CN108414980A - A kind of indoor positioning device based on dotted infrared laser - Google Patents
A kind of indoor positioning device based on dotted infrared laser Download PDFInfo
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- CN108414980A CN108414980A CN201810144711.4A CN201810144711A CN108414980A CN 108414980 A CN108414980 A CN 108414980A CN 201810144711 A CN201810144711 A CN 201810144711A CN 108414980 A CN108414980 A CN 108414980A
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- infrared
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Electromagnetism (AREA)
- 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 kind of indoor positioning devices based on dotted infrared laser, the dotted infrared laser indoor positioning device includes dotted infrared module, infrared camera, positioning mounting plate and position line generating means, dotted infrared module remains space vertical direction by mechanical device, and be fixed on positioning mounting plate, infrared camera is in same plane with dotted infrared module is organized；Two groups of orthogonal both directions of position line generating means are individually arranged, position line can be generated in the vertical direction, projecting to needs in located space, and as the benchmark of parsing position location, dotted infrared module transmitting is dotted infrared, the dotted infrared upright projection is in position line, its image is obtained by infrared camera, incoming embedded system, after embedded system processing, obtain corresponding location information, using the positioning device, equipment that can be accurately for that need to position provides accurate, real-time positioning function.
Description
Technical field
The invention belongs to positioning device technical fields, and in particular to and one kind being based on dotted infrared laser indoor positioning device,
Device location information to be positioned can be provided in real time.
Background technology
Indoor positioning refers to realizing position positioning in environment indoors, is mainly shaped at this stage using wireless communication technique collection
At a set of indoor positioning scheme, to realize the monitoring position indoors in space such as personnel, object.Wireless telecommunications are mainly wrapped again
Include Wi-Fi technology, Bluetooth technology, ultra-wide band technology, RFID radio-frequency techniques.
The current relative maturity of Wi-Fi technology and more technology is applied, which is broadly divided into two kinds.One is pass through to move
The wireless signal strength of dynamic equipment and three wireless network access points, by difference algorithm, to compare accurately to people and vehicle
Carry out triangulation location.Another kind is the signal strength of the determination location point of prior record flood tide, passes through the equipment with being newly added
Signal strength comparison possess the database of mass data, to determine position（" fingerprint " positions）.Wi-Fi positioning may be implemented multiple
Miscellaneous a wide range of positioning, but precision can only achieve 2 meters or so, can not accomplish precise positioning.Therefore suitable for people or vehicle
Location navigation, can be in the various occasions for needing indoor positioning to navigate such as medical institutions, theme park, factory, market.
Bluetooth indoor positioning technologies utilize several bluetooth local area network access points of indoor location, real by bluetooth module
Now position, but for complicated space environment, bluetooth indoor positioning technologies biggest advantage be small equipment volume, short distance,
Low-power consumption can be easily integrated in the mobile devices such as mobile phone.As long as the Bluetooth function of equipment is opened, it will be able to be positioned to it.
Bluetooth transmission is not influenced by sighting distance, but for complicated space environment, the stability of Bluetooth system is slightly worse, dry by noise signal
It is more expensive to disturb the big and price of bluetooth devices and equipment.
Ultra wide band（UWB）Location technology is added using the anchor node and bridge node of the known location arranged in advance with new
Blind node communicated, and determine position using triangulation location or " fingerprint " positioning method, which uses UWB（It is super
Bandwidth）Pulse signal positions label position using TDOA and AOA location algorithms, the method needs actively by multiple sensors
Arrange blind node, power consumption is higher, and cost can not reduce.
The basic principle of RFID positioning is that the characteristic information of target RFID tag is read by one group of fixed reader
（Such as identity ID, received signal strength）, it is true that the methods of nearest neighbour method, polygon positioning mode, received signal strength equally may be used
Calibration label position.Radio frequency identification indoor positioning technologies operating distance is close, but it can obtain Centimeter Level in several milliseconds
The information of positioning accuracy, and the advantages that due to electromagnetic field non line of sight, transmission range is very big, and also the volume identified is smaller, makes
Valence is relatively low.But it does not have communication capacity, and anti-interference ability is poor, is not easy to be integrated among other systems, and user
Security privacy guarantee and International standardization are all incomplete.
In addition to wireless location mode, mainly there are ultrasonic wave and infrared ray indoor positioning technologies.
Ultrasonic wave positioning is most of at present to use reflective telemetry.System is by a main range finder and several electronics marks
Label composition, main range finder can be positioned on mobile robot ontology, and each electronic tag is positioned over the fixed position of the interior space.
Position fixing process is as follows：The signal for first sending same frequency by host computer after electronic tag receives and is reflected to each electronic tag
It is transferred to main range finder, may thereby determine that each electronic tag the distance between to main range finder, and obtain the elements of a fix.It should
Technology forms coordinate using ultrasonic sensor ranging, and general control data, strong interference immunity, precision is high, and can solve
Robot Disorientation Problem.But ultrasonic wave is decayed obviously in transmission process to influence its positioning effective range, and Yi Shougan
It disturbs.
The principle of infrared ray indoor positioning technologies positioning is that the infrared-ray of Infrared ID transmitting modulation passes through installation
Optical sensor reception indoors is positioned.Although infrared ray has relatively high indoor position accuracy, due to
Light cannot pass through barrier so that infrared-ray is only capable of line-of-sight propagation.Shorter this is two big main for straight line sighting distance and transmission range
Disadvantage makes the poor effect of its indoor positioning.
Invention content
To solve the above problems, the invention discloses a kind of indoor positioning device based on dotted infrared laser, letter is used
It is single, it is of low cost, precision indoor positioning function can be completed.
In order to achieve the above objectives, technical scheme is as follows：
A kind of indoor positioning device based on dotted infrared laser, including dotted infrared module, infrared camera, positioning mounting plate
With position line generating means；The dotted infrared module is arranged with infrared camera vertical direction on positioning mounting plate, infrared
Camera is in same plane with dotted infrared module；The position line generating means quantity is 2-4 groups, and the position line fills
It sets and is separately positioned below indoor profile, the projection mouth of the position line generating means is directed at roof.
A kind of indoor positioning based on dotted infrared laser that can complete precision indoor positioning function of the present invention
Device, including dotted infrared module, infrared camera, positioning mounting plate and position line generating means；It positions inside mounting plate
Equipped with driving motor, transmission case, the positioning mounting plate is arranged on movable pedestal, set-point above positioning mounting plate
The infrared module of shape and infrared camera, positioning mounting plate side are equipped with embedded system and its data-interface, the embedded system
System and its data-interface are internally provided with Position and attitude sensor, and dotted infrared module remains vertical side by mechanical transmission structure
To forming the main part of the indoor positioning device；Infrared camera is in same plane with dotted infrared module；Dotted infrared mould
Group is arranged with infrared camera in same connecting shaft, and the one end of the connecting shaft connects transmission case, and position line generating means is individually put
It sets, position line can be generated in the vertical direction, projected in located space, position line generating means quantity can be 2 groups or 4
Group, if it is two groups, then two groups of position line generating means are vertically arranged, as shown in Figure 1, if it is four groups, then four groups fixed
The setting of bit line generating means is indoors below four medial surfaces, and generating means quantity is more, and positioning is more accurate；Using the positioning device,
Can be accurately the equipment that need to be positioned（Such as robot）Accurate, real-time positioning function is provided, it is of the present invention embedded
It is integrated with embedded system in system and its data-interface 8, sensor is on the one hand combined to obtain positioning mounting plate and move
The position of pedestal, control adjusts dotted infrared module 1,2 posture of infrared camera in real time, on the other hand to being acquired by infrared camera 2
To image carry out analysis calculating, then obtained position result is sent to removable by data-interface using RS232 communications
Pedestal and motor are convenient for the adjustment of next step.
A kind of indoor positioning scheme, based on described in any of the above-described embodiment based on dotted infrared laser indoor positioning side
Case, the scheme include the following steps：
Step 1, indoors by dotted infrared module, infrared camera and positioning mounting plate installation, and four sides indoors
The good position line generating means of face arranged beneath；
Step 2, position line generating means infrared ray to vertical direction projection grid, generated by orthogonal lines on roof
The position line of composition；
Step 3, dotted infrared module transmitting are dotted infrared, and for the dotted infrared upright projection in position line, image is infrared
Camera obtains, which is passed into embedded system and obtains corresponding location information, and information is passed after embedded system processing
Movable pedestal and motor are given, the adjustment of next step is convenient for.
The beneficial effects of the invention are as follows：
A kind of indoor positioning device based on dotted infrared laser of the present invention, using infrared dotted laser positioning precision
Height, stability is strong, which is easily assembled, simple with positioning mounting plate assembly.The locating scheme provides a kind of accurate fixed
Position method treats located space and is not necessarily to add any disturbing factor, only known by the sightless infrared signal of naked eyes and image
Being accurately positioned for detecting indoor article movement not can be realized, and the precise position data of mobile object can be provided in real time.
Description of the drawings
Fig. 1 is the whole assembling schematic diagram of the embodiment of the present invention；
Fig. 2 is the positioning device schematic diagram of the embodiment of the present invention；
Fig. 3 is the vertical machine construction principle figure of the dotted infrared module of holding of the embodiment of the present invention；
Fig. 4 is the workflow schematic diagram of the embodiment of the present invention；
Fig. 5 is the position line generating means perspective view of the embodiment of the present invention；
Fig. 6 is that the infrared camera of the embodiment of the present invention obtains image schematic diagram.
Specific implementation mode
Technical scheme of the present invention is further illustrated with reference to the accompanying drawings and examples.As shown in Figure 1 to Figure 2, this is applied
Example includes dotted infrared module 1, infrared camera 2, positioning mounting plate 3, position line generating means, embedded system and its number
According to interface 8.
Such as Fig. 2, positioning mounting plate 3 is used as loading platform, loads dotted infrared module 1, infrared camera 2, and simultaneously can
It is assembled with the movable pedestal 4 of provided with wheels；Since ground height that may be present is different, the pose of movable pedestal 4 can occur
Variation needs to ensure that dotted infrared module 1, infrared camera 2 are in vertical direction always to obtain accurately positioning image
On.When the Position and attitude sensor acquisition 4 current pose of movable pedestal in embedded system and its data-interface 8, and pass through electricity
Machine drives connecting shaft 9 to move, as shown in figure 3, changing dotted infrared module 1,2 pose of infrared camera to space vertical state.
Fig. 4 is the work flow diagram of the embodiment of the present invention.
Before powering on, position line generating means 5,6 is fixed in space to be positioned, it relies on infrared ray to vertical direction
Projection grid generates the position line being made of lines.As shown in Figure 5, position line is by multigroup benchmark for the projection view of the position line
Line is mutually perpendicular to form, and two groups of position line generating means 5,6 cooperate, and infrared position line is projected to space perpendicular, and
It can be arranged in different indoor environments with Portable movable, the datum line as location Calculation.
After the power is turned on, the dotted infrared module 1 of the indoor positioning device emits dotted infrared, which exists
In the position line generated by position line generating means 5,6；The a length of 980nm of the infrared wave, human eye are invisible；Dotted infrared projection
After in position line, image is obtained by infrared camera；The image of acquisition is as shown in figure 5, the graphical design center is to be mutually perpendicular to
Position line can be Arabic numerals in square, also may be used to prompt auxiliary positioning by numeral mark in different squares
To be Roman number（ⅠⅡⅢ）Either braille dot pattern can also be bar code or Quick Response Code etc.；Wherein Roman number and blind
Literary dot pattern is easier to identify by image procossing, is relatively good scheme.The image is passed into embedded system, embedded
After the processing of formula system, from serial ports return position information.
Fig. 6 is the imaging picture that infrared camera obtains：The imaging picture that infrared camera 2 obtains is that current infrared ray fills
The image for setting generation is whole.Embedded system carries out visual processes, first really by the number in laser labelling point region
Determine square position, then by the number of horizontal and vertical lines, determines benchmark point coordinates（M, n）Point；Then, by imaging picture
Calculate and obtain distance a, b of the infrared light spot relative to datum mark, it is possible thereby to obtain infrared light spot the plane location information,
The location information includes the coordinate setting information of two axis, and entire calculating analysis is simply easy efficient.
The embodiment is handled after utilizing dotted infrared laser imaging, infrared camera to obtain picture through embedded system, can
To obtain the location information of object to be positioned in real time.Traditional indoor orientation method is compared, positioning accuracy is high, and signal stabilization is reliable.
Claims (7)
1. a kind of indoor positioning device based on dotted infrared laser, it is characterised in that：Including dotted infrared module, infrared phase
Machine, positioning mounting plate and position line generating means；The dotted infrared module is being positioned with the setting of infrared camera vertical direction
On mounting plate, infrared camera is in same plane with dotted infrared module；It positions mounting plate side and is equipped with embedded system
And its data-interface, the position line generating means quantity are at least two groups, the position line generating means is separately positioned on room
Below medial surface, the projection mouth of the position line generating means is directed at roof.
2. a kind of indoor positioning device based on dotted infrared laser according to claim 1, it is characterised in that：It is described fixed
Position mounting plate is arranged on movable pedestal.
3. a kind of indoor positioning device based on dotted infrared laser according to claim 1, it is characterised in that：It is described embedding
Embedded system and its data-interface are internally provided with Position and attitude sensor.
4. a kind of indoor positioning device based on dotted infrared laser according to claim 1, it is characterised in that：It is described fixed
Position mounting plate is internally provided with driving motor, transmission case, and dotted infrared module is arranged with infrared camera in same connecting shaft, institute
State one end of the connecting shaft connection transmission case.
5. a kind of indoor positioning device based on dotted infrared laser according to claim 1, it is characterised in that：It is described red
Outer camera is in same plane with dotted infrared module.
6. a kind of indoor positioning device based on dotted infrared laser according to claim 1, it is characterised in that：It is dotted red
The infrared point-like laser of outer module transmitting, wavelength >=800nm.
7. the indoor positioning device based on dotted infrared laser according to any of the above-described claim, it is characterised in that：
The embodiment of the positioning device includes the following steps：
Step 1, indoors by dotted infrared module, infrared camera and positioning mounting plate installation, and four sides indoors
The good position line generating means of face arranged beneath；
The infrared ray projection grid obliquely upward of step 2, position line generating means generates on roof by orthogonal lines group
At position line, by numeral mark, to prompt auxiliary positioning, be Arabic numerals in square or be in different squares
Roman number or braille dot pattern or bar code or Quick Response Code；
Step 3, dotted infrared module transmitting are dotted infrared, and for the dotted infrared perpendicular projection in position line, image is infrared
Camera obtains, which is passed into embedded system, after embedded system is handled, obtains corresponding location information, and by data
It sends control centre to, is controlled convenient for the system of next step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810144711.4A CN108414980A (en) | 2018-02-12 | 2018-02-12 | A kind of indoor positioning device based on dotted infrared laser |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810144711.4A CN108414980A (en) | 2018-02-12 | 2018-02-12 | A kind of indoor positioning device based on dotted infrared laser |
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| CN108414980A true CN108414980A (en) | 2018-08-17 |
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| CN201810144711.4A Pending CN108414980A (en) | 2018-02-12 | 2018-02-12 | A kind of indoor positioning device based on dotted infrared laser |
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| CN111442739A (en) * | 2020-04-02 | 2020-07-24 | 上海海洋大学 | Calibration system for underwater three-dimensional imaging of moving water tank and construction method |
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| CN111442739B (en) * | 2020-04-02 | 2022-03-01 | 上海海洋大学 | Calibration system for underwater three-dimensional imaging of moving water tank and construction method |
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