CN110095754B

CN110095754B - Walking light source positioner and indoor horizontal walking light source positioning system

Info

Publication number: CN110095754B
Application number: CN201910351586.9A
Authority: CN
Inventors: 金杉; 崔文; 金志刚
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2019-04-28
Filing date: 2019-04-28
Publication date: 2022-05-17
Anticipated expiration: 2039-04-28
Also published as: CN110095754A

Abstract

The invention relates to a walking light source positioner which is fixed on a shoe worn by a positioned object and comprises a hanging buckle, a pressure sensing switch and an LED light source emitter. The hanging buckle is used for fixing the LED light source emitter at the rear end of the shoe, and the pressure sensing switch is arranged below the heel; the emitting direction of the LED light source is vertical to the ground, and the pressure sensing switch circuit is used for controlling the working state of the light source emitter. The invention also relates to an indoor horizontal walking light source positioning system realized by adopting the positioner, which comprises an interlayer which is laid indoors and is separated by a transparent floor, a walking light source positioner which is fixed at the sole of a positioned object and a plurality of multi-angle receiving and sensing systems which are arranged at the bottom of the interlayer.

Description

Walking light source positioner and indoor horizontal walking light source positioning system

Technical Field

The invention relates to the technical field of visible light communication, in particular to an indoor horizontal walking light source positioning system based on an LED.

Background

With the development and progress of LED light source technology, white LEDs with the advantages of high brightness, low power consumption, long lifetime, etc. have gradually replaced fluorescent lamps and incandescent lamps. The white light LED communication is convenient to modulate and quick in response, has obvious advantages in the aspects of harmless radiation, confidentiality, stability and the like compared with the modes of infrared, ultraviolet, radio frequency and the like, becomes a novel Visible Light Communication (VLC) mode, and is gradually popularized to the field of indoor positioning. The existing LED positioning method can maintain the stability of a channel and has strong operability, but a targeted model is lacked for the requirement of tracking, positioning and sampling of an indoor walking target, and the acquisition and processing research of radio frequency signals under the condition of a single light source and multiple receivers is less.

Specifically, in some clean plants, the traditional GPS positioning has the characteristics of wireless weak current signal shielding, positioning error, and position delay determination. These characteristics make the user have many problems in that the positioning data greatly differs from the actual walking behavior, the state of the mobile device is wrongly determined, and the like. And for positioning objects, electromagnetic radiation generated by various indoor modern electric equipment brings great challenges to the normal operation of the positioning terminal. Since the electromagnetic radiation interference of the electrical equipment and the action state of the positioning object can seriously affect the positioning efficiency, it becomes a great challenge in the positioning system design to research how to fully utilize the incident light to determine the walking target behavior characteristics, avoid or reduce the interference, and avoid walking positioning delay and error measures.

Disclosure of Invention

The invention aims to provide a walking light source positioner and an indoor horizontal walking light source positioning system adopting the positioner. The invention can realize the continuous positioning of the multiple white light LED receivers to the same emitter in the horizontal walking process. The technical scheme is as follows:

a walking light source positioner is fixed on a shoe worn by a positioning object and comprises a hanging buckle, a pressure sensing switch and an LED light source emitter, wherein the hanging buckle is used for fixing the LED light source emitter at the rear end of the shoe, and the pressure sensing switch is arranged below a heel; the emitting direction of LED light source is perpendicular with ground, and pressure sensing switch circuit is used for controlling light source transmitter operating condition, promptly: when walking and stepping, the heel part is stressed and stepped, the pressure sensing switch controls the internal circuit of the light source emitter to be closed, and the emitted light beam is vertically downward for positioning; when taking a step, the pressure sensing switch has no pressure, and the internal circuit of the emitter is disconnected, thereby judging the walking and stepping positions.

The invention also discloses an indoor horizontal walking light source positioning system realized by adopting the positioner, wherein a positioning object is a person, the positioning system comprises an interlayer which is laid indoors and is separated by a transparent floor, a walking light source positioner which is fixed at the sole of the positioning object and a plurality of multi-angle receiving and sensing systems which are arranged at the bottom of the interlayer, the multi-angle receiving and sensing systems comprise optical signal receivers and a convergence center, 3 or more optical signal receivers are arranged in the interlayer which is separated by the indoor transparent floor, the illumination of incident light of an LED light source is monitored, monitored data are transmitted to the convergence center, wherein a single receiver only can judge the horizontal position range of the walking positioning object on a certain horizontal circle on the upper surface of the transparent floor, the circle width is determined by a preset illumination error threshold value, and the horizontal circle range of the superposed part of the 3 receivers with the strongest received incident light signals is used as a positioning object, the position of the positioning object at a certain point in time is determined.

Drawings

FIG. 1 is a flow chart of the system of the present invention

FIG. 2 is a multi-receiver arrangement of the present invention

FIG. 3 is a diagram of multi-receiver based positioning decision of the present invention

FIG. 4 is a white LED light source and positioning object assembly of the present invention

Fig. 5 shows the receiver switching for continuous monitoring of the walking speed and path, and for effective monitoring, in accordance with the present invention.

Detailed Description

Reference will now be made in detail to implementations of the present invention. The following embodiments will be described with reference to the accompanying drawings for the purpose of illustrating the invention.

In the method, an interlayer separated by a transparent floor is built indoors based on a light beam receiving and transmitting system of a white light LED, a multi-angle receiving and sensing system is arranged at the bottom of the interlayer, an LED light source which vertically irradiates downwards at the center and has a fixed irradiation angle range is arranged on the outer side of a heel worn by a positioning object in a hanging and buckling mode, a data acquisition basic model is built according to different incident angles and different photoelectric energies formed by the same LED light source on a plurality of receivers, and a gathering center connected with all the receivers is subjected to comparative analysis to obtain the linear walking path change condition of the positioning object and determine the behavior state of the positioning object. The white light LED positioning method designed on the basis of the model completely avoids the interference of electromagnetic radiation of electrical equipment to the working condition of the positioning terminal indoors, can provide position information quickly and accurately and improves the positioning efficiency.

Wherein, a walking area of a positioning object is arranged above the transparent floor, and a certain point position on the upper surface of the transparent floor is a light beam emitting position; the interlayer under the transparent floor is a receiving area. At the same time point, the white light irradiation direction of the LED is vertical downward, but the light beam transmitted to a certain receiver has the transmission angle theta between the walking area and the receiving area₁The relationship between the illumination at the light source and at the receiver can be determined according to equation (1):

receiving illumination as vertical illumination of light source x cos theta₁ (1)

Because the vertical illumination of the light source is constant, the receiving illumination value and the transmission angle theta are constant₁Are directly related. Let the refraction angle of the light beam in a transparent material be theta₂If the thickness of the transparent floor made of the material and the height of the interlayer space are not changed, the refraction angle relation theta can be established_{Ratio of}＝θ₂/θ₁. If theta is received at a single receiver₁And theta₂Are all less than or equal to 90 degrees, then theta_{Ratio of}The difference value of the received light displacement formed at the bottom of the interlayer is in linear pairThe relationship is such that the difference is known. Then the horizontal coordinate range of the LED light source is within the horizontal circle range with the single receiver horizontal coordinate as the center and the above difference distance as the radius. In summary, the 3 receivers receiving the same LED light source with the strongest illumination take their respective positioning circles to intersect at the same point, so that the coordinates of the LED light sources can be determined together.

FIG. 1 shows the sequence of development of the four steps of the invention, respectively:

(1) determining the setting and testing of a monitoring area and a receiver: the receiver is arranged in an interlayer separated by a transparent floor in a clean workshop, and a multi-angle receiving and sensing system is arranged at the bottom of the interlayer. All optical signal receivers are connected to the convergence center in a wired mode, and receiver testing is conducted.

(2) LED light source setting and testing: and setting a light source according to the second step. The illumination stability of each light source was tested with either receiver. And placing the light source at each corner position to light, and testing whether more than 3 receivers can acquire correct position data.

(3) Positioning object setting and light source installation: and (3) based on the step (2), the light source emitter is fixedly arranged at the bottom of the shoe worn by the walking positioning object, the center of the light source is vertically arranged downwards, the positioning object is internally provided with a sensor mainboard and a battery module, and whether the walking behavior of the positioning object is normal or not and whether the light source has no obvious vibration or not is tested.

(4) The positioning object with the light source continuously walks and positions the test: and (3) testing the position and track determination of the positioning object during variable-speed and variable-direction driving in a remote control mode on the basis of (1), (2) and (3), and comparing the accuracy with the video. When the test positioning object walks, the self-switching condition of the positioning data source is influenced due to the change of the illumination of incident light of each receiver.

Figure 2 shows a multi-receiver arrangement. The indoor requirements for the monitoring area are that each corner is [90 °, 180 ° ].

(1) Fig. 2(a) is a sectional view of the underside of a suspended ceiling. The receivers (A, B, C, D, E) are uniformly arranged in the chamber. After any transmitter is required to be lightened, an optical signal generated when the transmitter walks on a horizontal point position of a walking area (the upper surface of a transparent floor) can be effectively received by more than 3 receivers, and positioning data is generated in a convergence center. Edge position data collection may be accomplished by making this test at the wall edge E and corner positions A, B, C, D. For example: the position E of the transmitter is the most unfavorable edge position, the LED light beam emitted by the transmitter can still be effectively received by the receivers A, C and D, and the position data of the transmitter is transmitted to the convergence center.

(2) Fig. 2(b) is a cross-sectional view of the location of any receiver in the room. The interlayer is arranged below the indoor space, the number of the receivers (more than or equal to 3) is determined by the working mode and the monitoring requirement, and each receiver is required to be subjected to circuit and network wiring at the bottom of the interlayer to be connected with an alternating current power supply and a convergence center. In a receiving area, the receiver is arranged to meet the condition that the monitoring position of the most unfavorable distance point of a corner and a wall edge in a walking area is within the monitoring distance range, and the condition that no blind spot exists in monitoring is ensured.

Fig. 3 is a multi-receiver based positioning decision. For any positioning object alpha equipped with an LED light source, at a certain point of time, the receivers A, B and C are respectively 3 receivers with the strongest incident illumination intensity, and positioning data are comprehensively determined. At the moment, receivers A, B and C are used for receiving the illumination of incident light, and the circle ranges alpha A, alpha B and alpha C of the upper surface of the transparent floor are obtained through analysis. The intersection area of the 3 circles is the position of the time point positioning object alpha. The upper limit threshold of the circle width is preset to be 0.01 m.

FIG. 4 is a white LED light source and positioning object assembly. In the figure, the solid line represents a power supply line, and the broken line represents a control line. The positioning object is a human or other animal with 2 feet or four feet alternately running. A walking light source positioner is designed, and the walking light source positioner specifically comprises: an LED light source emitter is arranged on the bottom of the shoe worn by the positioning object. The emitter consists of a hanging buckle, a pressure sensing switch and a battery. The hanging buckle fixes the emitter at the rear end of the shoe, and the pressure sensing switch is arranged below the heel. In terms of assembly, the battery is selected according to the principle that the power supply voltage and the energy storage of the battery can meet the requirements of a pressure sensing switch and a light source; the pressure sensing switch and the light source emitter are connected in parallel in the aspect of energy consumption and are connected with the mainboard and the battery in series; the mainboard only plays the effect of electric energy transmission and light source transmitter control connection, and no energy consumption. The pressure sensing switch is arranged at the bottom and is horizontal to the ground; the emitting direction of the light source emitter is vertical to the ground, and the relative position and the setting direction of the light source emitter are fixed and unchanged, so that the emitting direction of the light beam is ensured to be vertical to the ground. Simultaneously, pressure sensing switch circuit lug connection light source transmitter, control light source transmitter operating condition, promptly: when walking and stepping, the heel part is stressed and stepped, the pressure sensing switch controls the internal circuit of the light source emitter to be closed, and the emitted light beam is vertically downward and is instantaneously positioned; when taking a step, the pressure sensing switch has no pressure, and the internal circuit of the transmitter is disconnected. Thereby determining the walking step position.

FIG. 5 shows the walking speed and path obtained by continuously monitoring the stepping position during the walking of the positioning object, and the receiver switching for effective monitoring. When the positioning object is positioned at the position 1, the position information of the positioning object alpha is determined by receivers A, C and D; after walking to the position 2, the position information of the positioning object is determined by the receivers A, B and D.

Claims

1. An indoor water parallel light source positioning system for positioning a human body comprises an interlayer which is laid indoors and is separated by a transparent floor, a walking light source positioner which is fixed at the sole of the positioned object, and a plurality of multi-angle receiving and sensing systems which are arranged at the bottom of the interlayer, wherein,

the walking light source positioner is fixed on a shoe worn by a positioning object and comprises a hanging buckle, a pressure sensing switch and an LED light source emitter, wherein the hanging buckle is used for fixing the LED light source emitter at the rear end of the shoe, and the pressure sensing switch is arranged below a heel; the emitting direction of LED light source is perpendicular with ground, and pressure sensing switch circuit is used for controlling LED light source transmitter operating condition, promptly: when walking and stepping, the heel part is stressed and stepped, the pressure sensing switch controls the internal circuit of the LED light source emitter to be closed, and the emitted light beam is vertically downward for positioning; when the user takes a step, the pressure sensing switch has no pressure, and the circuit in the emitter is disconnected, so that the walking and stepping positions are judged;

the multi-angle receiving and sensing system comprises an optical signal receiver and a convergence center, wherein more than 3 optical signal receivers are arranged in an interlayer separated by an indoor transparent floor, the incident light illumination of an LED light source is monitored, the obtained monitoring data are transmitted to the convergence center, wherein a single optical signal receiver can only judge the horizontal position range of a walking positioning object on a certain horizontal circle on the upper surface of the transparent floor, the circle width is determined by a preset illumination error threshold, and the position of the positioning object at a certain time point is determined by the horizontal circle range of the superposed part of the 3 optical signal receivers with the strongest received incident light signals.