CN107330939B - Visible light positioning system and method based on mine roadway lamp - Google Patents
Visible light positioning system and method based on mine roadway lamp Download PDFInfo
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Abstract
The invention discloses a visible light positioning system and method based on mine roadway lamps, and belongs to the technical field of underground positioning. The system comprises an initial setting module, an optical information sampling module, an optical data analysis module and a matching positioning module; firstly, an initial setting module firstly establishes an underground fluorescent lighting information fingerprint database; the optical information sampling module controls the camera to adapt to the exposure time, and image information containing the characteristic frequency of the fluorescent lighting lamp is obtained to the maximum extent; the optical data analysis module establishes a high-frequency characteristic amplification mechanism and identifies the characteristic frequency of the sampling fluorescent lamp; and the matching positioning module searches the matching characteristic frequency of the optical information fingerprint database and realizes the positioning of underground personnel through geometric transformation. The original circuit does not need to be modified, the equipment cost is low, the environmental interference resistance is strong, and the underground roadway moving target is reliably and accurately positioned.
Description
Technical Field
The invention relates to a visible light positioning system and a visible light positioning method, in particular to a visible light positioning system and a visible light positioning method based on mine roadway lamps, which are suitable for underground positioning.
Background
The underground personnel positioning system plays an important role in various aspects such as realizing attendance management of underground operating personnel, restraining production of over-sized personnel, preventing the underground personnel from entering a dangerous area, timely discovering personnel who do not ascend the well on time, strengthening management of special operating personnel, strengthening management of cadres with shifts and the like.
The main technologies currently applied to the underground personnel positioning system include an RFID technology, a ZigBee technology and a WIFI technology. The Radio Frequency Identification (RFID) technology is a non-contact automatic identification technology. The unique mark card carried by underground personnel is activated in the antenna radio frequency signal working area, and the identification information is fed back to the card reading substation through the built-in antenna of the card, so that the acquisition of personnel position information is realized. The technology has the characteristics of convenience and rapidness in data reading, good real-time performance and the like. The ZigBee technology adopts a large number of sensor devices, anchor nodes with known fixed positions are fixed, and the mobile positioning module is worn on the body of underground personnel, so that the ZigBee wireless network communication technology is low in complexity, low in power consumption and low in speed. The WIFI technology utilizes an underground Ethernet to set a plurality of base stations to cover a wireless network underground, and underground and aboveground workers carry out scheduling of personnel and equipment and feedback of information through mobile terminal equipment. However, the underground environment conditions are severe, the air humidity is high, a large amount of coal ash dust and combustible gas are filled, the problems that the physical communication space is narrow and changes along with the mining process, a large number of specialized devices are caused, the radio frequency and wireless signals are seriously weakened, and the communication is limited are solved. If the positioning accuracy is improved by adding a signal receiving and transmitting device, the cost is increased and the installation is difficult. Therefore, the underground personnel positioning system based on the technology has the main problems of poor stability and unsatisfactory positioning precision in the practical application process.
The visible light communication technology is a new optical wireless communication technology, and has the characteristics of high emission power, strong anti-electromagnetic interference capability, safety and harmlessness. In recent years, visible light technology has provided new approaches to downhole personnel location systems. The method for positioning and tracking the light fingerprint of the underground moving target based on visible light communication with the patent number CN201310140087.8 is characterized in that a light fingerprint database is firstly established by utilizing the intensity and the angle of received illumination energy, then a positioning data packet is formed by the signal intensity and the angle information of an illuminating lamp base station, the personnel ID information and the ID information of the illuminating lamp base station, which are detected by a receiver carried by underground moving personnel, and then the positioning data packet is transmitted back to a positioning server, and finally the personnel position is calculated through a fuzzy prediction matching mode; the method for positioning underground personnel based on visible light communication technology with patent number CN20141037268.1 utilizes an LED driving circuit to control the brightness change of an LED miner's lamp to represent the codes of sending signals ' 1 ' and ' 0 ', so as to obtain a communication mode using optical signals as information carriers. However, the following problems still exist in the research aiming at the two methods for positioning the downhole personnel based on the visible light technology: firstly, a complex and severe environment in a coal mine causes data deviation to the intensity of illumination energy collected when a fingerprint library is established and the intensity of a detection optical signal of a moving target, so that the positioning precision is influenced; secondly, almost all existing LED lamp-based communication positioning technologies need to modify the original lamp structure and add an LED driving control circuit, but circuit modification is carried out on hundreds of mine lamps under a mine, and the cost is huge; thirdly, the downhole operator needs to additionally carry a mobile terminal for receiving the optical signal, which is not beneficial to the safety operation of the operator and increases the system cost.
Disclosure of Invention
The technical problem is as follows: aiming at the defects in the prior art, the invention provides the visible light positioning system and method based on the mine roadway lamp, which have the advantages of strong anti-jamming capability, no need of modifying the original circuit, low equipment cost and unique marking positioning by using the characteristic frequency of the fluorescent illuminating lamp.
The technical scheme is as follows: in order to achieve the technical purpose, the visible light positioning device based on the mine roadway lamp comprises an initial setting module, an optical information sampling module, an optical data analyzing module and a matching positioning module;
the initial setting module comprises an optical receiving detector for acquiring identification characteristic frequency values of all fluorescent illuminating lamps in the roadway and an optical receiving detector battery for supplying power to the optical receiving detector;
the optical information sampling module comprises an embedded industrial CCD camera, a wireless transmission module and a high-precision iron phosphate rechargeable lithium battery, wherein the embedded industrial CCD camera is arranged on the mine safety helmet and is connected with the wireless transmission module, the high-precision iron phosphate rechargeable lithium battery is used for supplying power, and the self-adaptive exposure time of the embedded industrial CCD camera is controlled, so that video image information containing the characteristic frequency of the fluorescent lighting lamp is obtained to the maximum extent;
the optical data analysis module is a core processing computer and is used for establishing a high-frequency characteristic amplification mechanism and identifying the characteristic frequency of the sampled fluorescent illuminating lamp in the current video information;
the matching positioning module is an optical information fingerprint library server, and an optical information fingerprint library in the optical information fingerprint library server comprises data information of all fluorescent illuminating lamps in a roadway, wherein the data information comprises the serial number of each fluorescent illuminating lamp, the identification characteristic frequency value of each fluorescent illuminating lamp and the physical coordinate of each fluorescent illuminating lamp;
the embedded industrial CCD camera, the wireless transmission module and the high-precision iron phosphate rechargeable lithium battery are carried by underground workers and are connected with a core processing computer through a wireless network, and the optical information fingerprint library server is connected with the core processing computer;
the identification characteristic frequency of the sampling fluorescent illuminating lamp in the video image information acquired by the embedded industrial CCD camera is searched and matched with the data of the optical information fingerprint library server, so that the serial number and the geographic position of the sampling fluorescent illuminating lamp in the current video image information are confirmed, and meanwhile, the accurate positioning of the position of the underground target personnel is realized by geometrically transforming the size and the physical size of the video image information.
The model of the optical receiving detector is BPW 34.
The visible light positioning method using the visible light positioning device based on the mine roadway lamp comprises the following steps:
a. establishing an optical information fingerprint database: firstly, numbering all fluorescent illuminating lamps of an underground roadway, collecting physical coordinates of all the fluorescent illuminating lamps, simultaneously collecting identification characteristic frequencies of all the fluorescent illuminating lamps by using an optical receiving detector, and establishing an optical information fingerprint library in an optical information fingerprint library server through a core processing computer;
the format of the optical information of each fluorescent lighting lamp in the optical information fingerprint library is number, physical coordinate and characteristic frequency;
b. when the mine safety helmet worn by a target person moves in an underground roadway, acquiring image information of an adjacent fluorescent lighting lamp by an embedded industrial CCD camera arranged on the mine safety helmet through a self-adaptive exposure time algorithm, and sending the image information to a core processing computer through a wireless network for identification;
c. the core processing computer carries out high-frequency characteristic amplification identification on the received image information;
d. matching the characteristic frequency of the fluorescent illuminating lamp obtained by the high-frequency characteristic amplification identification method with the identification characteristic frequency of each fluorescent illuminating lamp in the optical information fingerprint library, and searching the optical information fingerprint with the minimum difference by sequentially performing difference operation on the identification characteristic frequency identified by the current image and the identification characteristic frequency of each fluorescent illuminating lamp in the optical information fingerprint library so as to determine the serial number and the coordinate position information of the sampled fluorescent illuminating lamp in the current image information;
e. according to the relative position relation between the central position of the original sampling image and the image of the fluorescent illuminating lamp, the position information of the current sampling fluorescent illuminating lamp is utilized to carry out corresponding geometric coordinate conversion, the distance between the underground moving target personnel and the current fluorescent illuminating lamp is obtained, the accurate position of the target personnel is finally obtained, and the whole positioning work is completed.
The embedded industrial CCD camera samples the acquired image information based on the self-adaptive exposure time algorithm, and the image information format is RAW format; the self-adaptive exposure time algorithm of the embedded industrial CCD camera is used for obtaining the exposure time t in the sampling processe *Satisfies the following formula:
wherein the content of the first and second substances,
indicating the ith exposure time in a limited number of exposure settings,
indicating an embedded industrial CCD camera
Frequency response which can be obtained after a sampling process is carried out under time; this formula represents an embedded industrial CCD camera adaptively choosing an exposure time setting that maximizes the acquisition frequency response during the sampling process.
The method for amplifying and identifying the high-frequency characteristics of the received image information by the core processing computer comprises the following steps:
c1. the image information is subjected to secondary sampling, and an image collected by the embedded industrial CCD camera is compressed to 1/256 of the size of an original image on the premise of keeping the outline of the fluorescent lighting lamp, so that the identification speed of the sampled image is improved;
c2. performing thresholding treatment on the 1/256 image compressed to the size of the original image to obtain a binary mask image, processing the binary mask image by using an image denoising method in an OpenCV visual library to obtain a purified image, and determining the maximum outline of all fluorescent lighting lamps in the image;
c3. judging whether two straight lines have a vertical relation or not by calculating straight line coefficients of a long edge of the fluorescent lamp outline and a bottom edge of the image, namely judging whether the fluorescent lamp outline in the image information has angular deviation or not, and rotating the outline image to enable the long edge to be vertical to the bottom edge of the image if the fluorescent lamp outline has angular deviation; regularizing the processed fluorescent illuminating lamp image by using a rigid boundary frame, so that the number of pixel points in each row and each column in the fluorescent illuminating lamp image to be processed is fixed and consistent;
c4. decompressing the image information with the regularized rigid boundary frame to restore the image information into the original pixel size, thereby obtaining an original-size frame gauge image with the regularized rigid boundary frame with the original pixel size;
c5. selecting all fluorescent illuminating lamp images in the original size frame gauge image, adding the light intensity of each row of pixel points in the fluorescent illuminating lamp images to obtain a to-be-processed column vector, and repeating the steps on a plurality of images sampled by the same fluorescent illuminating lamp to obtain a column vector sequence;
c6. and performing operation analysis on the column vector sequence by using a fast Fourier transform algorithm, and finally identifying the highest peak from an analysis spectrum, namely the characteristic frequency of the fluorescent illuminating lamp.
When the fingerprint information with the minimum difference is searched by carrying out difference operation on the identified characteristic frequency and the characteristic frequency of each fluorescent lighting lamp in the optical information fingerprint library in sequence, in order to improve the accuracy of identification and matching, the multiple fluorescent lighting lamps are further confirmed to be the same as the fluorescent lighting lamp sampled by the moving target by utilizing the optimized matching method of the multiple fluorescent lighting lamps.
The optimized matching method of the multi-fluorescent illuminating lamp comprises the following steps:
d1. combining the light information of every 4 adjacent fluorescent lighting lamps in the light information fingerprint library into a group, and independently forming the library;
d2. if the sampled image decomposed from the image information contains two or more fluorescent lighting lamps, respectively identifying the characteristic frequencies of all the fluorescent lighting lamps and matching corresponding physical coordinate positions in the optical information fingerprint database;
d3. and judging whether a plurality of fluorescent lighting lamps matched in the picture are divided into the same group or not by using a fluorescent lighting lamp optical information base which records 4 mutually adjacent fluorescent lighting lamps in each group of optical information, and if one fluorescent lighting lamp is matched incorrectly in the grouped information, sampling the optical information again by using an embedded industrial CCD camera.
Has the advantages that: due to the adoption of the technical scheme, the fluorescent illuminating lamps in the underground roadway are uniformly and regularly distributed, have no sunlight influence, and have moderate distance intervals so as to have less mutual interference. According to the lighting characteristics of the underground roadway, the characteristic frequency of the fluorescent lamp is sampled and analyzed by adopting a mobile camera device, and the aim of positioning personnel can be fulfilled by a fingerprint database matching method. Meanwhile, compared with other underground visible light positioning methods, the technology does not need to modify the circuit structure of the illuminating lamp, does not need a large amount of signal receiving and transmitting equipment, does not need to additionally carry mobile equipment, and has the characteristics of economy, applicability, reliability, accuracy, strong environmental interference resistance and the like. Compared with the prior art, the main advantages are that:
the invention utilizes the unique identification of the characteristic frequency of the fluorescent illuminating lamp of the underground tunnel to establish the optical information fingerprint database, and can clearly form an underground tunnel landmark map; the positioning range can be effectively reduced through the processes of light and shadow image sampling, characteristic frequency identification and fingerprint database matching; denoising processing, multi-lamp matching and image geometric transformation further enable the method to accurately and reliably position the moving target personnel of the underground tunnel.
Drawings
Fig. 1 is a schematic view of a visible light positioning system based on mine roadway lamps.
Fig. 2 is a flow chart of the visible light positioning method based on the mine roadway lamp.
Fig. 3 is a flowchart of an implementation of the optical data parsing module according to the present invention.
In the figure: the system comprises a fluorescent lighting lamp 1, an optical receiving detector 2, an optical receiving detector battery 3, an industrial CCD camera 4 and a high-precision iron phosphate rechargeable lithium battery 5.
Detailed Description
The invention will be further described with reference to examples in the drawings to which:
as shown in fig. 1, the visible light positioning device based on the mine roadway lamp mainly comprises an initial setting module, an optical information sampling module, an optical data analyzing module and a matching positioning module;
the initial setting module comprises an optical receiving detector 2 for collecting identification characteristic frequency values of all fluorescent illuminating lamps 1 in the roadway and an optical receiving detector battery for supplying power to the optical receiving detector 2; the optical receiving detector 2 is of the model BPW 34.
The optical information sampling module comprises an embedded industrial CCD camera 4, a wireless transmission module and a high-precision iron phosphate rechargeable lithium battery 5 which are arranged on the mine safety helmet, wherein the embedded industrial CCD camera 4 is connected with the wireless transmission module, and the high-precision iron phosphate rechargeable lithium battery 5 is used for supplying power to control the self-adaptive exposure time of the embedded industrial CCD camera 4 so as to maximally acquire video image information containing the characteristic frequency of the fluorescent lighting lamp;
as shown in fig. 3, the optical data analysis module is a core processing computer 6, and is configured to establish a high-frequency characteristic amplification mechanism and identify a characteristic frequency of the fluorescent lighting lamp 1 sampled in the current video information; the method comprises the following steps: compressing a sampling image, extracting a simple fluorescent lamp outline, regularizing the fluorescent lamp outline by using a rigid boundary frame, restoring the selected outline image pixels, adding the light intensity of each row of pixels to obtain a column vector to be processed, and analyzing and identifying the characteristic frequency by using a fast Fourier transform algorithm.
The matching positioning module is an optical information fingerprint library server, and an optical information fingerprint library in the optical information fingerprint library server comprises data information of all fluorescent illuminating lamps 1 in a roadway, wherein the data information comprises serial numbers of all fluorescent illuminating lamps 1, identification characteristic frequency values of all fluorescent illuminating lamps 1 and physical coordinates of all fluorescent illuminating lamps 1;
the embedded industrial CCD camera 4, the wireless transmission module and the high-precision iron phosphate rechargeable lithium battery 5 are carried by underground workers and are connected with the core processing computer 6 through a wireless network, and the optical information fingerprint library server is connected with the core processing computer 6;
the identification characteristic frequency of the sampling fluorescent illuminating lamp 1 in the video image information collected by the embedded industrial CCD camera 4 is searched and matched with the data of the optical information fingerprint database server, so that the number and the geographic position of the sampling fluorescent illuminating lamp 1 in the current video image information are confirmed, and meanwhile, the accurate positioning of the position of the underground target personnel is realized by carrying out geometric transformation on the size and the physical size of the video image information.
As shown in fig. 2, the visible light positioning method based on the mine roadway lamp of the invention specifically comprises the following steps:
a. establishing an optical information fingerprint database: firstly, numbering all fluorescent illuminating lamps 1 of an underground roadway, collecting physical coordinates of all the fluorescent illuminating lamps 1, simultaneously collecting identification characteristic frequencies of all the fluorescent illuminating lamps 1 by using an optical receiving detector 2, and establishing an optical information fingerprint database in an optical information fingerprint database server by using a core processing computer 6;
the format of the optical information of each fluorescent lighting lamp 1 in the optical information fingerprint database is number, physical coordinate and characteristic frequency;
b. when the mine safety helmet worn by a target person moves in an underground roadway, acquiring image information of an adjacent fluorescent lighting lamp 1 by an embedded industrial CCD camera 4 arranged on the mine safety helmet through a self-adaptive exposure time algorithm, and sending the image information to a core processing computer 6 through a wireless network for identification;
the embedded industrial CCD camera 4 samples the acquired image information based on the self-adaptive exposure time algorithm, and the image information format is RAW format; the self-adaptive exposure time algorithm of the embedded industrial CCD camera 4 is used for obtaining the exposure time t in the sampling processe *Satisfies the following formula:
wherein the content of the first and second substances,
indicating the ith exposure time in a limited number of exposure settings,
indicating an embedded industrial CCD camera 4
Frequency response which can be obtained after a sampling process is carried out under time; this formula represents that the embedded industrial CCD camera 4 adaptively selects an exposure time setting that maximizes the acquisition frequency response during the sampling process;
c. the core processing computer 6 performs high-frequency characteristic amplification identification on the received image information, and the specific method is as follows:
c1. the image information is subjected to secondary sampling, and an image collected by the embedded industrial CCD camera 4 is compressed to 1/256 of the size of an original image on the premise of keeping the outline of the fluorescent lighting lamp, so that the identification speed of the sampled image is improved;
c2. performing thresholding treatment on the 1/256 image compressed to the size of the original image to obtain a binary mask image, processing the binary mask image by using an image denoising method in an OpenCV visual library to obtain a purified image, and determining the maximum outline of all fluorescent illuminating lamps 1 in the image;
c3. judging whether two straight lines have a vertical relation or not by calculating straight line coefficients of a long side of the outline of the fluorescent lamp and a bottom side of the image, namely judging whether the outline of the fluorescent lamp 1 in the image information has angular deviation or not, and if so, rotating the outline image to enable the long side to be vertical to the bottom side of the image; regularizing the processed fluorescent illuminating lamp image by using a rigid boundary frame, so that the number of pixel points in each row and each column in the fluorescent illuminating lamp image to be processed is fixed and consistent;
c4. decompressing the image information with the regularized rigid boundary frame to restore the image information into the original pixel size, thereby obtaining an original-size frame gauge image with the regularized rigid boundary frame with the original pixel size;
c5. selecting all images of the fluorescent illuminating lamp 1 in the original-size frame gauge image, summing the light intensity of each row of pixel points in the images of the fluorescent illuminating lamp 1 to obtain a column vector to be processed, and repeating the steps on a plurality of images sampled by the same fluorescent illuminating lamp 1 to obtain a column vector sequence;
c6. and (3) performing operation analysis on the column vector sequence by using a fast Fourier transform algorithm, and finally identifying the highest peak from an analysis spectrum as the characteristic frequency of the fluorescent lighting lamp 1.
d. Matching the characteristic frequency of the fluorescent illuminating lamp 1 obtained by the high-frequency characteristic amplification identification method with the identification characteristic frequency of each fluorescent illuminating lamp 1 in the optical information fingerprint library, and searching the optical information fingerprint with the minimum difference by sequentially performing difference operation on the identification characteristic frequency identified by the current image and the identification characteristic frequency of each fluorescent illuminating lamp 1 in the optical information fingerprint library so as to determine the serial number and the coordinate position information of the sampled fluorescent illuminating lamp 1 in the current image information;
e. according to the relative position relationship between the center position of the original sampling image and the image of the fluorescent illuminating lamp 1, the position information of the current sampling fluorescent illuminating lamp 1 is utilized to carry out corresponding geometric coordinate conversion, the distance between the underground moving target personnel and the current fluorescent illuminating lamp 1 is obtained, the accurate position of the target personnel is finally obtained, and the whole positioning work is completed.
When the fingerprint information with the minimum difference is searched by carrying out difference operation on the identified characteristic frequency and the characteristic frequency of each fluorescent lighting lamp in the optical information fingerprint library, in order to improve the accuracy of identification and matching, a multi-fluorescent lighting lamp optimization and matching method is utilized to further confirm that the identified fluorescent lighting lamp is the same as the fluorescent lighting lamp sampled by the moving target; the optimized matching method of the multi-fluorescent lighting lamp 1 comprises the following steps:
d1. combining the light information of every 4 adjacent fluorescent illuminating lamps 1 in the light information fingerprint library into a group, and independently forming the library;
d2. if the sampled image decomposed from the image information contains two or more fluorescent lighting lamps 1, respectively identifying the characteristic frequencies of all the fluorescent lighting lamps 1 and matching corresponding physical coordinate positions in the optical information fingerprint database;
d3. and judging whether a plurality of fluorescent lighting lamps 1 matched in the picture are divided into the same group or not by using a fluorescent lighting lamp optical information base which records 4 mutually adjacent fluorescent lighting lamps in each group of optical information, and if one fluorescent lighting lamp 1 is wrongly matched in the grouped information, sampling the optical information again by using the embedded industrial CCD camera 4.
Claims (6)
1. The utility model provides a visible light positioner based on mine tunnel lamp which characterized in that: the system comprises an initial setting module, an optical information sampling module, an optical data analysis module and a matching positioning module;
the initial setting module comprises an optical receiving detector (2) for collecting identification characteristic frequency values of all fluorescent illuminating lamps (1) in the roadway and an optical receiving detector battery for supplying power to the optical receiving detector (2);
the optical information sampling module comprises an embedded industrial CCD camera (4) arranged on the mine safety helmet, a wireless transmission module and a high-precision iron phosphate rechargeable lithium battery (5), wherein the embedded industrial CCD camera (4) is connected with the wireless transmission module, the high-precision iron phosphate rechargeable lithium battery (5) is used for supplying power, and the embedded industrial CCD camera (4) is controlled to adapt to exposure time so as to obtain video image information containing the characteristic frequency of the fluorescent lighting lamp to the maximum extent;
the optical data analysis module is a core processing computer (6) and is used for establishing a high-frequency characteristic amplification mechanism and identifying the characteristic frequency of the sampling fluorescent illuminating lamp (1) in the current video information;
the matching positioning module is an optical information fingerprint library server, and an optical information fingerprint library in the optical information fingerprint library server comprises data information of all fluorescent illuminating lamps (1) in a roadway, wherein the data information comprises the serial number of each fluorescent illuminating lamp (1), the identification characteristic frequency value of each fluorescent illuminating lamp (1) and the physical coordinate of each fluorescent illuminating lamp (1);
the embedded industrial CCD camera (4), the wireless transmission module and the high-precision iron phosphate rechargeable lithium battery (5) are carried by underground workers and are connected with the core processing computer (6) through a wireless network, and the optical information fingerprint library server is connected with the core processing computer (6);
the identification characteristic frequency of the sampling fluorescent illuminating lamp (1) in the video image information collected by the embedded industrial CCD camera (4) is searched and matched with the data of the optical information fingerprint database server, so that the serial number and the physical coordinate of the sampling fluorescent illuminating lamp (1) in the current video image information are confirmed, and meanwhile, the accurate positioning of the position of an underground target person is realized by carrying out geometric transformation on the size and the physical size of the video image information of the fluorescent illuminating lamp (1);
the core processing computer (6) carries out the high-frequency characteristic amplification identification method on the received image information as follows:
c1. the image information is subjected to secondary sampling, and an image collected by the embedded industrial CCD camera (4) is compressed to 1/256 of the size of an original image on the premise of keeping the outline of the fluorescent lighting lamp, so that the identification speed of the sampled image is improved;
c2. performing thresholding processing on the 1/256 image compressed to the size of the original image to obtain a binary mask image, processing the binary mask image by using an image denoising method in an OpenCV visual library to obtain a purified image, and determining the maximum outline of all fluorescent illuminating lamps (1) in the image;
c3. judging whether two straight lines have a vertical relation or not by calculating straight line coefficients of a long side of the outline of the fluorescent lamp and a bottom side of the image, namely judging whether the outline of the fluorescent lamp (1) in the image information has angular deviation or not, and if so, rotating the outline image to enable the long side to be vertical to the bottom side of the image; regularizing the processed fluorescent illuminating lamp image by using a rigid boundary frame, so that the number of pixel points in each row and each column in the fluorescent illuminating lamp image to be processed is fixed and consistent;
c4. decompressing the image information with the regularized rigid boundary frame to restore the image information into the original pixel size, thereby obtaining an original-size frame gauge image with the regularized rigid boundary frame with the original pixel size;
c5. selecting all images of the fluorescent illuminating lamp (1) in the original-size frame gauge image, summing the light intensities of pixel points in each row in the images of the fluorescent illuminating lamp (1) to obtain a column vector to be processed, and repeating the steps c1-c5 on a plurality of images sampled by the same fluorescent illuminating lamp (1) to obtain a column vector sequence;
c6. and (3) performing operation analysis on the column vector sequence by using a fast Fourier transform algorithm, and finally identifying the highest peak from an analysis spectrum as the characteristic frequency of the fluorescent illuminating lamp (1).
2. The visible light positioning device based on mine roadway lamps of claim 1, wherein: the model of the optical receiving detector (2) is BPW 34.
3. A positioning method using the visible light positioning device based on the mine roadway lamp in claim 1, which is characterized by comprising the following steps:
a. establishing an optical information fingerprint database: firstly, numbering all fluorescent illuminating lamps (1) of an underground roadway, collecting physical coordinates of all the fluorescent illuminating lamps (1), simultaneously collecting identification characteristic frequencies of all the fluorescent illuminating lamps (1) by using an optical receiving detector (2), and establishing an optical information fingerprint database in an optical information fingerprint database server by using a core processing computer (6);
the format of the optical information of each fluorescent lighting lamp (1) in the optical information fingerprint library is number, physical coordinate and characteristic frequency;
b. when the mine safety helmet worn by a target person moves in an underground roadway, acquiring image information of an adjacent fluorescent lighting lamp (1) by an embedded industrial CCD camera (4) arranged on the mine safety helmet through a self-adaptive exposure time algorithm, and sending the image information to a core processing computer (6) through a wireless network for identification;
c. the core processing computer (6) amplifies and identifies the high-frequency characteristics of the received image information;
the method comprises the following specific steps:
c1. the image information is subjected to secondary sampling, and an image collected by the embedded industrial CCD camera (4) is compressed to 1/256 of the size of an original image on the premise of keeping the outline of the fluorescent lighting lamp, so that the identification speed of the sampled image is improved;
c2. performing thresholding processing on the 1/256 image compressed to the size of the original image to obtain a binary mask image, processing the binary mask image by using an image denoising method in an OpenCV visual library to obtain a purified image, and determining the maximum outline of all fluorescent illuminating lamps (1) in the image;
c3. judging whether two straight lines have a vertical relation or not by calculating straight line coefficients of a long side of the outline of the fluorescent lamp and a bottom side of the image, namely judging whether the outline of the fluorescent lamp (1) in the image information has angular deviation or not, and if so, rotating the outline image to enable the long side to be vertical to the bottom side of the image; regularizing the processed fluorescent illuminating lamp image by using a rigid boundary frame, so that the number of pixel points in each row and each column in the fluorescent illuminating lamp image to be processed is fixed and consistent;
c4. decompressing the image information with the regularized rigid boundary frame to restore the image information into the original pixel size, thereby obtaining an original-size frame gauge image with the regularized rigid boundary frame with the original pixel size;
c5. selecting all images of the fluorescent illuminating lamp (1) in the original-size frame gauge image, summing the light intensities of pixel points in each row in the images of the fluorescent illuminating lamp (1) to obtain a column vector to be processed, and repeating the steps c1-c5 on a plurality of images sampled by the same fluorescent illuminating lamp (1) to obtain a column vector sequence;
c6. performing operation analysis on the column vector sequence by using a fast Fourier transform algorithm, and finally identifying the highest peak from an analysis spectrum as the characteristic frequency of the fluorescent lighting lamp (1);
d. matching the characteristic frequency of the fluorescent illuminating lamp (1) obtained by the high-frequency characteristic amplification identification method with the identification characteristic frequency of each fluorescent illuminating lamp (1) in the optical information fingerprint library, and searching the optical information fingerprint with the minimum difference by sequentially carrying out difference operation on the identification characteristic frequency identified by the current image and the identification characteristic frequency of each fluorescent illuminating lamp (1) in the optical information fingerprint library so as to determine the serial number and the coordinate position information of the sampled fluorescent illuminating lamp (1) in the current image information;
e. according to the image relative position relation between the center position of the original sampling image and the fluorescent illuminating lamp (1), the position information of the current sampling fluorescent illuminating lamp (1) is utilized to carry out corresponding geometric coordinate conversion, the distance between the underground moving target personnel and the current fluorescent illuminating lamp (1) is obtained, the accurate position of the target personnel is finally obtained, and the whole positioning work is completed.
4. The visible light positioning method based on mine roadway lamps as claimed in claim 3, wherein: the embedded industrial CCD camera (4) samples the acquired image information based on the self-adaptive exposure time algorithm, and the image information format is RAW format; the self-adaptive exposure time algorithm of the embedded industrial CCD camera (4) is used for obtaining the exposure time t in the sampling processe *Satisfies the following formula:
wherein the content of the first and second substances,
indicating in a limited number of exposure settingsThe exposure time of the i-th kind is centered,
indicating an embedded industrial CCD camera (4) in
Frequency response which can be obtained after a sampling process is carried out under time; this formula represents the embedded industrial CCD camera (4) adaptively choosing an exposure time setting during the sampling process that maximizes the acquisition frequency response.
5. The visible light positioning method based on mine roadway lamps as claimed in claim 3, wherein: when the fingerprint information with the minimum difference is searched by carrying out difference operation on the identified characteristic frequency and the characteristic frequency of each fluorescent illuminating lamp (1) in the optical information fingerprint library in sequence, in order to improve the accuracy of identification and matching, the identified fluorescent illuminating lamp (1) is further confirmed to be the same as the fluorescent illuminating lamp (1) sampled by the moving target by utilizing the optimized matching algorithm of the multi-fluorescent illuminating lamp (1).
6. The visible light positioning method based on mine roadway lamps as claimed in claim 5, wherein: the optimized matching algorithm of the multi-fluorescent illuminating lamp (1) is as follows:
d1. the light information of every 4 adjacent fluorescent illuminating lamps (1) in the light information fingerprint library is combined into a group and is independently formed into a library;
d2. if the sampled image decomposed from the image information contains two or more fluorescent illuminating lamps (1), respectively identifying the characteristic frequencies of all the fluorescent illuminating lamps (1) and matching corresponding physical coordinate positions in an optical information fingerprint library;
d3. and judging whether a plurality of fluorescent lighting lamps (1) matched in the picture are divided into the same group or not by using a fluorescent lighting lamp optical information base which records 4 mutually adjacent fluorescent lighting lamps in each group of optical information, and if one fluorescent lighting lamp (1) is wrongly matched in the grouped information, sampling the optical information again by using an embedded industrial CCD camera (4).
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