CN110231597B - Positioning system and method for automation devices - Google Patents

Positioning system and method for automation devices Download PDF

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Publication number
CN110231597B
CN110231597B CN201810179957.5A CN201810179957A CN110231597B CN 110231597 B CN110231597 B CN 110231597B CN 201810179957 A CN201810179957 A CN 201810179957A CN 110231597 B CN110231597 B CN 110231597B
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detector
led
led lamp
lamp
led array
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CN110231597A (en
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乔耀军
张甜甜
廖可
于海华
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Ricoh Software Research Center Beijing Co Ltd
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Ricoh Software Research Center Beijing Co Ltd
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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

Abstract

The invention provides a positioning system and a method of automation equipment, wherein the positioning system comprises: the storage device is used for storing coordinate information of all lamp holders in the lamp holder array; the LED array is arranged corresponding to the lamp holder array; a driving unit connected to the LED array; a receiving unit mounted on the automation device; the control unit is respectively connected with the memory, the driving unit and the receiving unit and used for dividing a space to be positioned into M cubes according to the coordinate information of all the lamp holders, driving all the LED lamps to emit light through the driving unit, selecting one cube according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located, determining a triangular prism according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located in the selected cube, and calculating the coordinate of the position to be positioned in the determined triangular prism, so that the effective positioning of the automatic equipment is realized.

Description

Positioning system and method for automation device
Technical Field
The invention relates to the technical field of optical positioning, in particular to a positioning system of automation equipment and a positioning method of the automation equipment.
Background
With the rapid progress of information technology and the wide spread of automation equipment in recent years, positioning services carried on automation equipment increasingly become important auxiliary tools for people's lives. The accurate positioning technology can provide convenience for occasions such as supermarkets, shopping malls and the like with automatic goods shelves, and helps users to quickly position and simultaneously has huge business opportunities. Therefore, the positioning of the automation device is of great research value.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
To this end, a first object of the present invention is to provide a positioning system for an automation device, in order to achieve an effective positioning of the automation device.
A second object of the present invention is to provide a method for positioning an automation device.
A third object of the invention is to propose a non-transitory computer-readable storage medium.
In order to achieve the above object, a first embodiment of the present invention provides a positioning system for an automation device, in which a lamp holder array is disposed on two opposite side surfaces of a space to be positioned and a ground surface between the two side surfaces, the positioning system including: the storage is used for storing coordinate information of all lamp holders in the lamp holder array; the LED array is arranged corresponding to the lamp holder array, and each LED lamp in the LED array is arranged on the corresponding lamp holder; the driving unit is connected with the LED array; a receiving unit mounted on an automation device, the receiving unit for receiving emitted light power of the LED lamp; the control unit is used for dividing the space to be positioned into M cubes according to the coordinate information of all lamp holders, driving all the LED lamps to emit light through the driving unit, selecting one cube according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located, determining a triangular prism in the selected cube according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located, and calculating the coordinate of the position to be positioned in the determined triangular prism, wherein M is larger than or equal to 1.
According to the positioning system of the automation equipment, firstly, a space to be positioned is divided into M cubes according to coordinate information of all lamp holders, then all LED lamps are driven to emit light through the driving unit, one cube is selected according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located, a triangular prism is determined in the selected cube according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located, and finally, coordinates of the position to be positioned are calculated in the determined triangular prism, so that effective positioning of the automation equipment is achieved.
In order to achieve the above object, a second aspect of the present invention provides a positioning method for an automation device, in which lamp socket arrays are disposed on two opposite side surfaces of a space to be positioned and on a ground surface between the two side surfaces, and each lamp socket is mounted with an LED lamp and forms an LED array, the method including the steps of: dividing the space to be positioned into M cubes according to the coordinate information of all lamp holders in the lamp holder array, wherein M is more than or equal to 1; all the LED lamps are driven to emit light through the driving unit, and the transmitting light power of the LED lamps is received through the receiving unit arranged on the automation equipment; selecting a cube according to the light power value emitted by the LED lamp and the coordinate information of the lamp holder where the LED lamp is located, wherein the light power value is received by the receiving unit; and in the selected cube, determining a triangular prism according to the light power value received by the receiving unit and emitted by the LED lamp and the coordinate information of the lamp holder thereof, and calculating the coordinates of the point to be positioned in the determined triangular prism.
According to the positioning method of the automation equipment, firstly, a space to be positioned is divided into M cubes according to coordinate information of all lamp holders, then all LED lamps are driven to emit light through the driving unit, one cube is selected according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located, a triangular prism is determined in the selected cube according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located, and coordinates of a point to be positioned are calculated in the determined triangular prism, so that the effective positioning of the automation equipment is achieved.
To achieve the above object, a non-transitory computer-readable storage medium is provided according to a third embodiment of the present invention, and a computer program is stored thereon, and when executed by a processor, the computer program implements the positioning method of the automation device.
The non-transitory computer-readable storage medium of the embodiment of the present invention can realize effective positioning of the automation device when executing the program stored thereon corresponding to the positioning method of the automation device.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a positioning system of an automation device in accordance with an embodiment of the invention;
FIG. 2 is a schematic view of an installation location of an LED array according to one example of the present invention;
fig. 3 is a schematic diagram of a receiving unit according to an example of the present invention;
FIG. 4 is a schematic illustration of coarse positioning according to an example of the present invention;
FIG. 5 is a schematic illustration of a layer after coarse positioning according to an example of the invention;
FIG. 6 is a schematic diagram of the principle of point-to-isopower surface distance in accordance with an example of the present invention;
FIG. 7 is a flow chart of a method of locating an automation device in accordance with an embodiment of the invention; and
fig. 8 is a flowchart of step S103 in the positioning method of the automation device according to the embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The positioning system and method of the automation device of the embodiment of the present invention are described below with reference to the drawings.
Fig. 1 is a schematic configuration diagram of a positioning system of an automation apparatus according to an embodiment of the present invention.
In the embodiment of the invention, the lamp holder arrays are arranged on two opposite side surfaces of the space to be positioned and the ground between the two side surfaces.
As shown in fig. 1, the positioning system 100 of the automation device includes a memory 110, an LED array 120, a driving unit 130, a receiving unit 140, and a control unit 150.
The memory 110 stores therein coordinate information of all lamp sockets in the lamp socket array, so that the coordinate information of the LED lamp does not need to be updated when the LED lamp is replaced.
Alternatively, the memory 110 may be a device, such as a server, a computer, or other similar device, and the memory 110 may be in wireless (e.g., wifi, bluetooth, 3G/4G) or wired communication with the control unit 150.
The LED array 120 is disposed corresponding to the lamp socket array, and each LED lamp in the LED array 120 is mounted on the corresponding lamp socket. The driving unit 130 is connected to the LED array 120, and the driving unit 130 can drive the LED lamps to flash according to a control command containing a certain sequence order sent by the control unit 150.
The receiving unit 140 is installed on the automation device, and the receiving unit 140 is used for receiving the emitted light power of the LED lamp.
The control unit 150 is respectively connected to the memory 110, the driving unit 130 and the receiving unit 140, and the control unit 150 is configured to divide a space to be located into M cubes according to coordinate information of all lamp holders, drive all LED lamps to emit light through the driving unit 130, select one cube according to a light power value received by the receiving unit 140 and coordinate information of the lamp holder where the LED lamp is located, determine a triangular prism according to the light power value received by the receiving unit 140 and coordinate information of the lamp holder where the LED lamp is located in the selected cube, and calculate coordinates of a point to be located in the determined triangular prism, where M is greater than or equal to 1.
Optionally, the control unit 150 may also control the movement and operation of the automation device. Specifically, the automation device may be an intelligent robot, an automated logistics vehicle, etc., and may be provided thereon with a control panel, which may process the control signal received from the control unit 150 according to a corresponding algorithm and control the movement or operation of the automation device according to the processing result. Wherein the automation device can communicate wirelessly (e.g., wifi, bluetooth, 3G/4G, etc.) with the control unit 150.
In one embodiment of the present invention, as shown in fig. 2, the LED array 120 includes a first LED array 121, a second LED array 122, and a third LED array 123, wherein the first LED array 121 and the second LED array 122 are disposed on two sides of the space to be located and are disposed perpendicular to the ground, and the third LED array 123 is disposed on the ground between the first LED array 121 and the second LED array 123.
Further, as shown in fig. 3, the receiving unit 140 includes a first detector PD1, a second detector PD2, and a third detector PD3, wherein the first detector PD1 is disposed opposite to the first LED array 121, the second detector PD2 is disposed opposite to the second LED array 122, and the third detector PD3 is disposed opposite to the third LED array 123. Therefore, the receiving unit 140 can be ensured to receive the emitted light power from the LED lamps on the two sides of the space to be positioned and on the ground.
Specifically, the first detector PD1, the second detector PD2, and the third detector PD3 may be integrally provided, which may convert the received optical power value from an optical signal into a current signal and transmit the current signal to the control unit 150.
The first detector PD1, the second detector PD2, and the third detector PD3 may be, but are not limited to, photodetectors.
In this embodiment, referring to fig. 4, the control unit 150 selects a cube according to the light power value received by the receiving unit 140 and the coordinate information of the lamp holder where the LED lamp is located, and when determining a triangular prism in the selected cube, is specifically configured to: the optical power values received by the first detector PD1 and the second detector PD2 in 4 time slots are obtained. One of the M cubes is selected according to the value of the optical power received by the first detector PD1 or the value of the optical power received by the second detector PD2, and in the selected cube, 4 light received by the first detector PD1The power value or 4 optical power values received by the second detector PD2 is selected from one of 8 equally divided triangular prisms. The sum I of the optical power values received by the first detector PD1 in 4 time slots is calculated1And calculating the sum I of the optical power values received by the second detector PD2 in 4 time slots2(ii) a Judgment of I1And I2The magnitude relationship between them; if I1＞I2Then, it is determined that the receiving unit 140 is close to the first side of the space to be positioned, and a half of the selected triangular prism close to the first side is determined to be a required triangular prism, wherein the first side corresponds to the first LED array 121; if I1＜I2Then, it is determined that the receiving unit 140 is close to the second side of the space to be positioned, and a half of the selected triangular prism close to the second side is determined to be the required triangular prism, where the second side corresponds to the second LED array 122; if I1＝I2Then it is determined that the receiving unit 140 is located in the middle of the space to be located, and the abscissa of the location of the automation device can be determined.
For example, referring to fig. 2, the middle 2(m) × 4(m) area of the two 4(m) × 6(m) rectangular side surfaces is divided into 8 squares of 1(m) × 1(m), LED lamps are arranged at the vertexes of each small square, and each LED lamp is located at a unique coordinate, that is, each LED lamp in the space to be located has a unique LED-ID tag corresponding to the position of the LED lamp. At this time, the region to be positioned may be divided into 8 cubes of 1(m) × 2(m), and when an automated apparatus such as a robot or a robot arm carrying a detector is in the region to be positioned, the light power values of 4 LED lamps received by the detector PD2 in each cube are acquired, and the cube in which 4 light power values are added up is selected. In the selected cube, referring to fig. 4, the light power values of the four LED lamps received by the PD2 are compared, and it is assumed that the received light power values of the four LED lamps are respectively
Figure BDA0001588481140000051
And
Figure BDA0001588481140000052
wherein A, B, C and D are second side surfacesThe four LED lamps used for determining the small cube assume the magnitude relationship of the four light power values
Figure BDA0001588481140000053
By
Figure BDA0001588481140000054
The area to be positioned can be reduced to the triangular prism space corresponding to delta ABC
Figure BDA0001588481140000055
And
Figure BDA0001588481140000056
then, the positioning area can be finally reduced to be within the small triangular prism corresponding to Δ BEF. At this time, if the first detector PD1 receives the sum I of the optical power values in 4 time slots1Is larger than the sum I of the optical power values received by the second detector PD2 in 4 time slots2Then, it is determined that the receiving unit 140 is close to the first side of the space to be positioned, and the triangular prism close to the half of the first side is determined as the required triangular prism. Thus, the region to be located is first reduced to a small cube of 1(m) × L, and then reduced from the small cube to [0.5(m) × 1/2]L/2, the volume of the positioning area is reduced to 1/16, thus realizing the coarse positioning of the automation equipment.
It should be noted that if the optical power values are equal, the area to be located may be located at the boundary point or on the boundary line.
It can be understood that when the triangular prism is selected, the cube can be selected first, then the triangular prism is selected in the cube, and finally a half of the triangular prism is determined; or selecting a cube first, then determining a half of the cube, and finally selecting a triangular prism in the determined half of the cube; it is also possible to determine a half area first, select a cube in the determined half area, and finally select a triangular prism in the selected cube.
In this embodiment, the adjacent LED lamps transmit the same signal in different time slots, so that the cube zone where the automation device is located can be roughly located according to the optical power value received by the PD1 or the PD2 and the corresponding coordinate information. For example, referring to fig. 2, a 2 × 4 × 6 space to be positioned is divided into 24 2 × 1 × 1 small cubes according to the coordinate information of the lamp socket, and the small cube in which the automation device is located may be coarsely positioned according to the light power value received by the PD1 and the coordinates of the corresponding lamp socket in which the LED lamp is located.
Further, in order to keep the receiving unit 140 within the view angle of the detector at all times, an LED array on the side away from the receiving unit 140 may be used when positioning.
Specifically, the control unit 150 is at I1＞I2Meanwhile, the first LED array 121 may be controlled to stop working, and the second LED array 122 and the third LED array 133 may be controlled to be in a working state; in I1＜I2Meanwhile, the second LED array 122 may be controlled to stop operating, and the first LED array 121 and the third LED array 123 may be controlled to be in an operating state.
It can be understood that when I1＝I2At this time, the receiving unit 140 is located in the middle, and at this time, the first LED array 121 may be controlled to stop working, and the second LED array 122 and the third LED array 133 may be controlled to be in a working state, or the second LED array 122 may also be controlled to stop working, and the first LED array 121 and the third LED array 123 may be controlled to be in a working state.
In an embodiment of the present invention, the control unit 150, when controlling the first LED array 121 to stop operating and controlling the second LED array 122 and the third LED array 123 to be in an operating state, and the third detector PD3 receives the emitted light power of N LED lamps on the ground, is further configured to divide the required triangular prism into F layers along the x axis, and select the three LED lamps with the largest light power value among the K LED lamps, where the x axis is in the same direction as the height of the triangular prism.
Respectively calculating the coordinates of the to-be-positioned point on each layer of the triangular prism by the following formula (1):
Figure BDA0001588481140000061
wherein (Floor)iY, z) is the point to be located (i.e. automation)Device) coordinates on the ith layer, i 1,2,., (x) F, k a, B, C, (x)A,yA,zA)、(xB,yB,zB)、(xC,yC,zC) Respectively coordinate information of lamp holders where the selected three LED lamps are positioned,
Figure BDA0001588481140000062
is the value of the light power received by the second detector PD2 from the LED lamp numbered k,
Figure BDA0001588481140000063
is the emitted light power of the LED lamp numbered k, dkIs the distance, phi, between the LED lamp numbered k and the second detector PD2kIs the radiation angle of the LED lamp numbered k,
Figure BDA00015884811400000610
is the angle of incidence of the light signal received by the second detector PD2 from the LED lamp numbered k, the order of lambertian radiation m-ln 2/(ln (cos Φ)·/2))，Φ1/2Is the half-power angle of the LED lamp, A2Is the receiving area of the second detector PD 2.
Therefore, the coordinate of the point to be located on each layer in the triangular prism can be calculated and obtained through the trilateral locating method.
It should be noted that if the fixed plane of the LED lamp receiving the emitted optical power from PD2 is parallel to the receiving plane of the second detector PD2, then
Figure BDA0001588481140000064
The control unit 150 also calculates the equipower plane L of the positioning system by the following formula (2)j：
Figure BDA0001588481140000065
Wherein j is 1, 2.. times.N,
Figure BDA0001588481140000066
is the value of the light power received by the third detector PD3 from the LED lamp numbered j,
Figure BDA0001588481140000067
is the emitted light power of the LED lamp numbered j, djIs the distance, φ, between the LED lamp numbered j and the third detector PD3jIs the radiation angle of the LED lamp numbered j,
Figure BDA0001588481140000068
is the angle of incidence, φ, of the light signal received from the LED lamp numbered j of the third detector PD3jIs the radiation angle of the LED lamp numbered j,
Figure BDA0001588481140000069
is the angle of incidence, A, of the light signal received by the third detector PD3 from the LED lamp numbered j3Is the receiving area of the third detector PD 3.
It should be noted that if the fixed plane of the LED lamp of the emitted optical power received by the third detector PD3 is parallel to the receiving plane of the third detector PD3, then
Figure BDA0001588481140000071
Further, the control unit 150 calculates coordinates (x, y, z) of the to-be-located point by the following equation (3):
Figure BDA0001588481140000072
therefore, the coordinates of the to-be-positioned point can be calculated by the optimal selection algorithm shown in the formula (3).
To facilitate an understanding of the positioning system of the automated equipment of the present embodiment, the system 100 can be illustrated by the following example of the application to a rack model in a warehouse:
referring to fig. 2, the length, width and height of the shelf partition plates in the warehouse are set to be 4m, 0.6m and 6m respectively, the interval between two adjacent rows of shelves is 2m, and the space to be positioned is a cube with the length, width and height of 4m, 2m and 6m respectively as shown in fig. 2. The shelf partition plate is provided with lamp holders with known coordinate information, the lamp holders are provided with LED lamps to form a first LED array 121, a second LED array 122 and a third LED array 123, and the LED lamps send the same signals in different time slots. In the model, a space coordinate system is established by taking one corner of the shelf as an origin of coordinates, the direction of a connecting line of the two rows of shelves is an x axis, the length direction of the shelf is a y axis, and the height direction is a z axis.
The interval between the LED lamps can be adjusted according to the requirement of positioning accuracy, and is marked as delta l, and is set as 1m in the model.
Referring to fig. 3, the plane of the first detector PD1 is parallel to the plane of the first LED array 121, the plane of the second detector PD2 is parallel to the plane of the second LED array 122, and the plane of the third detector PD3 is parallel to the plane of the third LED array 123.
Referring to fig. 4, when the control unit 150 controls all LED lamps to emit light (i.e. to be in an operating state) through the driving unit 130, four light power values in four time slots received by the PD1 or the PD2 are compared and recorded as "light power values
Figure BDA0001588481140000073
To determine the cube in which the detecting unit 140 is located, and to select one triangular prism from the cube, for example, the origin of coordinates of the selected cube (fig. 4) is a point with coordinates (0,1,1) in fig. 2, and further to divide the cube into triangular prisms with a height of 2 m.
Further, the sum of the four optical powers received by the PD1 and the PD2 in the four time slots is obtained and is denoted as I1And I2Then compare I1And I2(ii) a When I is1＞I2Indicating that the receiving unit 140 is close to the first side of the space to be located; when I is1＜I2When the signal indicates that the receiving unit 140 is close to the second side of the space to be located; when I is1＝I2Indicating that the receiving unit 140 is located in the middle of the space to be located.
In this example, assume I1＞I2In order to keep the detectors always within their angle of view, an LED lamp on the side away from the receiving unit 140 may be used, i.e., an LED lamp in the second LED array 122 facing the PD2 is used as the LED lamp used with the second detector PD 2. At this time, the optical power values received by the receiving unit 140 include the optical power values received by the PD2 and the PD3, which are respectively denoted as Pr (2)And Pr (3)Wherein the receiving plane of PD3 is parallel to the ground, and when PD3 receives a power in the time slot numbered j, it is marked as Prj (3)(j ═ 1, 2.., N), N representing the number of light power values received by the PD 3.
Referring to fig. 5, the triangular prism is divided into F layers along the x axis, and is recorded as x being 0: Δ F (L/2), where L is the interval between the left and right side surfaces of the shelf, i.e. 2m, the small triangular prism is layered along the x axis direction with Δ F as the layering interval, and the value of Δ F depends on the requirements of positioning accuracy and positioning speed. Trilateral localization is performed using the LED lamps in the second LED array 122, assuming that the point to be localized is on the ith layer with coordinates of (Floor)iY, z), coordinates of the lamp socket where the LED lamp can be received by the optional three receiving units 140 are respectively marked as (x)A,yA,zA)(xB,yB,zB)(xC,yC,zC) An estimation point (Floor) can be obtained on each layer by the above equation (1)i,y,z)。
Further, referring to fig. 6, the control unit 150 may find the equal power plane according to the optical power value received by the PD 3.
Specifically, when the automation device moves to a certain position, if the PD3 can only receive the emitted light power from one LED lamp on the ground, the system 100 can obtain an equal power level L, which is calculated as the following formula (5):
Figure BDA0001588481140000081
when the automated device moves to a location, if the PD3 receives emitted optical power from multiple (e.g., N > 1) LED lights on the ground, the system 100 can obtain multiple equal power planes Lj(j ═ 1, 2.., N), as shown in formula (2) above.
Further, from the F estimated points obtained above, a point (x, y, z) to be located can be selected as shown in the above equation (3).
Of particular note is when the half power angle Φ of the LED lamp used1/2At 60 °, m is 1, i.e., the equipower plane can be simplified to the following formula (6):
Figure BDA0001588481140000082
wherein the content of the first and second substances,
Figure BDA0001588481140000083
suppose the coordinates of the LED lamps on the ground are respectively (x)j,yj,zj) (j ═ 1, 2.. times.n), due to the vertical coordinate z of the LED lamp on the groundiThe iso-power plane can be written as the following equation (7) because of 0:
Figure BDA0001588481140000084
at this time, the equipower surface is a spherical surface, and the coordinate of the Center of the sphere is
Figure BDA0001588481140000091
The radius R of the sphere is
Figure BDA0001588481140000092
Therefore, the distance from the spherical surface of the receiving unit 140 can be expressed as the following equation (8):
di＝|R-||Pointi-Center|||(i＝1,2,...,N) (8)
wherein, | | Pointi-Center | | represents the distance of a point to the Center of the sphere.
Equation (3) can be converted to equation (9) below to obtain the final position of the system 100, i.e., the position of the automation device:
Figure BDA0001588481140000093
in summary, according to the positioning system of the automation device in the embodiment of the present invention, a space to be positioned is divided into M cubes according to coordinate information of all lamp sockets, then all LED lamps are driven by the driving unit to emit light, one cube is selected according to a light power value received by the receiving unit and coordinate information of the lamp socket where the LED lamp is located, a triangular prism is determined in the selected cube according to the light power value received by the receiving unit and the light power value received by the LED lamp and coordinate information of the lamp socket where the LED lamp is located, and finally a coordinate of a point to be positioned is calculated in the determined triangular prism by using a trilateral positioning method and an optimal selection algorithm, thereby achieving effective positioning of the automation device.
Fig. 7 is a flow chart of a positioning method of an automation device according to an embodiment of the invention.
In the embodiment of the invention, lamp holder arrays are arranged on two opposite side surfaces of a space to be positioned and the ground between the two side surfaces, and each lamp holder is provided with an LED lamp to form an LED array.
As shown in fig. 7, the positioning method of the automation device includes the steps of:
s101, dividing a space to be positioned into M cubes according to coordinate information of all lamp holders in the lamp holder array, wherein M is larger than or equal to 1.
And S102, driving all the LED lamps to emit light through the driving unit, and receiving the emitted light power of the LED lamps through the receiving unit installed on the automation equipment.
S103, selecting a cube according to the light power value emitted by the LED lamp and the coordinate information of the lamp holder where the LED lamp is located, wherein the light power value is received by the receiving unit.
And S104, determining a triangular prism in the selected cube according to the light power value received by the receiving unit and emitted by the LED lamp and the coordinate information of the lamp holder in which the LED lamp is positioned, and calculating the coordinate of the point to be positioned in the determined triangular prism.
In one embodiment of the invention, the LED array comprises a first LED array, a second LED array and a third LED array, wherein the first LED array and the second LED array are arranged on two sides of the space to be positioned and are arranged perpendicular to the ground, and the third LED array is arranged on the ground between the first LED array and the second LED array.
In this embodiment, the receiving unit comprises a first detector, a second detector and a third detector, wherein the first detector is arranged opposite to the first LED array, the second detector is arranged opposite to the second LED array and the third detector is arranged opposite to the third LED array.
In this embodiment, as shown in fig. 8, the step S103 includes:
and S1031, acquiring optical power values received by the first detector and the second detector in 4 time slots.
S1032 selects one from the M cubes according to the 4 optical power values received by the first detector or the 4 optical power values received by the second detector, and selects one from the 8 triangular prisms equally divided from the selected cube.
S1033, calculating a sum I of optical power values received by the first detector in 4 time slots1And calculating the sum I of the values of the optical power received by the second detector in the 4 time slots2。
S1034, judgment I1And I2The magnitude relationship between them.
S1035, if I1＞I2And if so, judging that the receiving unit is close to the first side of the space to be positioned, and determining that the half of the selected triangular prism close to the first side is the required triangular prism, wherein the first side corresponds to the first LED array.
S1036, if I1＜I2And judging that the received unit is close to a second side of the space to be positioned, and determining that one half of the selected triangular prisms close to the second side is the required triangular prism, wherein the second side corresponds to the second LED array.
S1037, if I1＝I2And judging that the receiving unit is positioned in the middle of the space to be positioned.
In one embodiment of the present invention, if I1＞I2If so, controlling the first LED array to stop working, and controlling the second LED array and the third LED array to be in a working state; if I1＜I2And controlling the second LED array to stop working and controlling the first LED array and the third LED array to be in a working state.
Further, when the first LED array is controlled to stop working, the second LED array and the third LED array are controlled to be in a working state, and the third detector receives the emitting light power of N LED lamps on the ground, the coordinates of the point to be located are calculated in the determined triangular prism, and the method comprises the following steps:
and S1041, dividing the required triangular prism into F layers along an x axis, wherein the x axis is in the same direction as the height of the triangular prism.
S1042, respectively calculating the coordinates of the to-be-positioned point on each layer of the triangular prism through the following formula (1):
Figure BDA0001588481140000101
wherein (Floor)iY, z) are the coordinates of the point to be located (i.e. the automation device) on the ith layer, i 1,2A,yA,zA)、(xB,yB,zB)、(xC,yC,zC) The selected triangular prism respectively corresponds to the coordinate information of the lamp holder where the three LED lamps with the maximum light power value in the K LED lamps are located,
Figure BDA0001588481140000111
is the value of the light power received by the second detector from the LED lamp numbered k,
Figure BDA0001588481140000112
is the emitted luminous power of the LED lamp numbered k, dkIs the distance, φ, between the LED lamp numbered k and the second detectorkIs the radiation angle of the LED lamp numbered k,
Figure BDA0001588481140000113
is received by the second detectorThe angle of incidence of the light signal from the LED lamp numbered k, the order of lambertian radiation m-ln 2/(ln (cos Φ)·/2))，Φ1/2Is the half-power angle, A, of the LED lamp2Is the receiving area of the second detector.
S1043, calculating the equipower plane L of the positioning system by the following formula (2)j：
Figure BDA0001588481140000114
Wherein j is 1, 2.. times.N,
Figure BDA0001588481140000115
is the value of the light power received by the third detector from the LED lamp numbered j,
Figure BDA0001588481140000116
is the emitted light power of the LED lamp numbered j, djIs the distance, φ, between the LED lamp numbered j and the third detectorjIs the radiation angle of the LED lamp numbered j,
Figure BDA0001588481140000117
is the angle of incidence, φ, of the light signal received from the LED lamp numbered j by the third detectorjIs the radiation angle of the LED lamp numbered j,
Figure BDA0001588481140000118
is the angle of incidence, A, of the light signal received by the third detector from the LED lamp numbered j3Is the receiving area of the third detector.
S1044, calculating coordinates (x, y, z) of the to-be-located point by the following formula (3):
Figure BDA0001588481140000119
it should be noted that the foregoing explanation of the embodiment of the positioning system of the automation device is also applicable to the positioning method of the automation device of this embodiment, and is not repeated here.
According to the positioning method of the automation equipment, firstly, a space to be positioned is divided into M cubes according to coordinate information of all lamp holders, then all LED lamps are driven to emit light through the driving unit, one cube is selected according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located, a triangular prism is determined in the selected cube according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located, and finally, a three-edge positioning method and an optimal selection algorithm are adopted in the determined triangular prism to calculate the coordinates of a point to be positioned, so that effective positioning of the automation equipment is achieved.
Further, the invention proposes a non-transitory computer-readable storage medium on which a computer program is stored which, when being executed by a processor, implements the above-mentioned method of positioning an automation device.
The non-transitory computer-readable storage medium of the embodiment of the present invention can realize effective positioning of the automation device when executing the program stored thereon corresponding to the positioning method of the automation device.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (7)

1. The utility model provides an automation equipment's positioning system which characterized in that all is provided with the lamp stand array on two relative sides in the space of awaiting the position and the subaerial between the both sides face, positioning system includes:
the storage is used for storing coordinate information of all lamp holders in the lamp holder array;
the LED array is arranged corresponding to the lamp holder array, and each LED lamp in the LED array is arranged on the corresponding lamp holder; the LED array comprises a first LED array, a second LED array and a third LED array, wherein the first LED array and the second LED array are arranged on two sides of the space to be positioned and are arranged perpendicular to the ground, and the third LED array is arranged on the ground between the first LED array and the second LED array;
the driving unit is connected with the LED array;
a receiving unit mounted on an automation device, the receiving unit for receiving emitted light power of the LED lamp;
the receiving unit comprises a first detector, a second detector and a third detector, wherein the first detector is over against the first LED array, the second detector is over against the second LED array, and the third detector is over against the third LED array;
the control unit is used for dividing the space to be positioned into M cubes according to the coordinate information of all lamp holders, driving all the LED lamps to emit light through the driving unit, selecting one cube according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located, determining a triangular prism in the selected cube according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located, and calculating the coordinate of the position to be positioned in the determined triangular prism, wherein M is larger than or equal to 1;
dividing the triangular prism into F layers along an x-axis, wherein the x-axis is in the same direction as the height of the triangular prism;
respectively calculating the coordinates of the to-be-positioned point on each layer of the triangular prism through the following formula:
Figure FDA0003543592770000011
wherein (Floor)iY, z) is the coordinate of the locating point on the ith layer, i is 1,2A,yA,zA)、(xB,yB,zB)、(xC,yC,zC) Coordinate information of lamp holders where three LED lamps with larger light power values selected from the K LED lamps corresponding to the triangular prism are respectively arranged,
Figure FDA0003543592770000012
is the value of the light power received by said second detector from the LED lamp numbered k,
Figure FDA0003543592770000013
is the emitted light power of the LED lamp numbered k, dkIs the distance, phi, between the LED lamp numbered k and said second detectorkIs the radiation angle of the LED lamp numbered k,
Figure FDA0003543592770000021
is the angle of incidence of the light signal received by the second detector from the LED lamp numbered k, the order of lambertian radiation m-ln 2/(ln (cos Φ)1/2))，Φ1/2Is the half-power angle of the LED lamp, A2Is the receiving area of the second detector;
calculating the equipower plane L of the positioning system by the following formulaj：
Figure FDA0003543592770000022
Wherein j is 1, 2.. times.N,
Figure FDA0003543592770000023
is the value of the light power received by said third detector from the LED lamp numbered j,
Figure FDA0003543592770000024
is the emitted light power of the LED lamp numbered j, djIs the distance, phi, between the LED lamp numbered j and the third detectorjIs the radiation angle of the LED lamp numbered j,
Figure FDA0003543592770000025
is the angle of incidence, A, of the light signal received by the third detector from the LED lamp numbered j3Is the receiving area of the third detector;
the coordinates (x, y, z) of the point to be located are calculated by the following formula:
Figure FDA0003543592770000026
2. the positioning system of automation equipment as claimed in claim 1, wherein the control unit is configured to select a cube according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located, and when determining a triangular prism in the selected cube according to the light power value received by the receiving unit and the coordinate information of the lamp holder where the LED lamp is located, the control unit is specifically configured to:
acquiring optical power values received by the first detector and the second detector in 4 time slots;
selecting one from M cubes according to the optical power value received by the first detector or the optical power value received by the second detector, and selecting one from 8 triangular prisms equally divided from the selected cube;
calculating the sum I of the values of the optical power received by the first detector in 4 time slots1And calculating the sum I of the values of the optical power received by said second detector in 4 time slots2；
Judgment of I1And I2The magnitude relationship between them;
if I1＞I2Judging that the receiving unit is close to a first side of the space to be positioned, and determining that one half of the selected triangular prisms close to the first side is the required triangular prism, wherein the first side corresponds to the first LED array;
if I1＜I2Judging that the receiving unit is close to a second side of the space to be positioned, and determining that one half of the selected triangular prisms close to the second side is the required triangular prism, wherein the second side corresponds to the second LED array;
if I1＝I2And then judging that the receiving unit is positioned in the middle of the space to be positioned.
3. The positioning system of an automation device as recited in claim 2, wherein the control unit is further to:
in I1＞I2When the first LED array stops working, the second LED array and the third LED array are controlled to be in a working state;
in I1＜I2And when the first LED array and the third LED array are in the working state, controlling the second LED array to stop working, and controlling the first LED array and the third LED array to be in the working state.
4. The positioning system of an automated device according to claim 3, wherein if the fixed plane of the LED lamp of the emitted optical power received by the second detector is parallel to the receiving plane of the second detector, then
Figure FDA0003543592770000032
5. The positioning system of an automated apparatus according to claim 1, wherein the first detector, the second detector, and the third detector are each photodetectors.
6. Method for the positioning of a positioning system of an automation device according to any one of claims 1 to 5, characterised in that the method comprises the following steps:
dividing a space to be positioned into M cubes according to coordinate information of all lamp holders in the lamp holder array, wherein M is more than or equal to 1;
all the LED lamps are driven to emit light through the driving unit, and the transmitting light power of the LED lamps is received through the receiving unit arranged on the automation equipment;
selecting a cube according to the light power value transmitted by the LED lamp and the coordinate information of the lamp holder where the LED lamp is located, wherein the light power value is received by the receiving unit;
in the selected cube, a triangular prism is determined according to the light power value received by the receiving unit and emitted by the LED lamp and the coordinate information of the lamp holder in which the LED lamp is located, and the coordinates of the point to be located are calculated in the triangular prism:
dividing the triangular prism into F layers along an x-axis, wherein the x-axis is in the same direction as the height of the triangular prism;
respectively calculating the coordinates of the to-be-positioned point on each layer of the triangular prism through the following formula:
Figure FDA0003543592770000031
wherein (Floor)iY, z) is the coordinate of the locating point on the ith layer, i is 1,2A,yA,zA)、(xB,yB,zB)、(xC,yC,zC) The lamps are respectively three LED lamps with larger light power values selected from the K LED lamps corresponding to the triangular prismThe coordinate information of the seat is provided,
Figure FDA0003543592770000041
is the value of the light power received by the second detector from the LED lamp numbered k,
Figure FDA0003543592770000042
is the emitted light power of the LED lamp numbered k, dkIs the distance, φ, between the LED lamp numbered k and the second detectorkIs the radiation angle of the LED lamp numbered k,
Figure FDA0003543592770000043
is the angle of incidence of the light signal received by the second detector from the LED lamp numbered k, the order of lambertian radiation m-ln 2/(ln (cos Φ)1/2))，Φ1/2Is the half-power angle of the LED lamp, A2Is the receiving area of the second detector;
calculating the equipower plane L of the positioning system by the following formulaj：
Figure FDA0003543592770000044
Wherein j is 1, 2.. times.N,
Figure FDA0003543592770000045
is the value of the light power received by the third detector from the LED lamp numbered j,
Figure FDA0003543592770000046
is the emitted light power of the LED lamp numbered j, djIs the distance, phi, between the LED lamp numbered j and the third detectorjIs the radiation angle of the LED lamp numbered j,
Figure FDA0003543592770000047
is the received from the third detector numbered asj incident angle of light signal of LED lamp, A3Is the receiving area of the third detector;
the coordinates (x, y, z) of the point to be located are calculated by the following formula:
Figure FDA0003543592770000048
7. a non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the method for positioning an automation device as claimed in claim 6.
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