CN107990873B - Mode for positioning by using LED intelligent lamp - Google Patents

Mode for positioning by using LED intelligent lamp Download PDF

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CN107990873B
CN107990873B CN201710867343.1A CN201710867343A CN107990873B CN 107990873 B CN107990873 B CN 107990873B CN 201710867343 A CN201710867343 A CN 201710867343A CN 107990873 B CN107990873 B CN 107990873B
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projection
led intelligent
shadow
led
lamp
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CN107990873A (en
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周常站
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Dongguan Guangjin Photoelectric Co ltd
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Dongguan Guangjin Photoelectric Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/22—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a method for positioning by using LED intelligent lamps, which is characterized in that one or more LED lamps are arranged indoors, then a projection rod with standard length is vertically arranged on an object to be positioned, a horizontal projection disk is horizontally arranged right below the projection rod, when the LED lamps emit light, a shadow can be projected on the projection disk by the projection rod, the position of the object relative to the LED lamps can be calculated by measuring the length and the angle of the shadow of the projection rod and knowing the coordinate position, the height and the height condition of the projection rod, so that the purpose of positioning is achieved. According to the invention, by utilizing the characteristics of quick response time, adjustable driving current and easiness in modulation of the LED lamps, the control circuit is utilized to generate large pulse current in a short time to respectively and alternately light the LED lamps and measure corresponding shadows, so that the problem of multiple shadow ghosts caused by simultaneous lighting of a plurality of LED lamps can be solved.

Description

Mode for positioning by using LED intelligent lamp
Technical Field
The patent relates to a measurement field, in particular to a mode for positioning by using a lamp.
Background
At present, two positioning modes are available by using an LED lamp, one mode is to position the LED lamp by measuring the intensity of light at different places after the LED lamp is lightened, and the other mode is to position the LED lamp by calculating the time difference of emitting and receiving the LED light.
One or more LED lamps are installed in a room, a projection rod with a standard length is vertically installed on an object to be positioned, a horizontal projection disk is installed below the projection rod, when the LED emits light, the projection rod can project a shadow with a certain length and an angle on the projection disk below the projection rod, the length and the angle of the shadow are picked up by a camera or a sensor and the like respectively, and after the coordinate position, the height and the height condition of the lamp are known, the position of the object relative to the LED lamps can be accurately known through formula calculation.
Disclosure of Invention
The invention provides a method for positioning by measuring and calculating the length and the angle of a shadow of an object under LED illumination, which has the advantages of low cost, high reliability and high precision which can reach more than centimeter level.
The invention discloses a method for positioning by using an LED intelligent lamp, which comprises the following steps:
a. setting an origin O (0,0) and a plane rectangular coordinate system (x, y) on the ground, setting the east direction as the positive direction of an x axis and the north direction as the positive direction of a y axis, and installing one or more LED intelligent lamps in the upper space;
b. setting vertical projection coordinates G (a, b) and vertical height H of the LED intelligent lamp in a plane rectangular coordinate system;
c. fixedly mounting a plane projection disc parallel to the ground on a positioned object, wherein the central coordinate of the plane projection disc is W (x, y), vertically arranging a projection rod with the standard height of K at the central position of the plane projection disc, and marking a wire outgoing section WZ on the plane of the plane projection disc as an angle reference line segment of the shadow of the projection rod;
d. lighting an LED intelligent lamp, wherein a shadow with the length of T is left on a projection disc after light rays emitted by the LED intelligent lamp pass through a projection rod, and an included angle between the shadow and an angle reference line segment WZ is set as A;
e. rotating the positioning object, measuring a self rotation angle B through an electronic compass, setting the distance from the LED intelligent lamp G (a, B) to the center W (x, y) of the projection disk as L, and calculating L ═ H-K/K ] × T;
f. the coordinate position W (x, y) of the center of the projection disk is calculated from x ═ a + L × cos (a + B) and y ═ B + L × sin (a + B).
The invention also discloses another mode for positioning by using the LED intelligent lamp, which comprises the following steps:
a. setting an original point O '(0,0) and a plane rectangular coordinate system on the ground, installing more than 3 LED intelligent lamps G' in the space above the positioned object, setting projection coordinates of the LED intelligent lamps perpendicular to the ground as G '(a', b '), and setting the height of the LED intelligent lamps perpendicular to the ground as H';
b. installing a horizontal plane projection disk on a positioning object, setting a central coordinate as W '(x, y), and vertically installing a projection rod with the height of K' in the center;
c. respectively lighting the LED intelligent lamps G ', measuring the shadow length T ' of the projection rod on the projection disk, setting the distance L ' from the central point W ' (x, y) of the projection disk to G ' (a ', b '), and calculating
L'＝[(H'-K')/K']*T'，
By (x-a')2+(y-b')2＝L'2The position coordinates W' (x, y) of the center of the projection disk are calculated. As a further description of the above-described manner of positioning with LED smart lights, the followingThe LED intelligent lamp is driven by controlling the driving current of the LED intelligent lamp, a short-time large pulse current is generated to drive the lamp bead of the LED intelligent lamp to emit strong pulse light, and meanwhile, the shadow parameter of the projection rod is measured.
As a further description of the other positioning manner using the LED intelligent lamps, the LED intelligent lamps are turned on in turn and shadow lengths are respectively tested, so as to eliminate double images when the LED intelligent lamps are turned on.
The invention has the beneficial effects that: one or more LED lamps are installed indoors, then a projection rod with standard length is vertically installed on an object to be positioned, a horizontal projection disk is horizontally placed right below the projection rod, when the LED lamps emit light, a shadow can be projected on the projection disk by the projection rod, the position of the object relative to the LED lamps can be calculated by measuring the length and the angle of the shadow of the projection rod and knowing the coordinate position, the height and the height condition of the projection rod, and the positioning purpose is achieved.
In order to eliminate the influence of ambient light on shadow, when the shadow is measured, an LED intelligent lamp around an object to be positioned is lightened by a large pulse current, the pulse current is generated for a short time, the vision of people cannot be influenced, and the intensity of generated light is far greater than the intensity of the ambient light, so that the influence of the ambient light can be ignored.
The positioning mode of the invention has the advantages of simple structure, low cost and higher reliability.
Drawings
FIG. 1 is a schematic diagram of positioning using an LED smart light and an electronic compass;
FIG. 2 is a schematic diagram of three-point positioning using three LED intelligent lamps;
FIG. 3 is a schematic view of a connection structure of an LED intelligent lamp;
fig. 4 is a schematic view of a connection structure of the measurement system.
Detailed Description
Embodiment 1: the principle of positioning by using an LED intelligent lamp and an electronic compass is as follows: a coordinate system x and y is firstly arranged on the ground as a plane, an origin O (0,0) is firstly arranged on the ground, and the true north direction of the earth is taken as the positive direction of a y axis, and the true east direction is taken as the positive direction of an x axis.
In addition, a movable plane disk horizontally placed on the ground is assumed as a projection disk (assuming that the plane of the disk is the same as the ground plane), the center coordinate of the projection disk is set as W (x, y), a projection rod with standard length is vertically arranged at the center of the disk, the height of the projection rod is K, a line segment WZ is marked on the projection disk by the center point, and the line segment WZ is used as a reference line for measuring the shadow angle of the projection rod, and the shadow length of the projection rod and the angle relative to the line segment WZ are known to change along with the movement of the projection disk (as shown in FIG. 1).
The point of the LED intelligent lamp vertically downwards on the projection ground is set as coordinates G (a, b), the vertical height from the LED intelligent lamp to the ground is set as H, and if the shadow length is known as T, the distance L from the center W of the projection disk to G can be calculated
(L + T)/T ═ H/K equation 1
And (3) calculating: l ═ [ (H-K)/K ] × T formula 2
Since the positioning object is likely to rotate during the movement, if the positioning object is rotated clockwise by an angle B with respect to the east direction, that is, the line segment WZ is rotated by an angle B with respect to the X-axis, and if the shadow is rotated by an angle A with respect to the line segment WZ, so that the shadow is at a sum of (A + B) with respect to the X-axis, the coordinates of the center of the projection bar can be calculated in the following manner
x + L cos (a + B) y + B + L sin (a + B) … … formula 3
Because the projection rod and the projection disk are fixed on the object to be positioned, the coordinate position of the projection rod or the projection disk is known, and the coordinate position of the positioned object is also known.
As shown in fig. 1, the entire positioning system consists of: the system comprises an LED intelligent lamp 2, an object 4 to be positioned, a projection disc 41, a projection rod 42, an electronic compass 43, a shadow measuring system 44 and a work workshop 6.
The working factory building 6 is a common factory building or a market, the area is not limited, the ground is flat, and uneven places such as steps do not exist.
Firstly, a plurality of LED intelligent lamps 2 are arranged on a ceiling of a factory building 6 in an array mode (or arranged in other modes), each lamp irradiates vertically downwards, and when the plurality of lamps are arranged, the whole irradiation needs to completely and uniformly cover the whole factory building ground without dead angles; a point is set on the ground as a coordinate origin O (0,0) so that the north direction is set as the positive Y-axis direction on the ground, the east direction is set as the positive X-axis direction, and after a coordinate system is set, the height and the coordinate position of each LED intelligent lamp 2 are measured and recorded and stored in the LED intelligent lamps 2.
The LED intelligent lamp 2 is composed of lamp beads 21 and an optical lens (or a reflection cup) 22, the angle and the power of the lamp beads and the angle of the lens can be freely selected, in the scheme, the lamp beads 21 are lamp beads with the common light-emitting angle of 120 degrees in the market and the power of about 10W, and light emitted by the lamp beads 21 is processed by the lens (or the reflection cup) 22 to form an even light spot. The color of the lamp bead can be various, if the infrared camera is used for shooting and processing the image of the shadow, the infrared lamp bead is used, if the ultraviolet camera is used, the ultraviolet lamp bead is used, if the white camera is used, the common white lamp bead is used, and in the case, the white lamp bead is used.
The LED intelligent lamp 2 also comprises a wireless transmitter-receiver 23 (the wireless communication mode can be optical communication or high-frequency electronic communication), a memory 24 capable of storing own coordinates and height positions, and a driving current controller 25; when a positioning request is sent out by the positioning object 4, after the request is received by the positioning object 23, the positioning object 4 is processed to send out a position signal if the positioning object meets the conditions, then a signal is output to control 25 to output a large pulse current in a short time, the lamp bead 21 is lightened to send out strong pulse light, the pulse light forms a shadow on the projection disk when passing through the projection rod for measurement and sampling, and the influence of the ambient light can be ignored when the shadow is measured because the light intensity of the pulse light is far greater than that of the ambient light.
A projection disk 41 and a projection rod 42 are fixedly arranged on a positioned object 4, the projection disk is a horizontal plane disk, an electronic compass 43 (also called a digital compass) is fixed on the horizontal plane disk, the object can measure the rotation angle of the object relative to the true south or the true north when rotating, the WZ line segment direction is adjusted to be consistent with the true east direction (namely X axis) of the electronic compass 43 and is fixed when the projection disk is fixed on the horizontal plane disk 43, a shadow measuring system 44 is fixedly arranged below (or above) the projection disk, the measuring system 44 comprises a wireless transmitting receiver 441, an image camera calculation processor 442 and a camera 443, and the wireless transmitting receiver 441 and the image camera calculation processor are arranged right above or right below the projection disk and are used for sampling and calculating the shadow on the projection disk.
The coordinate of the center of the projection disk 41 is set as W (X, y), a projection rod 42 with standard length (K) is vertically and fixedly arranged at the center of the projection disk, a line segment WZ is led out from the center of the projection disk and is used as an angle reference line segment of shadow on the projection disk, so that if an object rotates for an angle B, the electronic compass can also output an angle signal B corresponding to the line segment WZ rotating for an angle B relative to the X axis.
After receiving the positioning request command from the positioning object 4, the positioning object 4 transmits a command requiring positioning through 411, the LED intelligent lamp 2 (the coordinates of which are G (a, B)) transmits its own address and height information to 411 if the positioning request command is received 4, and then outputs a signal to control the constant current source 25 to output a short-time large pulse current, lights up its lamp bead 21 to emit a strong pulse light, the projection rod leaves a shadow under the projection disk under the pulse light, at this time, the image camera 443 performs image pickup and sampling on the shadow of the projection rod, calculates the length T of the shadow and the angle a relative to the WZ line segment through 442 (if the positioning object 4 rotates an angle B relative to the east direction, the electronic compass 43 outputs an angle signal B, the sum of the angles V and V is the angle of the shadow relative to the X-axis direction), because the coordinate position (a, b) and the height H from the ground of the LED intelligent lamp 2 are known by the object 4, and the height K of the projection rod is also known, 442, the length value L of GW can be calculated by the formula 2
L＝[(H-K)/K]*T
Thus, the coordinate position of the positioning object 4 can be calculated according to formula 3.
x + L cos (a + B) y + B + L sin (a + B) … … formula 3
We know that the coordinate position of the object 4 can be calculated by only one LED intelligent lamp 2 working according to the mode, but in order to be more accurate, the LED intelligent lamps near the object 4 can be used for lighting measurement calculation according to the working mode in turn, so that a plurality of results can be obtained and can be compared with each other, and one result is selected from the results, so that the results are more reliable and accurate.
Embodiment 2 three-point positioning mode realized by three or more LED intelligent lamps (as shown in figure 2)
The working process and hardware composition of the positioning mode are basically similar to those of the scheme 1, except that an electronic compass is cancelled, a shadow angle does not need to be tested, in the scheme 2, at least 3 LED intelligent lamps need to be selected to be respectively lightened and the shadow length is measured, then the coordinate position of the object 4 is determined by calculating in a three-point positioning mode, and the principle of the positioning mode is mainly described.
Firstly, as in embodiment 1, a coordinate system is set, three LED intelligent lamps 2(G1, G2, G3) are arranged in the upper space near the object 4 to be positioned, and the vertical downward projection coordinates thereof on the ground are respectively G1(a1, b1), G2(a2, b2), and G3(a3, b 3); it is assumed that the heights of the lamps 2 perpendicular to the ground are H1, H2, H3, respectively; the central coordinates of the projection disk are set to be (x, y), the height of the projection rod is K, when the LED intelligent lamps G1, G2 and G3 are lightened, the lengths of three shadows of the projection rod on the projection disk are respectively T1, T2 and T3, and the distances between the central point of the projection disk and the ground projection points of G1, G2 and G3 are respectively L1, L2 and L3. (in this case it is assumed that the projection disc plane is the same plane as the floor),
as in case of the solution 1, after receiving the request for positioning the object 4, fG1 is turned on first, and the measurement system 44 measures the shadow length T1 of the projector rod when G1 is turned on, since H1 and K are known, L1 ═ H1-K)/K ] × T1 can be calculated from (formula 2), and the coordinates (x, y) of the object 4 at this time satisfy the following equation of circle
(x-a1)2+(y-b1)2＝L12… … equation 5
G2 was then lit, and the shadow length T2 of the projected bar at G2 was measured, since H2, K is known, and from (equation 2) it was calculated that L2 ═ H2-K)/K ═ T2 at this time the 4 coordinates of the object
(x, y) satisfies the following equation of a circle
(x-a2)2+(y-b2)2＝L22… … equation 6
Then G3 is lit, and the shadow length T3 of the projected beam at G3 lighting is measured, since H3, K are known, and from (formula 2), it can be calculated that L3 ═ [ (H3-K)/K ] × T3, when the coordinates (x, y) of the object 4 satisfy the following equation of circle
(x-a3)2+(y-b3)2＝L32… … equation 7
Since the values of a1, b1a2, b2a3 and b3 are known, L1, L2 and L3 are also known, and the x, y coordinates of the object 4 can be calculated by solving the following equations
(x-a1)2+(y-b1)2＝L12
(x-a2)2+(y-b2)2＝L22
(x-a3)2+(y-b3)2＝L32
The three LED intelligent lamps are used for positioning, generally, at least 3 or more lamps need to be lightened in normal work, and then the best results of 3 lamps are selected from the middle for verification calculation, so that on one hand, the precision can be improved, the error can be prevented, and on the other hand, the anti-interference capability and the reliability can be improved.
In order to solve the influence of external environment light on shadows, the invention utilizes the characteristics of quick response time, adjustable driving current and easy modulation of the LED lamps, and utilizes the control circuit to generate large pulse current in a short time to respectively and alternately light the LED lamps and measure the corresponding shadows, because the LED illumination brightness is far greater than the brightness of the environment light, the influence of the environment light can be ignored, and the alternate lighting mode can also eliminate the problem that a plurality of LED lamps are simultaneously lighted to generate a plurality of shadow ghosts.
The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.

Claims (4)

1. The utility model provides a with LED intelligence lamp locate mode which characterized in that includes the following step:
a. setting an origin O (0,0) and a plane rectangular coordinate system (x, y) on the ground, setting the east direction as the positive direction of an x axis and the north direction as the positive direction of a y axis, and installing one or more LED intelligent lamps in the upper space;
b. setting vertical projection coordinates G (a, b) and vertical height H of the LED intelligent lamp in a plane rectangular coordinate system;
c. fixedly mounting a plane projection disc parallel to the ground on a positioned object, wherein the central coordinate of the plane projection disc is W (x, y), vertically arranging a projection rod with the standard height of K at the central position of the plane projection disc, and marking a wire outgoing section WZ on the plane of the plane projection disc as an angle reference line segment of the shadow of the projection rod;
d. lighting an LED intelligent lamp, wherein a shadow with the length of T is left on a projection disc after light rays emitted by the LED intelligent lamp pass through a projection rod, and an included angle between the shadow and an angle reference line segment WZ is set as A;
e. rotating the positioning object, measuring a self rotation angle B through an electronic compass, setting the distance from the LED intelligent lamp G (a, B) to the center W (x, y) of the projection disk as L, and calculating L ═ H-K/K ] × T;
f. the coordinate position W (x, y) of the center of the projection disk is calculated from x ═ a + L × cos (a + B) and y ═ B + L × sin (a + B).
2. The utility model provides a with LED intelligence lamp locate mode which characterized in that includes the following step:
a. setting an original point O '(0,0) and a plane rectangular coordinate system on the ground, installing more than 3 LED intelligent lamps G' in the space above the positioned object, setting projection coordinates of the LED intelligent lamps perpendicular to the ground as G '(a', b '), and setting the height of the LED intelligent lamps perpendicular to the ground as H';
b. installing a horizontal plane projection disk on a positioning object, setting a central coordinate as W '(x, y), and vertically installing a projection rod with the height of K' in the center;
c. respectively lighting the LED intelligent lamps G ', measuring the shadow length T ' of the projection rod on the projection disk, setting the distance L ' from the central point W ' (x, y) of the projection disk to G ' (a ', b '), and calculating
L'＝[(H'-K')/K']*T'，
By (x-a')2+(y-b')2＝L'2The position coordinates W' (x, y) of the center of the projection disk are calculated.
3. The LED intelligent lamp positioning method according to claim 1 or 2, characterized in that: the LED intelligent lamp driving current is controlled, the large pulse current in a short time is generated to drive the lamp bead of the LED intelligent lamp to emit strong pulse light, and meanwhile, the shadow parameter of the projection rod is measured.
4. The LED intelligent lamp positioning mode according to claim 2, characterized in that: and a plurality of LED intelligent lamps are lighted in turn and the shadow length is tested respectively, so that double images of the plurality of LED intelligent lamps when lighted are eliminated.
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CN109008806B (en) * 2018-06-25 2023-06-20 东莞市光劲光电有限公司 Floor sweeping robot positioning system and method based on LED intelligent lamp positioning
CN109828231B (en) * 2019-02-26 2022-05-17 天津大学 Indoor flying light source positioning method based on LED
CN110133591B (en) * 2019-04-28 2022-08-05 天津大学 Indoor double-light-source flight target positioning method based on white light LED

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