, which fails to cover the lighting conditions of the entire lighting section and the measurement area. Areas with low brightness are easily missed.

[0010] 5) While using vehicle-mounted illuminance detection significantly improves detection efficiency, a common problem is the difficulty in selecting the installation location of the illuminance sensor. Standards require the sensor to be as close to the road surface as possible to obtain accurate data, but in actual testing, this installation method is easily affected by the vehicle's own shadow. If installed on a higher position such as the roof or hood, the detection results will differ significantly from the actual road illuminance, requiring height correction and introducing new sources of error. Furthermore, the new standard "Methods for Measuring Lighting" (GB / T 5700-2023) and the national inspection standard "Monitoring and Evaluation Procedures for Key Bridges and Tunnels of the National Highway Network" (T / CECS G:E41-04-2019) primarily evaluate tunnel lighting facilities based on brightness.

[0011] 6) While point-type luminance meters offer high accuracy when using vehicle-mounted luminance measurement, they are not suitable for dynamic tunnel lighting detection scenarios. This is primarily because point-type luminance meters are extremely sensitive to environmental conditions, particularly vertical vibrations. Studies have shown that even minute vertical vibrations of the luminance meter during vehicle movement can lead to measurement position deviations of tens of meters, severely limiting its application in dynamic measurements.

[0012] Therefore, given the current situation where traditional static brightness acquisition equipment for tunnel lighting suffers from low efficiency, high social cost, poor stability of vehicle-mounted fusion, difficulty in sensor installation, large conversion errors in acquired data, and inability to meet the requirements of large-scale rapid detection and evaluation, there is an urgent need for a vehicle-mounted rapid detection system for tunnel lighting to solve the technical problems of unstable acquisition angles, large data acquisition deviations, and failure to meet specifications when using simple static acquisition equipment mounted on vehicles. Summary of the Invention

[0013] In view of the shortcomings of the above-mentioned or existing technologies, this invention proposes a vehicle-mounted tunnel lighting index measurement system, method, electronic equipment, and medium. Through photoelectric imaging, computer vision, and multi-sensor fusion technology, it achieves rapid detection of lighting indicators and fusion processing and analysis of lighting data and location data, providing a basis for large-scale, comprehensive, and multi-dimensional detection and evaluation of existing tunnel lighting quality indicators. Furthermore, this invention can be used in tunnels equipped with vehicle-mounted lighting control systems, and its key feature of "measuring during normal vehicle operation" perfectly meets the dynamic control requirements of vehicle-mounted lighting.

[0014] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0015] In a first aspect, the present invention provides a vehicle-mounted tunnel lighting index measurement system, comprising:

[0016] Mobile carrier

[0017] A brightness acquisition module is installed on the upper part of the mobile carrier to collect brightness information inside the tunnel;

[0018] A real-time calibration module is mounted on a mobile carrier and is communicatively connected to the brightness acquisition module to calibrate the acquired image brightness information in real time.

[0019] The tunnel positioning module, mounted on a mobile carrier, is used to construct a 3D point cloud of the tunnel environment, perform equidistant brightness point distribution analysis on the tunnel surface, and realize the division of the tunnel lighting area, measurement and positioning of the entire inspection vehicle trajectory.

[0020] A visualization display module is mounted on a mobile carrier and is communicatively connected to the brightness acquisition module, real-time calibration module, and tunnel positioning module. It is used to display equidistant brightness points, data analysis results, lighting index curves, and reports.

[0021] As a further technical solution of the present invention, the brightness acquisition module includes a visual sensor and a filter disposed on the incident light path of the visual sensor, wherein the filter is a Y filter whose spectral response characteristics are close to the spectral luminous efficiency function V(λ) of human eye's photopic vision.

[0022] As a further technical solution of the present invention, the real-time calibration module includes:

[0023] A beam splitter, the input of which is connected to the output of the brightness acquisition module, includes two outputs: one connected to a vision sensor and the second connected to the spectral analysis module.

[0024] The spectral analysis module is used to measure the spectral data of the light obtained after being split by the spectrometer, so as to be used as a single-point spectroradiometer.

[0025] The real-time calibration module calculates calibration parameters based on the spectral brightness data measured at the center point of the image by the spectral analysis module and the brightness data of the corresponding center point in the image acquired by the vision sensor. The calibration parameters are then used to calibrate the brightness data of the entire image acquired by the vision sensor.

[0026] As a further technical solution of the present invention, the tunnel positioning module includes:

[0027] A binocular stereo camera is used to acquire images from different perspectives and calculate the depth information of feature points based on the parallax principle in order to construct a 3D point cloud and depth map of the tunnel environment.

[0028] An inertial measurement unit (IMU) is used to detect changes in the attitude angles of a moving vehicle during its movement.

[0029] An encoder is used to collect the speed and time data of the mobile carrier;

[0030] The trajectory fitting unit integrates the attitude angle change data from the inertial measurement unit, the driving speed and time data collected by the encoder, and combines them with the tunnel station information to perform mobile vehicle positioning and trajectory fitting; the point mapping unit, based on the fitted trajectory, performs equidistant point placement on the tunnel road surface model constructed from the 3D point cloud, and maps the calibrated brightness data to the corresponding point positions for analysis.

[0031] As a further technical solution of the present invention, it also includes: a positioning correction unit, which responds to the trigger signals of a plurality of preset manual start points in the tunnel to correct the vehicle positioning data based on the encoder and the IMU.

[0032] As a further technical solution of the present invention, the visualization display module includes host computer software, a high-speed storage computer, and a power supply device; the host computer software runs on the high-speed storage computer and is used to realize the visualization display, processing, and storage of data.

[0033] As a further technical solution of the present invention, the mobile carrier is a vehicle, the roof of the vehicle is provided with a vehicle-mounted bracket for mounting a brightness acquisition module and a binocular stereo camera, an encoder is installed on the wheel system of the vehicle, and a visualization display module is provided inside the vehicle's cabin.

[0034] Secondly, the present invention provides a method for measuring vehicle-mounted tunnel lighting indicators, comprising:

[0035] A brightness acquisition module installed on the upper part of the mobile carrier collects brightness information inside the tunnel to obtain image brightness information;

[0036] The real-time calibration module, installed on the mobile carrier, performs real-time calibration of the acquired image brightness information.

[0037] The tunnel positioning module, mounted on a mobile vehicle, constructs a 3D point cloud of the tunnel environment, performs equidistant brightness point distribution analysis on the tunnel surface, and realizes the division of the tunnel lighting area, measurement and positioning of the entire inspection vehicle trajectory.

[0038] The visualization display module, installed on the mobile device, displays equidistant brightness distribution points, data analysis results, lighting index curves, and reports.

[0039] Thirdly, the present invention provides an electronic device, the electronic device comprising:

[0040] At least one processor, and a memory communicatively connected to said at least one processor;

[0041] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform a method for measuring vehicle-mounted tunnel lighting indicators.

[0042] Fourthly, the present invention provides a computer-readable storage medium storing a computer program for enabling a processor to implement a method for measuring vehicle-mounted tunnel lighting indicators.

[0043] The beneficial effects of this invention are as follows:

[0044] 1. This invention relies on a vehicle-mounted mobile detection platform and utilizes high dynamic range scanning imaging technology and intelligent image algorithms to perform continuous dynamic imaging and brightness information acquisition of tunnel pavement areas. Simultaneously, through multi-sensor fusion positioning technology, it accurately identifies the location information of different lighting areas within the tunnel, constructs a lighting data analysis model and visualization analysis software, and ultimately achieves real-time calculation, automatic solution, and evaluation of lighting parameters.

[0045] 2. The brightness acquisition module of the present invention performs spectral correction through a Y filter to improve the accuracy of the data.

[0046] 3. The real-time calibration module of the present invention is connected to the optional built-in spectral analysis module through the built-in spectrometer, so that it has the function of a single-point spectroradiometer. Through automatic calibration, it improves the accuracy of the vehicle-mounted tunnel lighting brightness rapid detection device, and at the same time provides the spectral analysis data of the spectroradiometer.

[0047] 4. The binocular camera mainly acquires images from different perspectives and uses parallax to calculate the depth information of feature points, constructing a 3D point cloud of the tunnel environment. Using the depth map constructed by the binocular camera, the distance between adjacent lighting fixtures can be further obtained to divide tunnel sections. Secondly, equidistant point placement is used for road surface brightness analysis, achieving equidistant point placement analysis of brightness without altering the original data.

[0048] 5. The inertial measurement unit is used to detect the attitude angle changes of the moving vehicle during the driving process. Due to factors such as uneven road surface or traffic jams, the azimuth angle of the moving vehicle will change during the driving process, which will affect the brightness detection. The azimuth angle data is collected here to facilitate the fitting of the vehicle's running trajectory and brightness detection, thereby reducing the error.

[0049] 6. The encoder installed on the vehicle acquires the vehicle's speed data in real time, which can convert the wheel rotation speed into the vehicle's linear velocity, providing basic data for subsequent positioning calculations.

[0050] 7. The tunnel positioning module in this embodiment of the invention adopts a combination system of binocular stereo camera, inertial measurement device (IMU) and encoder to solve the identification of each lighting segment and the equidistant placement of relevant segments in the multi-area lighting detection of tunnels.

[0051] 8. This invention can improve the intelligent detection technology and large-scale rapid detection level of tunnel lighting, effectively reduce the time cost, labor cost and on-site deployment cost of traditional lighting detection, realize the full-line automated detection of tunnel lighting indicators, covering key indicators such as road surface brightness, uniformity and longitudinal uniformity, and all indicators are controlled by the same software platform, providing a unified interface for data visualization output. Attached Figure Description

[0052] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 A segmented diagram of a one-way traffic tunnel lighting system, used in traditional tunnel lighting inspection methods;

[0054] Figure 2 A grid-based point layout diagram for traditional tunnel lighting detection methods;

[0055] Figure 3 A structural diagram of a vehicle-mounted tunnel lighting index measurement system provided by the present invention;

[0056] Figure 4 This is a schematic diagram of the structural layout of an embodiment of the present invention;

[0057] Figure 5 A control structure diagram of a vehicle-mounted tunnel lighting index measurement system provided by the present invention;

[0058] Figure 6 A flowchart of a method for measuring vehicle-mounted tunnel lighting indicators provided by the present invention. Detailed Implementation

[0059] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0060] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0061] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "comprising" or "including," and similar terms as used in this disclosure, mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, but do not exclude other elements or objects. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0062] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that mutually excludes other embodiments. It should be noted that the embodiments of the present invention can be applied to any applicable scenario.

[0063] Example 1

[0064] See Figures 3 to 5 This invention provides a vehicle-mounted tunnel lighting index measurement system, comprising:

[0065] Mobile carrier 10,

[0066] Brightness acquisition module 20 is installed on the upper part of the mobile carrier to collect brightness information inside the tunnel;

[0067] The real-time calibration module 30 is mounted on the mobile carrier and is communicatively connected to the brightness acquisition module, and is used to perform real-time calibration of the acquired image brightness information.

[0068] The tunnel positioning module 40, mounted on a mobile carrier, is used to construct a 3D point cloud of the tunnel environment, perform equidistant brightness distribution analysis on the tunnel surface, and realize the division of the tunnel lighting area, measurement and positioning of the entire inspection vehicle trajectory.

[0069] The visualization display module 50 is mounted on the mobile carrier and is communicatively connected to the brightness acquisition module, real-time calibration module and tunnel positioning module. It is used to display equidistant brightness points, data analysis results, lighting index curves and reports.

[0070] This invention relies on a vehicle-mounted mobile inspection platform and utilizes high dynamic range (HDR) scanning imaging technology and intelligent image algorithms to perform continuous dynamic imaging and brightness information acquisition of tunnel pavement areas. Simultaneously, through multi-sensor fusion positioning technology, it accurately identifies the location information of different lighting areas within the tunnel, constructs a lighting data analysis model and visualization analysis software, and ultimately achieves real-time calculation, automatic solution, and evaluation of lighting parameters.

[0071] In this embodiment of the invention, the brightness acquisition module 20 includes a vision sensor 201 and a filter 202 disposed on the incident light path of the vision sensor. The filter is a Y filter whose spectral response characteristics are close to the spectral luminous efficiency function V(λ) of human visual perception. Spectral correction is performed using the Y filter to make it conform to the human visual function, thereby improving the accuracy of the data.

[0072] Since the performance parameters of the visual sensor (photodetector) directly determine the function or accuracy of the photoelectric instrument, such as imaging resolution and light-sensing range, which are mainly determined by the photodetector, and the frame rate of shooting, it is necessary to select a suitable photodetector. The brightness acquisition module of this invention uses a detector with a total of 5 million pixels, a single pixel angular resolution of less than 2′, high dynamic range (120dB), a dynamic acquisition frequency of 25fps, and global exposure, which can acquire all the brightness data of a plane in a single shot. Through a built-in filter wheel, using precise and stable gear transmission, and setting three filter mounting positions, CIE tristimulus value filters are implemented to extract the Y component (Y in CIE XYZ represents brightness), thus achieving brightness measurement and acquisition.

[0073] In addition, other filters such as ND neutral density filter, dark vision filter, and near-infrared filter can be selected according to specific scenarios.

[0074] In this embodiment of the invention, the real-time calibration module 30 includes:

[0075] Spectrum splitter 301 has its input connected to the output of the brightness acquisition module. The spectrum splitter includes two outputs: one connected to a vision sensor, and the second connected to a spectral analysis module.

[0076] The spectral analysis module 302 is used to measure the spectral data of the light obtained after the light is split by the spectrometer, so as to be used as a single-point spectroradiometer.

[0077] The real-time calibration module calculates calibration parameters based on the spectral brightness data measured at the center point of the image by the spectral analysis module and the brightness data of the corresponding center point in the image acquired by the vision sensor. The calibration parameters are then used to calibrate the brightness data of the entire image acquired by the vision sensor.

[0078] In this embodiment of the invention, the real-time calibration module is connected to an optional built-in spectral analysis module via a built-in spectrometer, enabling it to function as a single-point spectroradiometer. Through automatic calibration, it improves the accuracy of the vehicle-mounted tunnel lighting brightness rapid detection device and simultaneously provides spectral analysis data from the spectroradiometer. The spectral analysis module measures the center point position of the image. For any point in the image measured by the vehicle-mounted tunnel lighting brightness rapid detection device, a set of calibration data is calculated using the center point and its data, and then applied to all areas.

[0079] Multi-source sensors refer to binocular cameras (vision sensors), IMUs (angular velocity and acceleration sensors), and encoders (velocity sensors). Feature points are local areas in an image that have significant distinguishability (such as corners and edges); in this project, they mainly refer to road markings and road surface edge lines inside tunnels. Depth information refers to the Z-axis distance (i.e., 3D position) of feature points in the camera coordinate system.

[0080] In this embodiment of the invention, the tunnel positioning module 40 includes:

[0081] The binocular stereo camera 401 is used to acquire images from different perspectives and calculate the depth information of feature points based on the parallax principle to construct a 3D point cloud and depth map of the tunnel environment.

[0082] Binocular cameras primarily acquire images from different perspectives, using parallax to calculate the depth information of feature points and construct a 3D point cloud of the tunnel environment. The depth map constructed by the binocular cameras can then be used to obtain the distance between adjacent lighting fixtures, thereby dividing the tunnel into sections. Furthermore, equidistant point placement is used for road surface brightness analysis, achieving equidistant point analysis without altering the original data.

[0083] Visual sensors (binocular cameras) provide images and feature points, enabling distance measurement and providing measurable 3D visualization data. The purpose of using a binocular camera is to measure the distance between an object and the camera; once the distance is known, the 3D structure of the scene can be reconstructed from a single image. A binocular camera consists of two monocular cameras, and the distance between the two cameras, called the baseline, is known. The spatial position of each pixel is estimated using the baseline.

[0084] The inertial measurement unit (IMU402) is used to detect the attitude angle changes of a moving vehicle during its journey. The azimuth angle of a moving vehicle (such as a vehicle) changes due to factors such as uneven road surfaces or traffic jams, which affects brightness detection. Acquiring azimuth angle data here helps to fit the vehicle's trajectory with brightness detection and reduce errors.

[0085] An inertial measurement unit (IMU) includes a three-axis accelerometer and a three-axis gyroscope. The accelerometer measures the acceleration signal of the vehicle in the direction pointed to by each axis in the coordinate system, and the gyroscope measures the angular velocity signals of these three axes. The IMU provides relative positioning information, that is, by integrating the angular velocity and acceleration, it measures the vehicle's motion path relative to the starting point, generally referred to as vehicle attitude estimation. Due to the error in the integration operation, the error in attitude estimation using inertial sensors increases with the running time. Because the IMU outputs information at a very high frequency, it can provide stable real-time position updates in a short period of time, meeting the measurement requirements of this invention.

[0086] Encoder 403 is used to collect the speed and time data of the moving vehicle; combined with the tunnel station number, it is used for vehicle positioning. The encoder installed on the vehicle acquires the vehicle's speed data in real time, converting the wheel rotation speed into the vehicle's linear velocity, providing basic data for subsequent positioning calculations.

[0087] The trajectory fitting unit 404 integrates the attitude angle change data of the IMU, the driving speed and time data collected by the encoder, and combines the tunnel station information to perform mobile vehicle positioning and trajectory fitting; the point mapping unit 405, based on the fitted trajectory, performs equidistant point placement on the tunnel road surface model constructed by 3D point cloud, and maps the calibrated brightness data to the corresponding point positions for analysis.

[0088] Due to the influence of tunnel alignment, many tunnels have curves. If the mileage is calculated solely based on encoder data, and considering the vehicle's speed deviation due to uneven road surfaces during travel, the mileage data collected by the encoder will be significantly inaccurate. Therefore, an IMU (Integrated Measurement Unit) is needed to correct the vehicle's trajectory. This invention incorporates a positioning correction unit that responds to trigger signals from multiple preset manual start points within the tunnel to correct vehicle positioning data based on the encoder and IMU. Positioning is initiated via software buttons, and multiple manual start points are set within the tunnel to correct positioning errors, improve positioning accuracy, and ensure accurate vehicle positioning within the tunnel.

[0089] The tunnel positioning module in this embodiment of the invention uses a combination system of binocular stereo camera, inertial measurement device (IMU) and encoder to solve the identification of each lighting segment and the equidistant placement of relevant points in the multi-area lighting detection of tunnels.

[0090] The visualization module includes host computer software, a high-speed storage computer, and a power supply unit. The host computer software runs on the high-speed storage computer and is used to realize the visualization display, processing, and storage of data. A schematic diagram of the overall structure is shown below. Figure 5 As shown.

[0091] See Figure 4 The mobile carrier of this invention is a vehicle, which can be an ordinary vehicle or a special-purpose vehicle. A vehicle-mounted bracket for installing a brightness acquisition module and a binocular stereo camera is installed on the vehicle's roof. Encoders are installed on the vehicle's wheel system, and a visualization display module is installed inside the vehicle's passenger compartment. See also... Figure 3 The brightness acquisition module and binocular camera (including IMU) are mounted on a bracket on the top of the inspection vehicle. By adjusting the angle of the brightness acquisition module, it can acquire image information from 60m directly in front of the vehicle. The observation lens of the brightness acquisition module is 1.5m above the ground, and the longitudinal position of the observation point is 60m from the first row of measurement points (the starting position of the acquisition point designed by the acquisition software). The vehicle speed sensor uses an encoder, installed at the center of the vehicle tires, to collect the vehicle's speed and position information. The computer is connected to the sensors via communication cables and is equipped with peripherals such as an LCD screen, mouse, and keyboard for on-site data acquisition and control, real-time storage, on-site processing, and visualization output. The power supply unit uses a high-capacity lithium battery pack inverter to provide power to the entire inspection device except for the vehicle itself.

[0092] This invention can significantly improve the intelligent detection technology and large-scale rapid detection level of tunnel lighting, effectively reduce the time cost, labor cost and on-site deployment cost of traditional lighting detection, realize the full-line automated detection of tunnel lighting indicators, covering key indicators such as road surface brightness, uniformity and longitudinal uniformity, and all indicators are controlled by the same software platform, providing a unified interface for data visualization output.

[0093] Example 2

[0094] See Figure 6 The present invention also provides a method for measuring vehicle-mounted tunnel lighting indicators, comprising:

[0095] Step S1: The brightness acquisition module set on the upper end of the mobile carrier acquires the brightness information in the tunnel to obtain image brightness information.

[0096] Step S2: The real-time calibration module installed on the mobile carrier performs real-time calibration on the acquired image brightness information;

[0097] Step S3: The tunnel positioning module set on the mobile carrier constructs a 3D point cloud of the tunnel environment, performs equidistant brightness distribution analysis on the tunnel surface, and realizes the division of the tunnel lighting area, measurement and positioning of the entire inspection vehicle trajectory.

[0098] Step S4: The visualization display module set on the mobile carrier displays the equidistant brightness distribution points, data analysis results, lighting index curves and reports.

[0099] The data acquisition process in this embodiment of the invention is as follows: The operator in the vehicle opens the operating software on a computer, sets the detection information, and the driver drives the vehicle at a speed not exceeding 80 km / h, maintaining a constant speed as much as possible during on-site data acquisition. Before the vehicle enters the tunnel, the tunnel positioning system is activated. When the distance to the tunnel entrance is 60m (observable via tunnel positioning data), the operator clicks the trigger button to start the brightness acquisition module. The brightness acquisition module acquires brightness data at a fixed frequency and overlays the calibrated road surface brightness orthophoto onto the same position on the three-dimensional visualization platform constructed by the binocular camera. The acquired data and valid time are stored in real time. When the software observes that the acquisition area has exited the tunnel entrance, the operator clicks the stop trigger button, and the system stops the on-site data acquisition.

[0100] The road surface image is used for measurement and point placement. Three points can be placed laterally for each lane, with the middle point located on the center line of each lane, and the two outer points located at 1 / 6 of the lane width from the boundary lines on either side of each lane. The longitudinal points should be evenly spaced.

[0101] Calculate the average road surface brightness, overall road surface brightness uniformity, and longitudinal road surface brightness uniformity; perform the calculations according to the road surface layout and measurement methods.

[0102] ① Calculation of average surface brightness of tunnel pavement:

[0103] ;

[0104] In the formula: L av —Average brightness, cd / m² 2 ;

[0105] L i —Luminosity at each measuring point, cd / m² 2 ;

[0106] n—Number of measurement points.

[0107] Calculation of overall uniformity of tunnel pavement brightness:

[0108] ;

[0109] Where: U0 — total uniformity of brightness;

[0110] —Minimum luminance measured from regularly distributed measurement points, cd / m² 2 .

[0111] Calculation of longitudinal uniformity of road surface brightness:

[0112] ;

[0113] In the formula: U L —Longitudinal uniformity of brightness;

[0114] —Minimum luminance measured from regularly distributed measurement points, cd / m² 2 ;

[0115] —Maximum luminance measured from regularly distributed measurement points, cd / m² 2 .

[0116] The visualization module displays 3D visualization data of the tunnel and lighting index curves. The lighting index curves include plotting the road surface brightness distribution curve, solving for the average brightness, total brightness uniformity, and longitudinal brightness uniformity of each lighting section, and generating EXCEL raw data or PDF reports.

[0117] Example 3

[0118] This invention proposes an electronic device, the electronic device comprising:

[0119] At least one processor, and a memory communicatively connected to said at least one processor;

[0120] The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to execute the vehicle-mounted tunnel lighting index measurement system.

[0121] A processor can be a central processing unit (CPU) or other form of processing unit with data processing and instruction execution capabilities, and can control other components in an electronic device to perform desired functions.

[0122] The memory may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and a processor may execute the program instructions to implement the methods of the software programs in the various embodiments of the present invention described above, as well as other desired functions. In addition, depending on the specific application, the electronic device may include any other suitable components.

[0123] Example 4

[0124] The present invention proposes a computer-readable storage medium storing a computer program, the computer program being used to enable a processor to execute the aforementioned vehicle-mounted tunnel lighting index measurement system.

[0125] In addition to the methods and apparatus described above, embodiments of the present invention may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of the present invention described in the "Exemplary Methods" section above.

[0126] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of the present invention. The programming languages ​​include object-oriented programming languages; for dynamic testing, C++ or Ubuntu is chosen. The program code can be executed entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0127] Furthermore, embodiments of the present invention may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps of the methods according to various embodiments of the present invention described in the "Exemplary Methods" section above.

[0128] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0129] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the invention to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A vehicle-mounted tunnel lighting index measurement system, characterized in that, include: Mobile carrier A brightness acquisition module is installed on the upper part of the mobile carrier to collect brightness information inside the tunnel; A real-time calibration module is mounted on a mobile carrier and is communicatively connected to the brightness acquisition module to calibrate the acquired image brightness information in real time. The tunnel positioning module, mounted on a mobile carrier, is used to construct a 3D point cloud of the tunnel environment, perform equidistant brightness distribution analysis on the tunnel surface, and realize the division of the tunnel lighting area, measurement and positioning of the entire inspection vehicle trajectory. A visualization display module is mounted on a mobile carrier and is communicatively connected to the brightness acquisition module, real-time calibration module, and tunnel positioning module. It is used to display equidistant brightness points, data analysis results, lighting index curves, and reports.

2. The vehicle-mounted tunnel lighting index measurement system according to claim 1, characterized in that, The brightness acquisition module includes a vision sensor and a filter disposed on the light path of the vision sensor. The filter is a Y filter whose spectral response characteristics are close to the spectral luminous efficiency function V(λ) of human visual vision.

3. The vehicle-mounted tunnel lighting index measurement system according to claim 1, characterized in that, The real-time calibration module includes: A beam splitter, the input of which is connected to the output of the brightness acquisition module, includes two outputs: one connected to a vision sensor and the second connected to a spectral analysis module. The spectral analysis module is used to measure the spectral data of the light obtained after being split by the spectrometer, so as to be used as a single-point spectroradiometer. The real-time calibration module calculates calibration parameters based on the spectral brightness data measured at the center point of the image by the spectral analysis module and the brightness data of the corresponding center point in the image acquired by the visual sensor. The calibration parameters are then used to calibrate the brightness data of the entire image acquired by the visual sensor.

4. The vehicle-mounted tunnel lighting index measurement system according to claim 1, characterized in that, The tunnel positioning module includes: A binocular stereo camera is used to acquire images from different perspectives and calculate the depth information of feature points based on the parallax principle in order to construct a 3D point cloud and depth map of the tunnel environment. An inertial measurement unit is used to detect changes in the attitude angles of a moving vehicle during its movement. An encoder is used to collect the speed and time data of the mobile carrier; The trajectory fitting unit integrates the attitude angle change data of the inertial measurement unit, the driving speed and time data collected by the encoder, and combines the tunnel station information to perform mobile vehicle positioning and trajectory fitting. The point mapping unit, based on the fitted running trajectory, places points at equal intervals on the tunnel road surface model constructed from the 3D point cloud, and maps the calibrated brightness data to the corresponding point locations for analysis.

5. The vehicle-mounted tunnel lighting index measurement system according to claim 4, characterized in that, Also includes: A positioning correction unit, which responds to trigger signals from multiple preset manual start points within the tunnel, corrects vehicle positioning data based on the encoder and IMU.

6. The vehicle-mounted tunnel lighting index measurement system according to claim 1, characterized in that, The visualization module includes host computer software, a high-speed storage computer, and a power supply unit; the host computer software runs on the high-speed storage computer and is used to realize the visualization display, processing, and storage of data.

7. The vehicle-mounted tunnel lighting index measurement system according to claim 1, characterized in that, The mobile carrier is a vehicle, and the vehicle roof is equipped with a vehicle-mounted bracket for mounting a brightness acquisition module and a binocular stereo camera. Encoders are installed on the vehicle's wheel system, and a visualization display module is installed inside the vehicle's cabin.

8. A method for measuring vehicle-mounted tunnel lighting indicators, characterized in that, The vehicle-mounted tunnel lighting index measurement system as described in any one of claims 1-7 includes: A brightness acquisition module installed on the upper part of the mobile carrier collects brightness information inside the tunnel to obtain image brightness information; The real-time calibration module, installed on the mobile carrier, performs real-time calibration of the acquired image brightness information. The tunnel positioning module, installed on a mobile vehicle, constructs a 3D point cloud of the tunnel environment, performs equidistant brightness distribution analysis on the tunnel surface, and realizes the division of the tunnel lighting area, measurement and positioning of the entire inspection vehicle trajectory. The visualization display module, installed on the mobile device, displays equidistant brightness distribution points, data analysis results, lighting index curves, and reports.

9. An electronic device, characterized in that, The electronic device includes: At least one processor, and a memory communicatively connected to said at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the vehicle-mounted tunnel lighting index measurement method as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that enables a processor to implement the vehicle-mounted tunnel lighting index measurement method as described in claim 8.

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