CN104661000A - Positioning system, and method and device for positioning based on images of positioning space - Google Patents
Positioning system, and method and device for positioning based on images of positioning space Download PDFInfo
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- CN104661000A CN104661000A CN201510117620.8A CN201510117620A CN104661000A CN 104661000 A CN104661000 A CN 104661000A CN 201510117620 A CN201510117620 A CN 201510117620A CN 104661000 A CN104661000 A CN 104661000A
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Abstract
The invention discloses a positioning system, and a method and a device for positioning based on images of a positioning space. When an object in a predetermined space is looked for, only a designated object seeking command is sent; a plurality of optical communication parts (namely positioning parts) in the predetermined space are started up and emit optical signals; the optical signals sent out by the optical communication parts on a camera are imaged to photographed images, and further, the position of the positioning parts corresponding to the to-be-found object in the predetermined space by a position determination device is determined, so that the to-be-found object is positioned directly without searching a configuration map manually, time and labor are saved, the situation that the to-be-found object cannot be found after being moved cannot happen, and the cargo allocation efficiency is improved.
Description
Technical field
The present invention relates to space orientation field, particularly navigation system, the method and apparatus that positions based on the image of located space.
Background technology
Along with the development of the Internet, the shopping website sales volumes such as Taobao, sky cat, Jingdone district grow with each passing day, thus occur large warehoused rise.
Conveniently staff finds goods, will carry out classification store and carry out orientation management the commodity of storage.Storage stock will position management, and its implication is similar to the design of commodity allocation map table, and the principle by different commodity classifications, partition management is deposited, and places with shelf.Rear making allocation plan is determined in position, is attached to store entrance, so that access.Need when staff needs to search goods by checking allocation plan in storage storehouse, then find corresponding shelf just can find required goods.
At present, in bulk storage plant, be all by checking that in allocation plan to warehouse, searching needs the goods found, and wastes time and energy by staff; And, if the shelf of arrangement of goods are moved, carry out according to allocation plan looking for the situation that there will be and can not find goods, delay and join goods.
Summary of the invention
Technical problem to be solved by this invention is, a kind of navigation system is provided, method and apparatus that a kind of image based on located space positions, staff does not need by checking that allocation plan finds goods, directly can locate goods by sending instruction, time saving and energy saving, also there will not be and occur because goods is moved the situation causing can not find goods.
According to an aspect of the present invention, provide a kind of navigation system, for positioning the one or more anchored objects in predetermined space, this navigation system comprises:
One or more optical communications component, for sending the predetermined information corresponding with optical communications component, each optical communications component comprises:
Light emitting module, for utilizing emitted light; And
Modulator, for modulating light emitting module, the light launched to make light emitting module carries predetermined information,
Video camera, for predetermined space photographic images, the light that video camera can be set to light emitting module is launched forms hot spot in the picture, and hot spot can be analyzed to identify predetermined information,
Wherein, at least one optical communications component is used as positioning element, positioning element is suitable for being separately positioned on one or more anchored object, the predetermined information that positioning element sends is the unique identification information of positioning element, and the hot spot that the light that the light emitting module of positioning element is launched is formed in the picture is the first hot spot.
Preferably, this navigation system can also comprise:
Demodulator, for carrying out demodulation to the hot spot in image, with the predetermined information that the optical communications component obtained with correspond to hot spot is corresponding; And
Position determining means, for according to the first hot spot the first facula position in the picture, determines the position of positioning element in predetermined space.
Preferably, wherein, position determining means, by the reference by location figure of comparison chart picture and predetermined space, carrys out the correspondence position of the first facula position in predetermined space in recognition image, thus determines the position of positioning element in predetermined space.
Preferably, wherein, at least one optical communications component is used as position mark parts, and position mark parts are suitable for being separately positioned at least one pre-position in predetermined space, and the predetermined information that position mark parts send is the precalculated position information of position mark parts,
The hot spot that the light that the light emitting module that parts are marked in position is launched is formed in the picture is the second hot spot,
Position determining means determines the position of optical communications component in predetermined space based on the relative position relation between the first facula position and the second hot spot the second facula position in the picture and precalculated position information.
Preferably, this navigation system can also comprise: mobile device and parametric controller,
Mobile device comprises:
Locating module, for determining the position of mobile device in predetermined space; And
First wireless communication module, for sending the positional information representing the position of mobile device in predetermined space,
Parametric controller comprises:
First memory, the position of the positioning element that unique identification information and position determining means for associatedly storing demodulator acquisition are determined;
Second wireless communication module, for receiving the positional information from mobile device;
Position comparing module, for judge the positioning element that the position of mobile device is corresponding with found anchored object position between distance whether be less than or equal to predetermined distance threshold; And
3rd wireless communication module, is less than or equal to predetermined distance threshold in response to distance, sends cue to positioning element,
Positioning element can also comprise:
4th wireless communication module, for receiving cue;
Reminding module, for sounding in response to cue or launching visible ray.
Preferably, wherein, optical communications component can also comprise:
Enabling signal receiver module, for receiving enabling signal;
Opening module, for starting light emitting module and modulator in response to enabling signal,
Or,
Optical communications component can also comprise:
Timer, for providing time signal;
Opening module, for time of reception signal, and at predetermined instant and/or periodically start light emitting module and modulator,
Or,
Optical communications component can also comprise:
Motion sensor, the motion state for sensor light communication component changes;
Opening module, in response to motion state change, starts light emitting module and modulator.
Preferably, wherein, optical communications component can also comprise: second memory, for storing predetermined information.
Preferably, wherein, the only infrared light that light emitting module is launched, video camera comprises infrared image sensor.
According to another aspect of the present invention, a kind of method providing image based on located space to position, there is in image one or more hot spot, correspond respectively to the one or more optical communications component in located space, hot spot can be analyzed to identify the predetermined information that optical communications component sends
Wherein, one or more hot spot comprises at least one first hot spot, and the optical communications component corresponding to the first hot spot is used as positioning element, and positioning element is suitable for being separately positioned on one or more anchored object, the predetermined information that positioning element sends is the unique identification information of positioning element
The method comprises:
Obtain image;
Hot spot in recognition image;
Demodulation is carried out to identify predetermined information to hot spot, wherein to the first hot spot demodulation to identify unique identification information;
Determine hot spot position in the picture, wherein the first hot spot position is in the picture the first facula position;
According to the first facula position, determine the position of positioning element in predetermined space; And
Associatedly store the position of unique identification information and positioning element.
Preferably, wherein, determine that the step of the position of positioning element in predetermined space comprises:
The reference by location figure of comparison chart picture and predetermined space, carrys out the correspondence position of the first facula position in predetermined space in recognition image, thus determines the position of positioning element in predetermined space.
Preferably, wherein, one or more hot spot comprises at least one second hot spot, second hot spot position is in the picture the second facula position, optical communications component corresponding to second hot spot is used as position mark parts, position mark parts are suitable for being separately positioned at least one pre-position in predetermined space, and the predetermined information that position mark parts send is the precalculated position information of position mark parts
Determining that the step of the position of positioning element in predetermined space comprises:
Determine the relative position relation between the first facula position and the second facula position; And
The position of optical communications component in predetermined space is determined based on relative position relation and precalculated position information.
Preferably, the method can also comprise:
Receive the positional information of mobile device;
Whether the distance between the position judging the positioning element that the position of mobile device is corresponding with found anchored object is less than or equal to predetermined distance threshold; And
Be less than or equal to predetermined distance threshold in response to distance, send cue to positioning element.
According to another aspect of the present invention, the equipment providing a kind of image based on located space to position, there is in image one or more hot spot, correspond respectively to the one or more optical communications component in located space, hot spot can be analyzed to identify the predetermined information that optical communications component sends
Wherein, one or more hot spot comprises at least one first hot spot, and the optical communications component corresponding to the first hot spot is used as positioning element, and positioning element is suitable for being separately positioned on one or more anchored object, the predetermined information that positioning element sends is the unique identification information of positioning element
This equipment comprises:
Image acquiring device, for obtaining image;
Spot identification device, for the hot spot in recognition image;
Demodulating equipment, for carrying out demodulation to hot spot to identify predetermined information, wherein to the first hot spot demodulation to identify unique identification information;
Facula position determining device, for determining hot spot facula position in the picture, wherein the first hot spot position is in the picture the first facula position;
Locus determining device, for according to the first facula position, determines the position of positioning element in predetermined space; And
Association store device, for associatedly storing the position of unique identification information and positioning element.
Preferably, wherein, locus determining device comprises:
Comparison device, for the reference by location figure by comparison chart picture and predetermined space, carrys out the correspondence position of the first facula position in predetermined space in recognition image, thus determines the position of positioning element in predetermined space.
Preferably, wherein, one or more hot spot comprises at least one second hot spot, second hot spot position is in the picture the second facula position, optical communications component corresponding to second hot spot is used as position mark parts, position mark parts are suitable for being separately positioned at least one pre-position in predetermined space, and the predetermined information that position mark parts send is the precalculated position information of position mark parts
Locus determining device comprises:
Relative position relation determining device, for determining the relative position relation between the first facula position and the second facula position; And
Absolute position determining device, determines the position of optical communications component in predetermined space based on relative position relation and precalculated position information.
Preferably, this equipment can also comprise:
Receiving system, for receiving the positional information of mobile device;
Judgment means, for judge the positioning element that the position of mobile device is corresponding with found anchored object position between distance whether be less than or equal to predetermined distance threshold; And
Dispensing device, for being less than or equal to predetermined distance threshold in response to distance, sends cue to positioning element.
The navigation system of the application of the invention, the method and apparatus positioned based on the image of located space, do not need by checking that allocation plan finds goods, luminous by optical communications component, video camera take and pass through analyze video camera shooting image directly can locate goods, time saving and energy saving, also there will not be and occur because goods is moved the situation causing can not find goods, can ensure normally to join goods, improve the efficiency of joining goods.
Accompanying drawing explanation
In conjunction with the drawings disclosure illustrative embodiments is described in more detail, above-mentioned and other object of the present disclosure, Characteristics and advantages will become more obvious, wherein, in disclosure illustrative embodiments, identical reference number represents same parts usually.
Fig. 1 shows the schematic diagram of navigation system according to an embodiment of the invention;
Fig. 2 shows the image schematic diagram of video camera 120 embodiment illustrated in fig. 1 shooting;
Fig. 3 shows the schematic diagram of navigation system according to another embodiment of the present invention;
Fig. 4 shows the image schematic diagram of video camera 320 embodiment illustrated in fig. 3 shooting;
Fig. 5 shows according to an embodiment of the invention based on the method flow diagram that the image of located space positions;
Fig. 6 shows the flow chart of step S150 embodiment illustrated in fig. 5;
Fig. 7 shows another flow chart of step S150 embodiment illustrated in fig. 5;
Fig. 8 shows another flow chart embodiment illustrated in fig. 5;
Fig. 9 shows according to an embodiment of the invention based on the equipment schematic diagram that the image of located space positions;
Figure 10 shows the schematic diagram of locus embodiment illustrated in fig. 9 determining device 550;
Figure 11 shows another schematic diagram of locus embodiment illustrated in fig. 9 determining device 550;
Figure 12 shows another schematic diagram embodiment illustrated in fig. 9.
Embodiment
Below with reference to accompanying drawings preferred implementation of the present disclosure is described in more detail.Although show preferred implementation of the present disclosure in accompanying drawing, but should be appreciated that, the disclosure can be realized in a variety of manners and not should limit by the execution mode of setting forth here.On the contrary, provide these execution modes to be to make the disclosure more thorough and complete, and the scope of the present disclosure intactly can be conveyed to those skilled in the art.
The invention discloses a kind of navigation system, the method and apparatus that a kind of image based on located space positions, according to navigation system provided by the present invention and corresponding localization method and equipment, when finding the object in predetermined space, only need to send enabling signal, optical communications component (i.e. positioning element) in predetermined space is activated concurrent optical signals, the light signal above-mentioned optical communications component being sent by video camera images on the image of shooting, determine the position of the anchored object corresponding to positioning element at predetermined space further, thus the direct location realized anchored object, do not need manually to search allocation plan, time saving and energy saving, also there will not be and be moved the situation causing can not find occur because looking for object.After determining to be looked for the position of object, staff, can be luminous with prompting by the optical communications component (i.e. positioning element) looked for close to when being looked for object preset range, improves the speed of searching.Especially large warehoused join goods time, can ensure normally to join goods, and significantly improve and join goods efficiency.When being looked for object and being moved, video camera can take dynamic video, also can be analyzed by above-mentioned dynamic video and be looked for object and work as upper/lower positions, thus realize being looked for the location of object dynamically to being in, achieve the location to the object being in Static and dynamic in predetermined space, especially large warehoused join goods time, ensure that the location to kinds of goods all in warehouse, no matter goods is motionless or when being in mobile status, all can ensure staff promptly and accurately find goods, improve the efficiency of joining goods.Further, navigation system cost provided by the invention is low, low in energy consumption, can pass through powered battery, join on goods efficiency basis, reduce production cost in raising.
Below in conjunction with drawings and Examples, a kind of navigation system of the present invention, the method and apparatus that positions based on the image of located space are described in more detail.
Shown in Fig. 1, it is the schematic diagram of navigation system according to an embodiment of the invention.
Shown in Fig. 2, it is the image schematic diagram that video camera 120 embodiment illustrated in fig. 1 is taken.
With reference to figure 1, in one embodiment, a kind of navigation system 100, for positioning the one or more anchored objects 200 in predetermined space, comprises one or more optical communications component 110 and video camera 120.Optical communications component 110 sends the predetermined information corresponding with above-mentioned optical communications component 110, and video camera 120 is to above-mentioned predetermined space photographic images.
Above-mentioned each optical communications component 110 comprises light emitting module 111 and modulator 112.Light emitting module 111 utilizing emitted light, modulator 112 pairs of light emitting modules 111 are modulated, and carry above-mentioned predetermined information with the light making light emitting module 111 launch.Form hot spot in the image that the light that video camera 120 makes light emitting module 111 launch is taken at video camera 120, this hot spot can be analyzed to identify above-mentioned predetermined information.
Wherein, at least one above-mentioned optical communications component 110 is used as positioning element (figure does not mark), is separately positioned on (with reference to figure 1) on one or more anchored object 200.The predetermined information that positioning element sends is the unique identification information of positioning element, and the hot spot formed in the image that the light launched of the light emitting module 111 of positioning element is taken at above-mentioned video camera 120 is the first hot spot, with reference to figure 2.Three first hot spots A, B, C have been shown in image shown in Fig. 2, are the light imaging that the light emitting module 111 of three optical communications component 110 sends respectively.As just schematic illustration, show three first hot spots A, B, C with different bands in Fig. 2 and carry different predetermined informations (such as different unique identification informations).
Shown in Fig. 2, first hot spot A, B, C be corresponding corresponding positioning element respectively.Each self-corresponding predetermined information is drawn by analyzing above-mentioned first hot spot A, B, C, and the predetermined information of the positioning element corresponding with anchored object is compared, obtain the first facula position corresponding to anchored object and according to its positional information on predetermined image, obtaining the more specific location information of anchored object, realizing the direct location to looking for object.
Above-mentioned navigation system 100, when finding the anchored object in predetermined space, one or more optical communications component 110 in predetermined space are luminous, and the first hot spot is formed on the image of video camera 120 shooting, by analyzing the direct location that its position on image of the first hot spot and comparison can realize finding object, do not need manually to search allocation plan, time saving and energy saving, also there will not be and be moved the situation causing can not find occur because looking for object.Especially join in goods large warehoused, position to significantly improve by above-mentioned navigation system 100 and join goods efficiency.
Along with the development of the Internet, the shopping website sales volumes such as Taobao, sky cat, Jingdone district grow with each passing day, large warehoused thus rise.At present, in bulk storage plant, be all by checking that in allocation plan to warehouse, searching needs the goods found, and wastes time and energy by staff.If the shelf of arrangement of goods are moved, carry out according to allocation plan looking for the situation that there will be and can not find goods, delay and join goods, significantly reduce the efficiency of joining goods.By above-mentioned navigation system 100, large warehoused join goods time, not needing manually to search allocation plan, can realizing finding the direct location of goods, time saving and energy saving, improve and join goods efficiency.
Shown in Fig. 3, it is the schematic diagram of navigation system according to another embodiment of the present invention.
Shown in Fig. 4, it is the image schematic diagram that video camera 320 embodiment illustrated in fig. 3 is taken.
With reference to figure 3, in another embodiment, a kind of navigation system 300, for positioning the one or more anchored objects 400 in predetermined space, comprise one or more optical communications component 310 be arranged on above-mentioned anchored object 400, video camera 320, position determining means 330, demodulator 340, wherein, position determining means 330 is connected video camera 320 respectively with demodulator 340.Particularly, above-mentioned optical communications component 310 comprises light emitting module 311 and modulator 312.
Modulator 312 pairs of light emitting modules 311 are modulated, the light that light emitting module 311 is launched carries predetermined information, video camera 320 is to above-mentioned predetermined space photographic images, and the light making above-mentioned light emitting module 311 launch forms the first hot spot in the images, this first hot spot can be analyzed to identify above-mentioned predetermined information.
Wherein, at least one is arranged on optical communications component on anchored object as positioning element, and the predetermined information that this positioning element sends is the unique identification information of this positioning element.
Position determining means 330, according to the above-mentioned position of the first hot spot on the image of place, confirms the position of this positioning element in predetermined space.Particularly, position determining means 330 is by the reference by location figure of comparison first hot spot place image with this predetermined space, identify the correspondence position of the first facula position in this predetermined space in this image, thus determine the position of this positioning element in predetermined space.
Hot spot in the image that demodulator 340 pairs of video cameras 320 are taken carries out demodulation, with the predetermined information that the optical communications component obtained with correspond to this hot spot is corresponding.
In above-mentioned navigation system 300, at least one optical communications component 310 is used as position mark parts (figure does not mark), be separately positioned at least one pre-position in above-mentioned predetermined space, this predetermined information of sending of mark parts is the precalculated position information of these mark parts, and the hot spot formed in the image that the light launched of light emitting modules 311 of this mark parts is taken at video camera 320 is the second hot spot (with reference to figure 4).In image shown in Fig. 4, show four the second hot spots, 1,2,3,4 and first hot spot A.As just schematic illustration, the first hot spot and and the second hot spot all there is band, but each hot spot has different band quantity and/or band width, represents different information by the coding of the band to varying number, different in width.
In above-mentioned predetermined space, have at least one optical communications component 310 to be used as position mark parts, at least one optical communications component 310 is used as positioning element.Upper rheme mark parts and positioning element can be modulated simultaneously, luminescence, thus in the image of video camera 320 shooting, the photoimaging that existing positioning element is launched, in the first hot spot of above-mentioned image, has again position to mark the photoimaging of parts transmitting in the second hot spot of above-mentioned image.
In other embodiments, first can only open upper rheme mark parts once, reference by location figure is shot by video camera 320, compare in the position of then the first corresponding for the positioning element in the image later taken facula position and the position in above-mentioned reference by location figure being marked the second hot spot corresponding to parts, to determine the position of the positioning element that the first hot spot is corresponding.
Particularly, upper rheme mark parts can be arranged on the center (not shown) of above-mentioned predetermined space, or above-mentioned predetermined space is carried out subregion in advance, such as subregion be set according to the difference of predetermined space or carry out subregion according to series of lot, then upper rheme mark parts are arranged on the center position of each subregion, reference by location figure is shot, with reference to the second hot spot 1,2,3,4 in figure 4 by video camera 320.First hot spot A drops in subregion 1, with reference to the precalculated position information of the second hot spot 1, accurately determines the position of the positioning element that the first hot spot A is corresponding, thus realizes the accurate location to positioning element, further the position of accurate anchored object.Especially large warehoused join goods time, reduce a staff further and find time of goods, what fortune was appointed in the work of significantly improving joins goods efficiency.
In other examples, quantity and the relevant position of upper rheme mark parts can be changed as required, are not limited to above-mentioned regular subregion and regional center (RC) position.
With reference to figure 3, above-mentioned navigation system 300 can also comprise mobile device 350 and parametric controller 360.This mobile device 350 sends the positional information of its position in predetermined space, parametric controller 360 receives this positional information, and whether the distance between the position judging the positioning element that the position of this mobile device 350 is corresponding with found anchored object is less than or equal to predetermined distance threshold, if, then send information to this positioning element, this positioning element correspondingly sends response.
Particularly, mobile device 350 comprises locating module 351 and the first wireless communication module 352.Locating module 351 determines this position of mobile device 350 in predetermined space, and the first wireless communication module 352 sends the positional information representing this position of mobile device 350 in this predetermined space.When staff's handheld mobile device 350 finds goods in bulk storage plant, also can be positioned by this mobile device 350 couples of staff.
Particularly, above-mentioned parametric controller 360 comprises first memory 361, the second wireless communication module 362, position comparing module 363 and the 3rd wireless communication module 364.First memory 361 associatedly stores the position of the unique identification information of positioning element that above-mentioned demodulator 340 obtains and this positioning element that above-mentioned position determining means 330 is determined.Second wireless communication module 362 receives the positional information from mobile device 350, and whether the distance between the position that position comparing module 363 judges the positioning element that the position of this mobile device 350 is corresponding with found anchored object is less than or equal to above-mentioned predetermined distance threshold.If so, then the 3rd wireless communication module 364 sends cue to this positioning element, and this positioning element is corresponding to be responded.
Further, above-mentioned optical communications component 310, as positioning element, can also comprise the 4th wireless communication module 313 and reminding module 314.4th wireless communication module 313 receives above-mentioned cue, and reminding module 314 is sounded in response to this cue, launched visible ray or otherwise respond.
When the hand-held above-mentioned mobile device 350 of staff is at predetermined space, such as, in bulk storage plant, when finding goods, such as can be inputted the code (or unique identification information) of the positioning element that (or click) anchored object or anchored object are arranged by mobile device 350, thus determine to find which anchored object.Inputted code (or unique identification information) is sent to parametric controller 360 by mobile device 350.Parametric controller 360 inquires the positional information of the found positioning element corresponding to goods (anchored object) and this information is sent to above-mentioned mobile device 350, the positional information that staff shows according to mobile device 350 is searched, when staff is near goods (anchored object) corresponding to this positioning element, when distance is less than preset distance threshold values, this positioning element can be sounded, visible ray or otherwise respond, this goods (anchored object) is found as early as possible to make staff, save hunting time, improve the efficiency of joining goods.
Optical communications component 310 can continuous illumination, and like this, video camera 320 can be taken at any time, to determine the position of anchored object at any time.But expense electricity being compared like this, when particularly adopting battery to power to optical communications component 310, being very unfavorable for Long-Time Service by being.
Therefore, optical communications component 310 can be set to normally off, namely generally be in closed condition, and only start luminous so that video camera 320 imaging where necessary.
When needing the position obtaining and/or upgrade each anchored object, needing video camera 320 to take, correspondingly, needing to open optical communications component 310.Above-mentioned positioning element can start by receiving enabling signal.Above-mentioned enabling signal can be sent by parametric controller 360, also directly can be sent by mobile device 350, or transmit a signal to parametric controller 360 by mobile device 350, then sends the startup of enabling signal control positioning element by parametric controller 360, simple to operate.
Above-mentioned optical communications component 310 is as positioning element, can start by receiving above-mentioned enabling signal, also can by presetting, the startup of start by set date, periodically startup or timed periodic, or start when optical communications component 310 motion state changes.
In embodiment illustrated in fig. 3, above-mentioned optical communications component 310 is as positioning element, enabling signal receiver module 316 and opening module 317 can also be comprised, enabling signal receiver module 316 receives above-mentioned enabling signal, and opening module 317 starts light emitting module 311 and modulator 312 in response to above-mentioned enabling signal.The light that video camera 320 sends in response to above-mentioned enabling signal or above-mentioned light emitting module 311 and starting.
In another embodiment, above-mentioned optical communications component 310, as positioning element, can also comprise timer (not shown), connects above-mentioned opening module 317.Timer provides time signal, and opening module 317 receives above-mentioned time signal, and predetermined instant or periodically or predetermined instant periodically start above-mentioned light emitting module 311 and modulator 312.The light that video camera 320 sends in response to above-mentioned light emitting module 311 and start by set date, periodically to start or predetermined instant periodically starts.Thus can monitor by the positioning element in routine observation predetermined space, prevent wherein having arbitrary optical communications component to damage impact and find anchored object, and, can the change in location of immediately monitoring predetermined space inner position parts.
In another embodiment, above-mentioned optical communications component 310 is as positioning element, motion sensor (not shown) can also be comprised, connect above-mentioned opening module 317, the motion state change of this optical communications component 310 of motion sensor senses, opening module 317 changes in response to this motion state, thus starts light emitting module 311 and modulator 312.When this positioning element state changes, such as, when being moved, motion sensor senses is to the change of this motion state, and opening module 317 starts light emitting module 311 and modulator 312 starts.The light that video camera 320 sends in response to above-mentioned light emitting module 311 and starting, synchronous real-time recording.Or also can start video camera 320 after motion terminates, thus take the image after moving, to know new position.
In another embodiment, above-mentioned optical communications component 310 can also comprise the 5th wireless communication module (not shown), connect above-mentioned motion sensor, for sending motion state variable signal to video camera 320, video camera 320 receives above-mentioned motion state variable signal, thus starts real-time recording.When this positioning element stops mobile, this motion change of motion sensor senses, makes light emitting module 311 stop luminescence by opening module 317, simultaneously, sending motion state variable signal by the 5th wireless communication module makes video camera 320 stop video recording, and by this video recording of preservation.Further by this video recording of analysis, can know positioning element move after position, and to position.By the motion state of detection and location parts, record a video when it moves, can record and preserve the change in location of predetermined space inner position parts, and realize instant positioning element and also immediately can locate it in motion, further increase location efficiency.Or, also can start video camera 320 after motion terminates, thus take the image after moving, to know new position.
With reference to figure 3, above-mentioned optical communications component 310 can also comprise second memory 315, connects modulator 312, for storing the predetermined information of this optical communications component 310 correspondence.When this optical communications component 310 is as positioning element, this predetermined information is the unique identification information of this positioning element, and when this optical communications component 310 is as position mark parts, this predetermined information is the precalculated position information of these mark parts.Further, can different anchored objects be identified by revising above-mentioned predetermined information or identify different precalculated positions.
Particularly, the light that above-mentioned light emitting module 311 is launched is infrared light, and accordingly, video camera 320 can also comprise infrared image sensor (not shown), for the infrared light that inducing luminous module 311 is launched, carries out taking or real-time recording.Infrared light strong interference immunity, can reduce the interference of other light, makes video camera 320 promptly and accurately photograph the infrared light of light emitting module 311 transmitting.
Meanwhile, above-mentioned optical communications component 310, as positioning element or position mark parts, is arranged on goods top, or is placed on the top of bin, prevent from being blocked, ensure that video camera 320 can photograph the light of each optical communications component 310 transmitting.
Shown in Fig. 5, the method schematic diagram that the image based on located space for one embodiment of the invention positions.
With reference to figure 5, a kind of method that image based on located space positions, have one or more hot spot in above-mentioned image, correspond respectively to the one or more optical communications component in located space, above-mentioned hot spot can be analyzed to identify the predetermined information that optical communications component sends.Wherein, above-mentioned one or more hot spot comprises at least one first hot spot.Optical communications component corresponding to above-mentioned first hot spot is used as positioning element, and this positioning element is separately positioned on one or more anchored object, and the predetermined information that this positioning element sends is the unique identification information of this positioning element.The method comprises:
S110: obtain image.
In above-mentioned navigation system, optical communications component sends light, video camera shooting predetermined space and located space, thus obtains this image.In this image, there is one or more hot spot, correspond respectively to the one or more optical communications component in located space.
S120: identify the hot spot in institute's image.
S130: demodulation is carried out to identify predetermined information to hot spot, wherein to the first hot spot demodulation to identify unique identification information.
This hot spot can be analyzed to identify the predetermined information that optical communications component sends.When above-mentioned optical communications component is as positioning element, the light of transmitting forms the first hot spot on above-mentioned image, and the light that positioning element sends carries predetermined information, and this predetermined information is the unique identification information of this positioning element.By carrying out demodulation to this first hot spot, thus identify this predetermined information, i.e. the unique identification information of this positioning element.
S140: determine hot spot position in the picture, wherein the first hot spot position is in the picture the first facula position.
S150: according to the first facula position, determines the position of positioning element in predetermined space.
With reference to figure 6, it is the step schematic diagram of step S150 embodiment illustrated in fig. 5.
In one embodiment, when above-mentioned hot spot only has the first hot spot, step S150 comprises the steps:
S151: the reference by location figure of comparison chart picture and predetermined space.
The reference by location figure of above-mentioned predetermined space, can by take or map making obtains in advance.
S153: the correspondence position of the first facula position in predetermined space in recognition image.
S155: determine the position of positioning element in predetermined space.
In another embodiment, above-mentioned one or more hot spot comprises at least one second hot spot.Above-mentioned second hot spot position is in the picture the second facula position, and the optical communications component corresponding to the second hot spot is used as position mark parts.Upper rheme mark parts are separately positioned at least one pre-position in predetermined space, and the predetermined information that position mark parts send is the precalculated position information of position mark parts.
With reference to figure 7, in above-described embodiment, step S150 determines the step of the position of positioning element in described predetermined space, specifically comprises the steps:
S152: determine the relative position relation between the first facula position and the second facula position.
S154: based on above-mentioned relative position relation and the position of information determination optical communications component in above-mentioned predetermined space, precalculated position.
By analyzing the second hot spot through the precalculated position information of position mark parts can be obtained, again by the relative position relation between the first facula position and the second facula position, the position of optical communications component in above-mentioned predetermined space can be obtained.
S160: the position associatedly storing unique identification information and positioning element.
The position of unique identification information and positioning element is associatedly stored, by transferring the unique identification information that will position positioning element corresponding to object, thus directly obtains the position of this positioning element, thus anchored object is positioned.
With reference to figure 8, the method that the above-mentioned image based on located space positions comprises the steps: further
S170: the positional information receiving mobile device.
S180: whether the distance between the position judging the positioning element that the position of mobile device is corresponding with found anchored object is less than or equal to predetermined distance threshold.If so, then step S190 is performed.
S190: be less than or equal to described predetermined distance threshold in response to distance, sends cue to positioning element.When staff is near the anchored object preset distance threshold values that positioning element is corresponding, this positioning element is sounded according to above-mentioned cue, visible ray or otherwise respond, to make staff find this goods as early as possible, save hunting time, improve the efficiency of joining goods.
Shown in Fig. 9, the equipment schematic diagram that the image based on located space for one embodiment of the invention positions.
With reference to figure 9, the equipment 500 that a kind of image based on located space positions, have one or more hot spot in above-mentioned image, correspond respectively to the one or more optical communications component in located space, above-mentioned hot spot can be analyzed to identify the predetermined information that optical communications component sends.Wherein, one or more hot spot comprises at least one first hot spot, optical communications component corresponding to first hot spot is used as positioning element, and positioning element is suitable for being separately positioned on one or more anchored object, and the predetermined information that positioning element sends is the unique identification information of positioning element.
The equipment 500 that the above-mentioned image based on located space positions comprises image acquiring device 510, spot identification device 520, demodulating equipment 530, facula position determining device 540, locus determining device 550 and association store device 560.
Image acquiring device 510 obtains above-mentioned image, and spot identification device 520 identifies the hot spot in above-mentioned image, and demodulating equipment 530 carries out demodulation to identify predetermined information to above-mentioned hot spot, wherein to the first hot spot demodulation to identify the unique identification information of positioning element; Facula position determining device 540 determines the facula position of above-mentioned hot spot in above-mentioned image, and wherein the position of the first hot spot in above-mentioned image is the first facula position; Locus determining device 550, according to above-mentioned first facula position, determines the position of positioning element in above-mentioned predetermined space, and association store device 560 associatedly stores the position of unique identification information and positioning element.
Shown in Figure 10, it is the schematic diagram of locus embodiment illustrated in fig. 9 determining device 550.
With reference to Figure 10, above-mentioned locus determining device 550 comprises comparison device 551, determining device 553.Comparison device 551 is by the reference by location figure of comparison chart picture and predetermined space, and the correspondence position of the first facula position in predetermined space in recognition image, determining device 553 determines the position of positioning element in predetermined space.
In another embodiment, above-mentioned one or more hot spot comprises at least one second hot spot, the position of the second hot spot in above-mentioned image is the second facula position, optical communications component corresponding to second hot spot is used as position mark parts, position mark parts are separately positioned at least one pre-position in above-mentioned predetermined space, and the predetermined information that upper rheme mark parts send is the precalculated position information of position mark parts.
Shown in Figure 11, it is another schematic diagram of locus embodiment illustrated in fig. 9 determining device 550.
With reference to Figure 11, above-mentioned locus determining device 550 can comprise relative position relation determining device 552 and absolute position determining device 554.
Relative position relation determining device 552 determines the relative position relation between above-mentioned first facula position and the second facula position, and absolute position determining device 554 determines the position of optical communications component in predetermined space based on above-mentioned relative position relation and precalculated position information.
Further, with reference to Figure 12, the equipment 500 that the above-mentioned image based on located space positions may further include the receiving system 570, judgment means 580 and the dispensing device 590 that connect successively.
Receiving system 570 receives the positional information of mobile device, whether the distance between the position that judgment means 580 judges the positioning element that the position of above-mentioned mobile device is corresponding with found anchored object is less than or equal to predetermined distance threshold, when dispensing device 590 is less than or equal to predetermined distance threshold in response to above-mentioned distance, send cue to positioning element.
When staff is near the anchored object preset distance threshold values that positioning element is corresponding, this positioning element is sounded according to above-mentioned cue, visible ray or otherwise respond, to make staff find this goods as early as possible, save hunting time, improve the efficiency of joining goods.
Above be described in detail with reference to the attached drawings according to a kind of navigation system of the present invention, the method and apparatus that positions based on the image of located space.
In addition, a kind of computer program can also be embodied as according to method of the present invention, this computer program comprises computer-readable medium, stores the computer program for performing the above-mentioned functions limited in method of the present invention on the computer-readable medium.Those skilled in the art will also understand is that, may be implemented as electronic hardware, computer software or both combinations in conjunction with various illustrative logical blocks, module, circuit and the algorithm steps described by disclosure herein.
Flow chart in accompanying drawing and block diagram show the architectural framework in the cards of the system and method according to multiple embodiment of the present invention, function and operation.In this, each square frame in flow chart or block diagram can represent a part for module, program segment or a code, and a part for described module, program segment or code comprises one or more executable instruction for realizing the logic function specified.Also it should be noted that at some as in the realization of replacing, the function marked in square frame also can be different from occurring in sequence of marking in accompanying drawing.Such as, in fact two continuous print square frames can perform substantially concurrently, and they also can perform by contrary order sometimes, and this determines according to involved function.Also it should be noted that, the combination of the square frame in each square frame in block diagram and/or flow chart and block diagram and/or flow chart, can realize by the special hardware based system of the function put rules into practice or operation, or can realize with the combination of specialized hardware and computer instruction.
Be described above various embodiments of the present invention, above-mentioned explanation is exemplary, and non-exclusive, and be also not limited to disclosed each embodiment.When not departing from the scope and spirit of illustrated each embodiment, many modifications and changes are all apparent for those skilled in the art.The selection of term used herein, is intended to explain best the principle of each embodiment, practical application or the improvement to the technology in market, or makes other those of ordinary skill of the art can understand each embodiment disclosed herein.
Claims (16)
1. a navigation system, for positioning the one or more anchored objects in predetermined space, this navigation system comprises:
One or more optical communications component, for sending the predetermined information corresponding with described optical communications component, each described optical communications component comprises:
Light emitting module, for utilizing emitted light; And
Modulator, for modulating light emitting module, carries described predetermined information with the light making described light emitting module launch,
Video camera, for described predetermined space photographic images, the light that described video camera can be set to described light emitting module is launched forms hot spot in described image, and described hot spot can be analyzed to identify described predetermined information,
Wherein, optical communications component described at least one is used as positioning element, described positioning element is suitable for being separately positioned on described one or more anchored object, the predetermined information that described positioning element sends is the unique identification information of described positioning element, and the hot spot that the light that the light emitting module of described positioning element is launched is formed in described image is the first hot spot.
2. navigation system according to claim 1, also comprises:
Demodulator, for carrying out demodulation to the hot spot in described image, with the described predetermined information that the optical communications component obtained with correspond to described hot spot is corresponding; And
Position determining means, for according to first facula position of described first hot spot in described image, determines the position of described positioning element in described predetermined space.
3. navigation system according to claim 2, wherein,
Described position determining means passes through the reference by location figure of image and described predetermined space described in comparison, identify the correspondence position of described first facula position in described predetermined space in described image, thus determine the position of described positioning element in described predetermined space.
4. navigation system according to claim 2, wherein,
Optical communications component described at least one is used as position mark parts, and institute's rheme mark parts are suitable for being separately positioned at least one pre-position in described predetermined space, and the predetermined information that institute's rheme mark parts send is the precalculated position information of institute's rheme mark parts,
The hot spot that the light that the light emitting module of institute's rheme mark parts is launched is formed in described image is the second hot spot,
The relative position relation of described position determining means based on described first facula position and described second hot spot between the second facula position in described image and described precalculated position information determine the position of described optical communications component in described predetermined space.
5. navigation system according to claim 2, also comprises: mobile device and parametric controller,
Described mobile device comprises:
Locating module, for determining the position of described mobile device in described predetermined space; And
First wireless communication module, for sending the positional information representing the position of described mobile device in described predetermined space,
Described parametric controller comprises:
First memory, the position of the described positioning element that described unique identification information and described position determining means for associatedly storing the acquisition of described demodulator are determined;
Second wireless communication module, for receiving the described positional information from described mobile device;
Position comparing module, for judge the positioning element that the position of described mobile device is corresponding with found anchored object position between distance whether be less than or equal to predetermined distance threshold; And
3rd wireless communication module, is less than or equal to predetermined distance threshold in response to described distance, sends cue to described positioning element,
Described positioning element also comprises:
4th wireless communication module, for receiving described cue;
Reminding module, for sounding in response to described cue or launch visible ray.
6. navigation system according to claim 1, wherein,
Described optical communications component also comprises:
Enabling signal receiver module, for receiving enabling signal;
Opening module, for starting described light emitting module and described modulator in response to described enabling signal,
Or,
Described optical communications component also comprises:
Timer, for providing time signal;
Opening module, for receiving described time signal, and at predetermined instant and/or periodically start described light emitting module and described modulator,
Or,
Described optical communications component also comprises:
Motion sensor, for sensing the motion state change of described optical communications component;
Opening module, for changing in response to described motion state, starts described light emitting module and described modulator.
7. navigation system according to claim 1, wherein, described optical communications component also comprises:
Second memory, for storing described predetermined information.
8. navigation system according to claim 1, wherein, the only infrared light that described light emitting module is launched, described video camera comprises infrared image sensor.
9. the method that positions of the image based on located space, in described image, there is one or more hot spot, correspond respectively to the one or more optical communications component in described located space, described hot spot can be analyzed to identify the predetermined information that described optical communications component sends
Wherein, described one or more hot spot comprises at least one first hot spot, optical communications component corresponding to described first hot spot is used as positioning element, described positioning element is suitable for being separately positioned on described one or more anchored object, the predetermined information that described positioning element sends is the unique identification information of described positioning element
The method comprises:
Obtain described image;
Identify the described hot spot in described image;
Demodulation is carried out to identify described predetermined information to described hot spot, wherein to described first hot spot demodulation to identify described unique identification information;
Determine the position of described hot spot in described image, the position of wherein said first hot spot in described image is the first facula position;
According to described first facula position, determine the position of described positioning element in described predetermined space; And
Associatedly store the position of described unique identification information and described positioning element.
10. method according to claim 9, wherein, describedly determine that the step of the position of positioning element in described predetermined space comprises:
The reference by location figure of image described in comparison and described predetermined space, identifies the correspondence position of described first facula position in described predetermined space in described image, thus determines the position of described positioning element in described predetermined space.
11. methods according to claim 9, wherein,
Described one or more hot spot comprises at least one second hot spot, the position of described second hot spot in described image is the second facula position, optical communications component corresponding to described second hot spot is used as position mark parts, institute's rheme mark parts are suitable for being separately positioned at least one pre-position in described predetermined space, the predetermined information that institute's rheme mark parts send is the precalculated position information of institute's rheme mark parts
Determine that the step of the position of positioning element in described predetermined space comprises described:
Determine the relative position relation between described first facula position and described second facula position; And
The position of described optical communications component in described predetermined space is determined based on described relative position relation and described precalculated position information.
12. methods according to claim 9, also comprise:
Receive the positional information of mobile device;
Whether the distance between the position judging the positioning element that the position of described mobile device is corresponding with found anchored object is less than or equal to predetermined distance threshold; And
Be less than or equal to described predetermined distance threshold in response to described distance, send cue to described positioning element.
The equipment that 13. 1 kinds of images based on located space position, in described image, there is one or more hot spot, correspond respectively to the one or more optical communications component in described located space, described hot spot can be analyzed to identify the predetermined information that described optical communications component sends
Wherein, described one or more hot spot comprises at least one first hot spot, optical communications component corresponding to described first hot spot is used as positioning element, described positioning element is suitable for being separately positioned on described one or more anchored object, the predetermined information that described positioning element sends is the unique identification information of described positioning element
This equipment comprises:
Image acquiring device, for obtaining described image;
Spot identification device, for identifying the described hot spot in described image;
Demodulating equipment, for carrying out demodulation to described hot spot to identify described predetermined information, wherein to described first hot spot demodulation to identify described unique identification information;
Facula position determining device, for determining the facula position of described hot spot in described image, the position of wherein said first hot spot in described image is the first facula position;
Locus determining device, for according to described first facula position, determines the position of described positioning element in described predetermined space; And
Association store device, for associatedly storing the position of described unique identification information and described positioning element.
14. equipment according to claim 13, wherein, described locus determining device comprises:
Comparison device, for the reference by location figure by image described in comparison and described predetermined space, identify the correspondence position of described first facula position in described predetermined space in described image, thus determine the position of described positioning element in described predetermined space.
15. equipment according to claim 13, wherein,
Described one or more hot spot comprises at least one second hot spot, the position of described second hot spot in described image is the second facula position, optical communications component corresponding to described second hot spot is used as position mark parts, institute's rheme mark parts are suitable for being separately positioned at least one pre-position in described predetermined space, the predetermined information that institute's rheme mark parts send is the precalculated position information of institute's rheme mark parts
Described locus determining device comprises:
Relative position relation determining device, for determining the relative position relation between described first facula position and described second facula position; And
Absolute position determining device, determines the position of described optical communications component in described predetermined space based on described relative position relation and described precalculated position information.
16. equipment according to claim 13, also comprise:
Receiving system, for receiving the positional information of mobile device;
Judgment means, for judge the positioning element that the position of described mobile device is corresponding with found anchored object position between distance whether be less than or equal to predetermined distance threshold; And
Dispensing device, for being less than or equal to described predetermined distance threshold in response to described distance, sends cue to described positioning element.
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