CN105444751A - LED-lamp-based indoor positioning method, device and system - Google Patents
LED-lamp-based indoor positioning method, device and system Download PDFInfo
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- CN105444751A CN105444751A CN201410425593.6A CN201410425593A CN105444751A CN 105444751 A CN105444751 A CN 105444751A CN 201410425593 A CN201410425593 A CN 201410425593A CN 105444751 A CN105444751 A CN 105444751A
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Abstract
The invention relates to an LED-lamp-based indoor positioning method, an LED-lamp-based indoor positioning device and an LED-lamp-based indoor positioning system. The positioning method includes taking a photo of LED lamps to obtain an original image, extracting a light source image from the original image, extracting a Y component value of each row of the light source image, generating a Y component value curve of the light source image by adopting the column numbers as an order, subjecting the Y component value curve to frequency demodulation to obtain coded information of the LED lamps, and searching a map for a position corresponding to the coded information of the LED lamp to obtain the current position. The positioning device comprises a camera, a data processing device for achieving the method and a display device. The positioning system comprises the positioning device and a plurality of the LED lamps. Each of the LED lamps comprises unique coded information, an actuator and a modulator. Indoor positioning by adopting the method and the system is free of specialized installation and wire arrangement, and meets high-precision requirements.
Description
Technical field
Patent of the present invention relates to the communications field, in particular to a kind of method, the Apparatus and system that use smart machine camera and LED to carry out indoor positioning.
Background technology
Along with the high speed development of traffic, GPS GPS also becomes people and to travel at home the indispensable instrument of travelling outdoors.But, because signal is subject to blocking of buildings, very faint at indoor GPS signal, the requirement of location cannot be reached.
Indoor positioning refers to that in indoor environment, realize position locates, and mainly adopts a set of indoor location locating systems of the integrated formation of multiple technologies such as wireless telecommunications, architecture, inertial navigation location, thus realizes the monitoring position in the interior space such as personnel, object.
Indoor positioning technologies mainly divides architecture and inertial navigation to locate two kinds.Architecture refers to the emitter at specific position mount message, and locating device calculates concrete orientation according to signal; Inertial navigation location refers to the inertial equipment such as acceleration transducer, gyroscope in use equipment, goes out to send to calculate concrete orientation from certain basic point.
Current architecture mode need ad-hoc networks to connect up and special base station to send base station information, enforcement and maintenance cost too high.Inertial navigation location needs expensive equipment could meet the high-precision requirement of indoor navigation.
Summary of the invention
The object of the present invention is to provide a kind of indoor orientation method based on LED, Apparatus and system, it does not need special installation wiring, can meet indoor requirements for high precision simultaneously.
To achieve these goals, a kind of indoor orientation method based on LED provided by the invention comprises:
Shooting LED, obtains original image;
Light source image is extracted from described original image;
Extract the Y-component value that described light source image respectively arranges, and then with row number for the Y-component change curve of light source image described in sequential build;
Frequency demodulation is carried out to described Y-component change curve, obtains the coded message of described LED; And
Search position corresponding with the coded message of described LED in map, obtain current location.
Above-mentioned based in the indoor orientation method of LED, preferably, the Y-component value that described light source image respectively arranges is the maximum Y-component of all pixels in respective column.
Above-mentioned based in the indoor orientation method of LED, preferably, from described original image, extract light source image comprise:
Extract the most bright spot in original image; And
Based on described most bright spot, carry out image growth, obtain light source image.
Above-mentioned based in the indoor orientation method of LED, preferably, this localization method further comprises:
The relative position with described LED is obtained according to the deformation of light source image; And
By described relative position correction current location.
Above-mentioned based in the indoor orientation method of LED, preferably, obtain comprising with the relative position of described LED according to the deformation of light source image:
Detect the edge, horizontal and vertical direction that light source image is complete;
Hough transform is used to calculate the horizontal direction inclination angle of light source image;
The horizontal range of LED and locating device is calculated according to the vertical range of light source image deformation ratio and LED and locating device; And
The relative position with described LED is obtained with described horizontal direction inclination angle and described horizontal range.
A kind of indoor positioning device based on LED provided by the invention comprises:
Camera, for taking LED, obtains original image;
Data processing equipment, comprising: for extracting the first module of light source image in the original image from shooting; For extracting the Y-component value that described light source image respectively arranges, and then with row number for the second module of the Y-component change curve of light source image described in sequential build; For carrying out frequency demodulation to described Y-component change curve, obtain the 3rd module of the coded message of described LED; And for searching position corresponding with the coded message of described LED in map, obtain the four module of current location; And
Display device, for showing indoor map and current location.
Above-mentioned based in the indoor positioning device of LED, preferably, described data processing equipment also comprises:
For the deformation calculation inclination angle according to light source image, obtain the 5th module with the relative position of described LED; And
By the 6th module of described relative position correction current location.
Above-mentioned based in the indoor positioning device of LED, preferably, this indoor positioning device further comprises pre-determined bit module, for the prelocalization current region utilizing LED to position; Accordingly, in described four module, in the current region that pre-determined bit module navigates to, search the position corresponding with the coded message of described LED, obtain current location.
A kind of indoor locating system based on LED provided by the invention comprises:
Indoor positioning device described in above-mentioned any one; And
A plurality of LED, this plurality of LED all has:
Unique coded message;
Driver; And
Modulator, for being loaded into described driver by described coded message.
Above-mentioned based in the indoor locating system of LED, preferably, described modulator 2KHz frequency representation logical one, 4KHz frequency mark logical zero, each bit accounts for a wave period.
Pass through the present invention, achieve and determine target location based on visible ray, LED light has good stability, anti-interference and natural precision in indoor transmissions, can ensure the high precision of target location, solves the problem that in prior art, cost is high and positioning precision is low.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used for being further explained this patent, does not form the improper restriction to this patent.In the accompanying drawings:
Fig. 1 is the schematic diagram of some embodiments of some embodiments based on the indoor orientation method of LED;
Fig. 2 is the original image of the LED photographed in some embodiments;
Fig. 3 is the schematic diagram extracting light source image from original image;
Fig. 4 is the schematic diagram extracting Y-component change curve from light source image;
Fig. 5 is the modulation signal waveform schematic diagram to obtaining after the filtering of Y-component change curve;
Fig. 6 is the schematic diagram calculating deformation inclination angle;
Fig. 7 is the schematic diagram of invocation map in some embodiments;
Fig. 8 is the structural representation of the indoor positioning device in some embodiments;
Fig. 9 is the structural representations of some embodiments based on the indoor locating system of LED;
Figure 10 is the circuit diagram of LED in some embodiments;
Figure 11 is the signal waveforms in some embodiments after coded message compiling;
Figure 12 is the oscillogram after using the signal madulation in Figure 11.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail.Should understand, specific embodiment described herein only for explaining the present invention, is not limited to the present invention.
See Fig. 1, some embodiments comprise the following steps based on the indoor orientation method of LED:
Open positioning software; Opening device camera;
Step S100, shooting LED, obtain original image.The width original image photographed has been shown in Fig. 2.
Step S200, from described original image, extract light source image.Contrast figure before and after extracting has been shown in Fig. 3.Extracting method can adopt existing image Segmentation Technology to realize.A kind of preferably extraction scheme is: first, extracts the most bright spot in original image; Then, based on described most bright spot, carry out image growth, obtain light source image.
Step S300, extract the Y-component value that described light source image respectively arranges, and then with the Y-component change curve that row number are light source image described in sequential build.This process is schematically illustrated in Fig. 4.
In the preferred embodiment, the Y-component value that light source image respectively arranges is the maximum Y-component of all pixels in respective column, also can obtain the Y-component mean value of minimum Y-component or respective column.
Step S400, frequency demodulation is carried out to described Y-component change curve, obtain the coded message of described LED.Fig. 5 schematically illustrates the modulation signal waveform to obtaining after the filtering of Y-component change curve, and carry out frequency demodulation to this modulation signal waveform, the data obtained are the coded message of described LED.
After obtaining the coded message of described LED, search position corresponding with the coded message of described LED in map, can current location be obtained.
In above-described embodiment, using the position of captured LED as current location.In order to improve positioning precision further, further comprise following steps: obtain the relative position with described LED according to the deformation of light source image; And then by described relative position correction current location, thus make positioning precision higher.
In a kind of preferred embodiment, obtain with the method for the relative position of described LED as follows according to the deformation of light source image:
A () uses Sobel operator to calculate the edge AB of light source image respectively, AC, BD, CD, as shown in Figure 6;
B () uses Hough algorithm to calculate the level inclination of light source image: make C point set up xy coordinate system for true origin, the angle making CD and x-axis is θ, makes θ
iinitial value is θ
0=0, then with step-length k, each point (x, y) in image is got all over all values in (0,90), substitute into formula:
ρ
i＝xcosθ
i+ysinθ
i
Calculate, Mi is for corresponding to (ρ
i, θ
i) coefficient, θ
ioften get a sub-value, Mi adds 1, wherein i=0, and 1,2,3 ...., int (90/k), int is for rounding symbol;
Obtain Mi (I=0,1,2,3 ...., int (90/k)) maximal value, the corresponding angle θ of this maximal value, if the image upper right corner is inclined upwardly, then this angle is exactly pitch angle, image clockwise is rotated θ angle; If the image upper left corner is inclined upwardly, then inclination angle is (90-θ), by image counter rotation (90-θ) angle;
C () calculates the horizontal range of LED and locating device according to the vertical range of light source image deformation ratio and LED and locating device: after making image rotation, the vertical range of AB mid point and CD is L1, CD line length is L2, the locating device prestored and the vertical range of LED are T1
So the horizontal range P of locating device and LED:
D horizontal direction inclination angle that () obtains by step (b) and the horizontal range that step (c) obtains can obtain the relative position of locating device and described LED.
In the indoor orientation method of some better embodiments, further, further comprising the steps of before above-mentioned steps S100: current region is positioned.The wireless location technologies such as wireless network AGPS or GPS specifically can be utilized to carry out Primary Location, determine current region.Correspondingly, above-mentioned search position corresponding with the coded message of described LED in map time, search in the current region determined, obtain current location.Thisly first first tentatively determine current location by wireless location technology, the method of the coded message of LED is obtained again after obtaining regional location, shorten the length of LED coding, improve transmission speed, and decrease the interference and restriction of encoding between zones of different.
The indoor map that location uses and the LED coded message storehouse involved by this indoor map, can some or all of be stored in locating device, also can be stored in the webserver, be downloaded during use by wireless network.A kind of concrete flow process has been shown in Fig. 7.As shown in Figure 7, during use, open location navigation software; Next current region is determined by wireless network AGPS or GPS etc.; Then obtained the coded message of LED by above-mentioned shooting and disposal route, by this coded message and local data base comparison, determine the address information of LED and show on map, thus obtaining current location.If the coded message of LED does not store at local data base, then obtain from the webserver LED coded message storehouse that corresponding map and this map relate to by wireless network.
As shown in Figure 8, some embodiments comprise based on the indoor positioning device of LED:
Camera 81, for taking LED, obtains original image;
Data processing equipment 82, comprising: for extracting the first module of light source image in the original image from shooting; For extracting the Y-component value that described light source image respectively arranges, and then with row number for the second module of the Y-component change curve of light source image described in sequential build; For carrying out frequency demodulation to described Y-component change curve, obtain the 3rd module of the coded message of described LED; And for searching position corresponding with the coded message of described LED in map, obtain the four module of current location;
Display device 83, for showing indoor map and current location.
This indoor positioning device further comprises: for storing the storer 84 of map and LED coded message; And network adapter 85.Network adapter 85 is for downloading map etc. by wireless network from the webserver.
In order to realize locating more accurately, data processing equipment 82 further comprises: for the deformation calculation inclination angle according to light source image, obtains the 5th module with the relative position of described LED; And by the 6th module of described relative position correction current location.
In the embodiment that some are better, above-mentioned indoor positioning device further comprises pre-determined bit module, for the prelocalization current region utilizing LED to position; Accordingly, in described four module, in the current region that pre-determined bit module navigates to, search the position corresponding with the coded message of described LED, obtain current location.
The above-mentioned indoor positioning device based on LED can realize with the smart machine (as: smart mobile phone, ipad, ipod etc.) of band camera, and the wherein the first to the six module can be realized by computer program.
Fig. 9 shows the structure of some embodiments based on the indoor locating system of LED.As shown in Figure 9, should comprise based on the indoor locating system of LED: indoor positioning device 1, a plurality of LED 2 (only illustrating in figure).
Indoor positioning device 1 can be any one indoor positioning device above-mentioned, or adopts any one device based on the indoor orientation method of LED above-mentioned.
Figure 10 shows the circuit of LED, and this LED is the LED flat lamp that current drive-type can be modulated.As shown in Figure 10, LED 2 has: unique coded message, driver 21, modulator 22, AC/DC converter 23.AC/DC converter 23 converts electric main to direct current, and the described coded message prestored is compiled as modulation signal according to predetermined coded system and is loaded into driver 21 by modulator 22, makes LED send light signal.As can be seen here, the light that LED sends is not only for illumination, and contain unique coded message (identity information) of this LED, therefore in the LED light source image photographed, there will be light and shade striped (as Fig. 2), the light and shade striped in image just represents the data of a bit.
The signal waveform after coded message compiling in some embodiments is schematically illustrated in Figure 11.The waveform after with the signal madulation in Figure 11 is schematically illustrated in Figure 12.Use 2KHz frequency representation logical one in fig. 12,4KHz frequency mark logical zero, each bit accounts for a wave period, and (namely modulator 22 adopts 2KHz frequency representation logical one when modulating, 4KHz frequency mark logical zero, each bit accounts for a wave period), the program effectively can solve existing smart machine camera and there will be a chaos state when continuous three high/low level, causes the problem that cannot judge concrete state during image procossing.But modulator frequency of the present invention is not limited to 2KHz and 4KHz, it can be any frequency meeting behaviour in service.
Above-described embodiment can make a variety of changes and modification, and therefore all equivalent technical schemes also belong to scope, and scope of patent protection of the present invention should be defined by the claims.
Claims (10)
1., based on an indoor orientation method for LED, it is characterized in that comprising:
Shooting LED, obtains original image;
Light source image is extracted from described original image;
Extract the Y-component value that described light source image respectively arranges, and then with row number for the Y-component change curve of light source image described in sequential build;
Frequency demodulation is carried out to described Y-component change curve, obtains the coded message of described LED; And
Search position corresponding with the coded message of described LED in map, obtain current location.
2. the indoor orientation method based on LED according to claim 1, is characterized in that, the Y-component value that described light source image respectively arranges is the maximum Y-component of all pixels in respective column.
3. the indoor orientation method based on LED according to claim 1, is characterized in that, extracts light source image and comprise from described original image:
Extract the most bright spot in original image; And
Based on described most bright spot, carry out image growth, obtain light source image.
4. the indoor orientation method based on LED according to claim 1, is characterized in that, this localization method further comprises:
The relative position with described LED is obtained according to the deformation of light source image; And
By described relative position correction current location.
5. the indoor orientation method based on LED according to claim 4, is characterized in that, obtains comprising with the relative position of described LED according to the deformation of light source image:
Detect the edge, horizontal and vertical direction that light source image is complete;
Hough transform is used to calculate the horizontal direction inclination angle of light source image;
The horizontal range of LED and locating device is calculated according to the vertical range of light source image deformation ratio and LED and locating device;
The relative position with described LED is obtained with described horizontal direction inclination angle and described horizontal range.
6., based on an indoor positioning device for LED, it is characterized in that, comprising:
Camera, for taking LED, obtains original image;
Data processing equipment, comprising: for extracting the first module of light source image in the original image from shooting; For extracting the Y-component value that described light source image respectively arranges, and then with row number for the second module of the Y-component change curve of light source image described in sequential build; For carrying out frequency demodulation to described Y-component change curve, obtain the 3rd module of the coded message of described LED; And for searching position corresponding with the coded message of described LED in map, obtain the four module of current location; And
Display device, for showing indoor map and current location.
7. the indoor positioning device based on LED according to claim 6, it is characterized in that, described data processing equipment also comprises:
For the deformation calculation inclination angle according to light source image, obtain the 5th module with the relative position of described LED; And
By the 6th module of described relative position correction current location.
8. the indoor positioning device based on LED according to claim 6, is characterized in that, this indoor positioning device further comprises pre-determined bit module, for the prelocalization current region utilizing LED to position; Accordingly, in described four module, in the current region that pre-determined bit module navigates to, search the position corresponding with the coded message of described LED, obtain current location.
9. based on an indoor locating system for LED, it is characterized in that, comprising:
Indoor positioning device in claim 6 to 8 described in any one; And
A plurality of LED, they all have:
Unique coded message;
Driver; And
Modulator, for being loaded into described driver by described coded message.
10. the indoor locating system based on LED according to claim 9, is characterized in that, described modulator 2KHz frequency representation logical one, 4KHz frequency mark logical zero, each bit accounts for a wave period.
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| CN111928852A (en) * | 2020-07-23 | 2020-11-13 | 武汉理工大学 | Indoor robot positioning method and system based on LED position coding |
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Application publication date: 20160330 |