CN113985390A - Optical positioning system and light following method - Google Patents

Optical positioning system and light following method Download PDF

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Publication number
CN113985390A
CN113985390A CN202111617800.4A CN202111617800A CN113985390A CN 113985390 A CN113985390 A CN 113985390A CN 202111617800 A CN202111617800 A CN 202111617800A CN 113985390 A CN113985390 A CN 113985390A
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Prior art keywords
light
lamp
moving target
control terminal
positioning module
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CN202111617800.4A
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CN113985390B (en
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蒋伟楷
其他发明人请求不公开姓名
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Guangzhou Haoyang Electronic Co Ltd
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Guangzhou Haoyang Electronic 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C19/00—Electric signal transmission systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Circuit Arrangement For Electric Light Sources In General (AREA)

Abstract

The invention relates to the field of visible light communication and positioning tracking, in particular to an optical positioning system and a light following method. The optical positioning system comprises at least one lamp, a control terminal and at least one label arranged on a moving object, wherein the label comprises a positioning module; the lamp is used for emitting light rays loaded with light coding information, and the light coding information comprises a timestamp and a lamp code; the positioning module is used for receiving light rays, determining projection information of the light rays according to the received light ray conditions, and sending the lamp codes and the projection information to the control terminal; the control terminal is used for determining the position of the moving target and sending a control instruction to the corresponding lamp according to the lamp code so that the lamp can position the moving target. The system of the invention realizes the accurate positioning of the mobile tag through the lamp, the tag and the control terminal, and has simple algorithm and quick positioning.

Description

Optical positioning system and light following method
Technical Field
The invention relates to the field of visible light communication and positioning tracking, in particular to an optical positioning system and a light following method.
Background
The prior art optical positioning system is generally based on UWB technology or camera technology, and needs to erect additional devices, such as a positioning base station, a camera, and the like, and if the devices need to be erected, a special erection frame is needed to fix the devices, so that many applications in a scene are limited, the use is inconvenient, the operation is troublesome, and the accuracy of positioning and tracking is not high.
For example, chinese patent application No. CN201610959322.8 discloses an automatic tracking system, which includes: the device comprises a positioning device, a control device and a following device; the positioning device is used for acquiring positioning information of at least one target and sending the positioning information to the control device; the control device is used for resolving the spatial position of the at least one target according to the positioning information, generating a control instruction of a specified target according to a specified command and sending the control instruction to the following device; the following device is used for adjusting the pointing direction of a preset assembly according to the control instruction so that the visual angle of the preset assembly covers the spatial position of the specified target. The positioning device includes at least one tag and a plurality of sets of base stations. Therefore, according to the technical scheme of the invention patent, multiple groups of base stations need to be erected to realize automatic light following, the technical scheme of the invention cannot be used in certain application scenes where the base stations are inconvenient to erect, and meanwhile, the erection of multiple groups of base stations may influence the overall aesthetic property of the stage.
For another example, chinese patent application No. CN202010704291.8 discloses a computer follow spot control system, which includes a stage follow spot, an IPC network camera disposed on the follow spot, a control host, a video touch display, a follow spot control device, and a power supply device. The IPC network camera acquires real-time image data and transmits the real-time image data to the control host. The control host is in communication connection with the follow spot lamp, the IPC network camera, the video touch display and the follow spot lamp control device to control the whole; the video touch display is used for ground operators to remotely observe the real-time condition of the on-site stage at the visual angle of the follow spot lamp; the follow spot lamp control device is used for remotely controlling and adjusting the follow spot lamp. It can be seen that the IPC network camera needs to be erected to realize light tracking, and the technical scheme of the invention cannot be used in some application scenes where the IPC network camera is inconvenient to erect.
Therefore, the optical positioning system in the prior art is difficult to adapt to various application scenes, and needs to additionally erect a traveling frame of equipment and fixed equipment, so that the operation is complex, the overall attractiveness of the stage is easily affected, and the accuracy of positioning and tracking is not high.
Disclosure of Invention
The present invention is directed to overcome at least one of the above-mentioned drawbacks of the prior art, and to provide an optical positioning system and a light tracking method, which can simply implement automatic light tracking without additional devices such as a base station and a camera, and at the same time, the positioning module and the behavior prediction module are constrained and calibrated with each other, thereby greatly improving the positioning light tracking accuracy and the robustness of the system.
The technical scheme adopted by the first aspect of the invention is that,
an optical positioning system is provided, the system comprises at least one lamp, a control terminal and at least one label arranged on a moving object, wherein the label comprises a positioning module;
the lamp is used for emitting light rays loaded with light coding information, and the light coding information comprises a timestamp and a lamp code;
the positioning module is used for receiving the light rays, determining projection information of the light rays according to the condition of the received light rays, and sending the lamp codes and the projection information to the control terminal;
the control terminal is used for determining the position of the moving target and sending a control instruction to the corresponding lamp according to the lamp code so that the lamp can position the moving target.
Further, the projection information comprises the relative distance between the moving target and the lamp emitting the light and the relative angle between the moving target and the lamp emitting the light;
the positioning module is used for receiving the light, determining projection information of the light according to the received light condition, and specifically comprises:
the positioning module calculates the relative distance between the moving target and the lamp emitting light according to the timestamp and the receiving time of the positioning module on the optical coding information;
the positioning module calculates the relative angle between the moving target and the lamp emitting the light according to the angle of the received light;
the control terminal is configured to determine a position of the moving target, and specifically includes:
and the control terminal determines the position of the moving target according to the received relative distance and the relative angle.
Further, the projection information includes: the relative angle from the moving target to the lamp emitting the light, the receiving time of the positioning module to the optical coding information and the timestamp;
the positioning module calculates the relative angle between the moving target and the lamp emitting the light according to the angle of receiving the light, and sends the relative angle, the light coding information and the receiving time of the positioning module to the light coding information to the control terminal;
the control terminal is configured to determine a position of the moving target, and specifically includes:
and the control terminal calculates the relative distance from the moving target to the lamp according to the time stamp and the receiving time of the positioning module for the optical coding information, and determines the position of the moving target by combining the relative angle sent by the positioning module.
Further, the projection information comprises a projection state of the light on the positioning module, a receiving time of the positioning module to the optical coding information and the timestamp;
the positioning module is used for receiving the light, measuring the projection information of the light according to the received light condition, and specifically comprises:
the positioning module measures the projection state of the light on the positioning module and the receiving time of the positioning module on the light coding information according to the received light condition;
the control terminal is configured to determine a position of the moving target, and specifically includes:
the control terminal calculates the relative distance between the moving target and the lamp emitting the light according to the received timestamp and the receiving time of the positioning module for the optical coding information, obtains the angle of the light received by the positioning module based on the projection state of the light on the positioning module, calculates the relative angle between the moving target and the lamp emitting the light, and determines the position of the moving target according to the relative distance and the relative angle.
Further, according to the timestamp and the receiving time of the positioning module for the optical coding information, the relative distance between the moving target and the lamp emitting the light is calculated, and the method specifically comprises the following steps:
and calculating a difference value according to the time of receiving the optical code information by the timestamp and the positioning module, measuring the flight time of the light, and calculating the relative distance between the lamp and the moving target based on the flight time.
Further, according to the angle of the received light, the relative angle between the moving target and the lamp emitting the light is calculated, and the method specifically comprises the following steps:
and calculating the relative angle between the moving target and the lamp emitting the light according to the angle of the light received by the positioning module and the installation angle of the positioning module.
Further, the positioning module comprises a photosensitive sensor;
the photosensitive sensor is used for receiving the light rays and the optical coding information and measuring the projection information of the light rays according to the received light ray conditions.
Further, the photosensitive sensor comprises a shell and a photoelectric conversion array arranged in the shell, a hole is formed in the shell, light enters the photoelectric conversion array from the hole to form a light spot, and the projection information comprises position information of the light spot on the photoelectric conversion array or a projection state of the light on the positioning module.
Further, the tag also comprises an action prediction module, wherein the action prediction module is used for predicting the motion information of the moving target and sending the motion information to the control terminal;
the control terminal is further used for predicting the moving position of the moving target according to the motion information and sending a control instruction to the corresponding lamp according to the received lamp code so that the lamp projects light to the moving position of the moving target.
Further, the action prediction module comprises an inertial sensor or an acceleration sensor for detecting motion information of the moving object.
Further, the system also comprises a control bus, wherein the control bus is used for realizing communication among the lamp, the tag and the control terminal.
Further, the label is in wireless communication connection with the control terminal, and the control terminal is in wireless communication connection or wired communication connection with the lamp.
Further, the communication mode between the control terminal and the lamp is any one of DMX, WDMX, Art-net and sACN.
The second aspect of the present invention adopts the technical proposal that,
provided is a light following method, comprising the following steps:
the tag receives light rays sent by a lamp after loading light coding information, wherein the light coding information comprises a timestamp and a lamp code;
the label measures the projection information of the light according to the condition of the received light, and sends the lamp codes and the projection information to the control terminal, so that the control terminal determines the position of the moving target, and sends a control instruction to the corresponding lamp according to the lamp codes, so that the lamp positions the moving target according to the instruction sent by the control terminal.
Further, the control terminal obtains the relative distance between the moving target and the lamp emitting the light and the relative angle between the moving target and the lamp emitting the light according to the projection information, and determines the position of the moving target based on the relative distance and the relative angle.
Further, the method also comprises the following step that the label judges whether the moving target moves: if so, reading the motion direction and the motion acceleration or the motion speed of the moving target, and sending the motion direction and the motion acceleration or the motion speed to the control terminal so that the control terminal can predict the moving position of the moving target, and sending a control command to the lamp according to the moving position so that the lamp can project light to the moving position of the moving target according to the command sent by the control terminal; if not, whether the moving target moves or not is judged again until the moving target starts to move.
Compared with the prior art, the invention has the beneficial effects that:
according to the optical positioning system, the accurate positioning of the moving target can be completed only through the mutual communication among the lamp, the label on the moving target and the control terminal, the positioning is fast, and no additional equipment needs to be erected. For example, in an application scene of a stage, a moving target is generally a performer, a tag can be carried by the performer, a control terminal can be placed in a background of the stage, and devices such as a base station and a camera do not need to be additionally erected on the stage, so that a truss for placing the devices does not need to be erected, and the attractiveness of the stage is not affected.
Meanwhile, the characteristic that the existing lamp emits visible light is fully utilized, the photosensitive sensor suitable for the optical positioning system of the embodiment is skillfully designed, and the rapid and accurate positioning of the moving target is realized. Based on visible light and optical coding information, the accurate positioning of the moving target is realized, and the system is simple and convenient to implement.
The invention also utilizes the positioning module to position the position of the moving target so as to enable the lamp to position the projection moving target, then combines with the action prediction module to predict the position of the moving target so as to enable the lamp to track the projection moving target, and ensures that the moving target is always positioned in the light projection range of the lamp, so that the positioning module can always receive the light projected by the lamp, the positioning module continues to position the moving target based on the received light, and the positioning module and the action prediction module act together to form a closed-loop positioning and tracking system. Even if the label cannot receive light occasionally due to the movement of the moving target, and the positioning module is difficult to position, the moving target can still be tracked through the action prediction module. The positioning module and the action prediction model are matched, constrained and calibrated mutually, and the positioning tracking precision and robustness of the system can be improved.
Drawings
Fig. 1 is a block diagram of an optical positioning system according to embodiment 1 of the present invention.
Fig. 2 is a system diagram of an optical positioning system according to embodiment 1 of the present invention.
Fig. 3 is a structural view of a photosensor of embodiment 1 of the present invention.
Fig. 4 is a flowchart of a light tracking method according to embodiment 4 of the present invention.
Description of the specific figures: the lamp 1, the tag 2, the control terminal 3, the photosensitive sensor 4, the housing 41, the hole 42, and the photoelectric conversion array 43.
Detailed Description
The drawings are only for purposes of illustration and are not to be construed as limiting the invention. For a better understanding of the following embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Example 1
As shown in fig. 1 and fig. 2, the present embodiment provides an optical positioning system, which includes at least one lamp 1, a control terminal 3, and at least one tag 2 disposed on a moving object, where the tag 2 includes a positioning module.
The lamp 1 is used for emitting light rays loaded with light coding information, and the light coding information comprises a timestamp and a lamp 1 code;
the positioning module is used for receiving the light, determining projection information of the light according to the condition of the received light, and sending the lamp codes and the projection information to the control terminal 3;
the control terminal 3 is configured to determine a position of the moving target, and send a control instruction to the corresponding lamp 1 according to the code of the lamp 1, so that the lamp 1 locates the moving target.
The optical positioning system of this embodiment only needs to pass through lamps and lanterns 1, the label 2 on the moving object and the mutual communication between control terminal 3, can accomplish the accurate location to the moving object, and the location is quick, need not to erect extra equipment. For example, in an application scene of a stage, a moving target is generally a performer, the tag 2 can be carried around by the performer, and the control terminal 3 can be placed in a background of the stage without additionally erecting equipment such as a base station and a camera on the stage, so that a truss for placing the equipment is not required to be erected, and the attractiveness of the stage is not affected.
Meanwhile, based on visible light and optical coding information, the accurate positioning of the moving target is realized, and the system is simple and convenient to implement.
In the present application, the light source of the lamp 1 is an LED, and the light coding information is loaded by using the refresh frequency of the LED, i.e. the fast on-off of the LED.
The present embodiment preferably provides various projection information of the light.
Preferably, the projection information includes a relative distance between the moving object and the lamp 1 emitting light, and a relative angle between the moving object and the lamp 1 emitting light.
Further, the positioning module is configured to receive the light, and determine projection information of the light according to a condition of the received light, and specifically includes:
the positioning module calculates the relative distance between the moving target and the lamp 1 emitting light according to the time stamp and the receiving time of the positioning module on the optical coding information;
the positioning module calculates the relative angle between the moving target and the lamp 1 emitting the light according to the angle of the received light.
Further, calculating a relative distance based on the time stamp and the receiving time of the positioning module to the optical coding information, specifically: calculating a difference value according to the timestamp and the receiving time of the positioning module to the optical coding information, measuring the flight time of the light, and calculating the distance between the lamp 1 and the moving target based on the flight time.
The timestamp is a time point when the lamp 1 emits light, and the receiving time of the light coding information is a time point when the positioning module receives the light coding information. The difference between the time stamp and the receiving time of the light coding information is the flight time of the light from the lamp 1 to the positioning module. From the time of flight and the speed of the light, the relative distance of the luminaire 1 to the moving object can be simply calculated.
The relative distance measurement based on the flight time belongs to a nanosecond measurement level, the measurement precision is extremely high, and the calculated relative distance is accurate.
Specifically, based on the angle of the light, the relative angle is calculated, specifically: and calculating the relative angle between the moving target and the lamp 1 emitting the light according to the angle of the light received by the positioning module and the installation angle of the positioning module.
Preferably, the positioning module may determine the angle of the received light by measuring the position or angle at which the light is projected onto the positioning module.
The installation angle of the positioning module includes but is not limited to: the installation angle of the positioning module on the label 2 and the installation angle of the positioning module on the moving object.
Further, the positioning module comprises a photosensitive sensor 4; the photosensitive sensor 4 is used for receiving light and light coding information and measuring projection information of the light according to the received light condition.
Specifically, as shown in fig. 3, the photosensor 4 includes a housing 41 and a photoelectric conversion array 43 disposed in the housing 41, the housing 41 is provided with a hole 42, and light is incident on the photoelectric conversion array 43 from the hole 42 to form a light spot.
In this embodiment, the projection information may include position information of the light spot on the photoelectric conversion array 43, or a projection state of the light ray on the positioning module.
According to the projection state of the light on the positioning module, the position information of the light spot on the photoelectric conversion array 43 can be indirectly determined, and based on the position information of the light spot on the photoelectric conversion array 43, the relative angle between the lamp 1 and the moving target can be determined.
At this time, the control terminal 3 receives the position information of the light spot on the photoelectric conversion array 43 or the projection state of the light on the positioning module, and determines the relative angle between the moving target and the lamp 1.
In the embodiment of fig. 3, the photoelectric conversion array 43 is disposed at the bottom of the housing 41, the line of the dotted line is a light ray, the light ray is projected on the photoelectric conversion array 43 at the bottom to form a light spot, and the circle of the dotted line is a light spot.
It is understood that the mounting angle of the photoelectric conversion array 43 in the housing 41 can be various, and fig. 3 only illustrates a preferred mounting manner. At this time, the installation angle of the positioning module may further include an installation angle of the photoelectric conversion array 43 in the housing 41, an installation angle of the photosensor 4 on the positioning module, and the like.
The present embodiment preferably may measure the angle of the light projected onto the photoelectric conversion array 43 by the photosensor 4, and determine the angle of the light projected onto the photoelectric conversion array 43 in combination with the installation angle of the photoelectric conversion array 43 in the housing 41. Specifically, the angle of the light projected onto the photoelectric conversion array 43 can be determined according to the position of the light spot projected by the light on the photoelectric conversion array 43, the projection angle of the light projected onto the photosensitive sensor 4 is calculated by combining the installation angle of the photoelectric conversion array 43 on the photosensitive sensor 4, and the relative angle between the lamp 1 emitting the light and the moving target is determined according to the projection angle and the installation angle of the positioning module.
In the embodiment of fig. 3, the photoelectric conversion array 43 is disposed at the bottom of the housing 41, and the mounting position in the housing 41 is parallel to the ground, when light is incident on the photoelectric conversion array 43 from the hole 42 perpendicularly, the position of the light spot formed on the photoelectric conversion array 43 is aligned with the position of the hole 42, and the projection angle of the light on the photosensor 4 is 90 °; when light is incident on the photoelectric conversion array 43 from the hole 42 at a certain angle, the position of the light spot formed on the photoelectric conversion array 43 is offset from the position facing the hole 42, and the projection angle of the light on the photosensor 4 can be calculated from the offset. By combining the projection angle of the light obtained by the calculation and the installation angle of the positioning module, the relative angle between the lamp 1 and the moving target can be determined.
The photoelectric conversion array 43 can sensitively sense the intensity of light, so that light code information emitted by the lamp 1 can be read, the lamp 1 emitting light can be determined based on the code of the lamp 1, and the relative distance between the lamp 1 and a moving target can be determined based on a timestamp.
The present embodiment makes full use of the characteristic that the existing lamp 1 emits visible light, and designs the photosensitive sensor 4 suitable for the optical positioning system of the present embodiment skillfully, so as to realize the rapid and accurate positioning of the moving target.
The positioning module sends the projection information and the light coding information to the control terminal 3.
Further, the control terminal 3 determines the position of the moving target according to the projection information.
In this embodiment, the control terminal 3 determines the position of the moving object according to the received relative distance and relative angle.
After confirming the position of the moving target, the control terminal 3 determines the lamp 1 emitting light based on the received lamp 1 code, and sends a control instruction to the lamp 1 so that the lamp 1 can project the moving target in a positioning manner.
Further, the tag 2 further comprises an action prediction module, and the action prediction module is used for predicting motion information of a moving target and sending the motion information to the control terminal 3;
the control terminal 3 is further configured to predict a moving position of the moving target according to the motion information, and send a control instruction to the corresponding lamp 1 according to the received lamp 1 code, so that the lamp 1 projects light to the moving position of the moving target.
Preferably, the motion information includes, but is not limited to: whether the moving object is moving, direction of movement, speed of movement, acceleration of movement, and the like.
In the embodiment, the positioning module is used for positioning the position of the moving target, so that the lamp 1 positions and projects the moving target, and then the position of the moving target is predicted by combining the action prediction module, so that the lamp 1 tracks and projects the moving target, and the moving target is ensured to be always positioned in the light projection range of the lamp 1, so that the positioning module can always receive the light projected by the lamp 1, the positioning module continues to position the moving target based on the received light, and the positioning module and the action prediction module act together to form a closed-loop positioning and tracking system. The positioning module and the action prediction model are matched, constrained and calibrated mutually, and the positioning tracking precision and robustness of the system can be improved.
Further, the action prediction module comprises an inertial sensor or an acceleration sensor for detecting motion information of the moving object.
The inertial sensor is mainly used for detecting and measuring acceleration, inclination, impact, vibration, rotation and multi-degree-of-freedom motion, and is an important part for solving navigation, orientation and motion carrier control. In the application, whether the moving target moves, the moving direction, the moving acceleration and the like can be detected, and the detected moving information is sent to the control terminal 3, so that the control terminal 3 predicts the moving position of the moving target based on the moving information, and then sends a control instruction to the corresponding lamp 1 based on the lamp 1 code to track the moving target.
The action prediction module is used for predicting the movement of the moving target, detecting the acceleration of the moving target through an inertial sensor or an acceleration sensor, calculating the real-time speed of the movement of the moving target according to the magnitude, the direction and the movement time of the acceleration, and calculating the movement distance of the moving target by combining the movement time again. After the positioning module is used for positioning, the action prediction module can be used for tracking the moving target, so that even if the moving target moves out of the irradiation range of the lamp 1, the label 2 cannot receive light occasionally, when the positioning module is difficult to position, the tracking of the moving target can still be realized through the action prediction module, and because the inertial sensor or the acceleration sensor detects acceleration, the starting and stopping of the moving target can have corresponding acceleration change, so that the action prediction module can play a certain prediction role in the motion path of the moving target according to the acceleration, compared with the positioning when the moving target moves only by relying on the positioning module, the tracking of the moving target by combining the action prediction module can be more timely and more accurate.
Further, the optical positioning system further comprises a control bus, and the control bus is used for realizing communication among the lamp 1, the tag 2 and the control terminal 3.
Further, the tag 2 is in wireless communication connection with the control terminal 3, and the control terminal 3 is in wireless communication connection or wired communication connection with the lamp 1.
In the application scene of the stage, the mobile object carries the tag 2 of wireless communication, which is more convenient in performance.
Further, the communication mode between the control terminal 3 and the lamp 1 is any one of DMX, WDMX, Art-net, and sACN.
DMX, WDMX, Art-net, sACN and the like are international general stage lamp communication modes and are suitable for application scenes of stages.
Example 2
The present embodiment provides an optical positioning system, which is different from embodiments 1 and 2 in that the present embodiment calculates a relative distance through the control terminal 3, and calculates a relative angle through the positioning module.
The projection information includes: the relative angle from the moving target to the light fixture 1 emitting light, the time of receiving the light coding information by the positioning module, and the timestamp.
At this time, the positioning module calculates the relative angle between the moving target and the lamp 1 emitting the light according to the angle of receiving the light, and sends the relative angle, the light coding information and the receiving time of the positioning module to the light coding information to the control terminal 3;
the control terminal 3 calculates the relative distance from the moving target to the lamp 1 based on the timestamp and the receiving time of the positioning module for the optical coding information, and determines the position of the moving target by combining the relative angle sent by the positioning module.
Except for the above differences, the explanations of the remaining definitions, the descriptions of the specific and preferred schemes, and the like of the optical positioning system provided in embodiment 2 are the same as those of embodiment 1, and therefore, the technical effects brought by the same definitions, the specific and preferred schemes are the same as those of the optical positioning system provided in embodiment 1, and specific contents can be referred to the description of embodiment 1, and are not repeated herein.
Example 3
The present embodiment provides an optical positioning system, which is different from embodiments 1, 2, and 3: in the embodiment, the relative distance and the relative angle between the moving target and the lamp 1 are calculated through the control terminal 3, and the control terminal 3 determines the relative angle according to the projection state of the light on the positioning module.
The projection information comprises a projection state of the light on the positioning module, receiving time of the positioning module on the optical coding information and the timestamp;
the positioning module is used for receiving the light, measuring the projection information of the light according to the received light condition, and specifically comprises:
the positioning module measures the projection state of the light on the positioning module and the receiving time of the positioning module on the light coding information according to the received light condition;
the control terminal 3 is configured to determine the position of the moving target, and specifically includes:
the control terminal 3 calculates the relative distance between the moving target and the lamp 1 emitting the light based on the received timestamp and the receiving time of the light coding information by the positioning module, obtains the angle of the light received by the positioning module based on the projection state of the light on the positioning module, calculates the relative angle between the moving target and the lamp 1 emitting the light, and determines the position of the moving target according to the relative distance and the relative angle.
The timestamp is the time point that lamps and lanterns 1 sent light, and control module can calculate the time of flight that light flies to orientation module from lamps and lanterns 1 according to timestamp and orientation module received the time point of light code information, combines the flying speed of light again, calculates the relative distance of moving target and the lamps and lanterns 1 that send light.
In this embodiment, the projection state includes, but is not limited to: the position of the spot formed by the light on the photoelectric conversion array 43 and/or the angle of incidence of the light on the positioning module.
The control terminal 3 may determine the relative angle between the moving target and the lamp 1 according to the position of the light spot on the photoelectric conversion array 43 or the incident angle of the light projected to the positioning module, in combination with the installation angle of the positioning module.
And the control terminal 3 positions the position of the moving target according to the relative distance and the relative angle obtained by self calculation.
Except for the above differences, the explanations of the remaining definitions, the descriptions of the specific and preferred schemes, and the like of the optical positioning system provided in embodiment 3 are the same as those of embodiment 1, and therefore, the technical effects brought by the same definitions, the specific and preferred schemes are the same as those of the optical positioning system provided in embodiment 1, and specific contents can be referred to the description of embodiment 1, and are not repeated herein.
Example 4
This embodiment is based on the same inventive concept as embodiments 1, 2 and 3, and as shown in fig. 4, provides a light following method, including the following steps:
s1: the label receives the light ray which is sent by the lamp and loaded with the light coding information.
The light coding information comprises a timestamp and a luminaire code.
S2: the label measures the projection information of the light according to the received light condition, and sends the lamp code and the projection information to the control terminal, so that the control terminal determines the position of the moving target, and sends a control instruction to the corresponding lamp according to the lamp code, so that the lamp positions the moving target according to the instruction sent by the control terminal.
Specifically, the control terminal obtains the relative distance between the moving target and the lamp emitting the light and the relative angle between the moving target and the lamp emitting the light according to the projection information, and determines the position of the moving target based on the relative distance and the relative angle.
The optical positioning system of the embodiment can finish the accurate positioning of the moving target only by the mutual communication among the lamp, the label on the moving target and the control terminal, and does not need to erect additional equipment. For example, in an application scene of a stage, a moving target is generally a performer, a tag can be carried by the performer, a control terminal can be placed in a background of the stage, and devices such as a base station and a camera do not need to be additionally erected on the stage, so that a truss for placing the devices does not need to be erected, and the attractiveness of the stage is not affected.
Meanwhile, based on visible light and optical coding information, the accurate positioning of the moving target is realized, and the system is simple and convenient to implement.
Further, the light following method further comprises the following steps:
s3: the label judges whether the moving target moves:
if yes, go to S4: reading the motion direction and the motion acceleration or the motion speed of the moving target, sending the motion direction and the motion acceleration or the motion speed to the control terminal so that the control terminal can predict the moving position of the moving target, and sending a control instruction to the lamp according to the moving position so that the lamp can project light to the moving position of the moving target according to the instruction sent by the control terminal;
the label receives the light of the lamp, continues to position the position of the moving target, and executes S2;
if not, the step S3 is executed again to determine whether the moving object moves again until the moving object starts to move.
The label positions the position of the moving target by receiving the light of the lamp, and the label also predicts the position of the moving target so that the lamp tracks the moving target, and the moving target is ensured to be always positioned within the light projection range of the lamp, so that the label can always receive the projected light and continuously position the moving target based on the received light, and a closed-loop positioning and tracking system is formed. The method can not only position the moving target, but also predict the moving route of the moving target, and the method and the device are matched, constrained and calibrated mutually, so that the accuracy and robustness of the label positioning and tracking can be improved.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention claims should be included in the protection scope of the present invention claims.

Claims (14)

1. An optical positioning system is characterized in that the system comprises at least one lamp, a control terminal and at least one label arranged on a moving object, wherein the label comprises a positioning module;
the lamp is used for emitting light rays loaded with light coding information, and the light coding information comprises a timestamp and a lamp code;
the positioning module is used for receiving the light rays, determining projection information of the light rays according to the condition of the received light rays, and sending the lamp codes and the projection information to the control terminal;
the control terminal is used for determining the position of the moving target and sending a control instruction to the corresponding lamp according to the lamp code so that the lamp can position the moving target.
2. An optical locating system as defined in claim 1,
the projection information comprises the relative distance between the moving target and the lamp emitting light and the relative angle between the moving target and the lamp emitting light;
the positioning module is used for receiving the light, determining projection information of the light according to the received light condition, and specifically comprises:
the positioning module calculates the relative distance between the moving target and the lamp emitting light according to the timestamp and the receiving time of the positioning module on the optical coding information;
the positioning module calculates the relative angle between the moving target and the lamp emitting the light according to the angle of the received light;
the control terminal is configured to determine a position of the moving target, and specifically includes:
and the control terminal determines the position of the moving target according to the received relative distance and the relative angle.
3. An optical locating system as defined in claim 1,
the projection information includes: the relative angle from the moving target to the lamp emitting the light, the receiving time of the positioning module to the optical coding information and the timestamp;
the positioning module calculates the relative angle between the moving target and the lamp emitting the light according to the angle of receiving the light, and sends the relative angle, the light coding information and the receiving time of the positioning module to the light coding information to the control terminal;
the control terminal is configured to determine a position of the moving target, and specifically includes:
and the control terminal calculates the relative distance from the moving target to the lamp according to the time stamp and the receiving time of the positioning module for the optical coding information, and determines the position of the moving target by combining the relative angle sent by the positioning module.
4. An optical locating system as defined in claim 1,
the projection information comprises a projection state of the light on the positioning module, receiving time of the positioning module on the optical coding information and the timestamp;
the positioning module is used for receiving the light, measuring the projection information of the light according to the received light condition, and specifically comprises:
the positioning module measures the projection state of the light on the positioning module and the receiving time of the positioning module on the light coding information according to the received light condition;
the control terminal is configured to determine a position of the moving target, and specifically includes:
the control terminal calculates the relative distance between the moving target and the lamp emitting the light according to the received timestamp and the receiving time of the positioning module for the optical coding information, obtains the angle of the light received by the positioning module based on the projection state of the light on the positioning module, calculates the relative angle between the moving target and the lamp emitting the light, and determines the position of the moving target according to the relative distance and the relative angle.
5. An optical locating system as claimed in any one of claims 2 to 4, wherein the relative distance between the moving object and the light emitting lamp is calculated according to the time stamp and the time of receiving the optical coding information by the locating module, specifically:
and calculating a difference value according to the time of receiving the optical code information by the timestamp and the positioning module, measuring the flight time of the light, and calculating the relative distance between the lamp and the moving target based on the flight time.
6. An optical locating system as claimed in any one of claims 2 to 4, wherein the calculation of the relative angle of the moving object and the light emitting lamp based on the angle of the received light includes:
and calculating the relative angle between the moving target and the lamp emitting the light according to the angle of the light received by the positioning module and the installation angle of the positioning module.
7. An optical locating system as defined in claim 1, wherein said locating module includes a light sensitive sensor;
the photosensitive sensor is used for receiving the light rays and the optical coding information and measuring the projection information of the light rays according to the received light ray conditions.
8. An optical positioning system as claimed in claim 7, wherein the photosensitive sensor includes a housing and a photoelectric conversion array disposed in the housing, the housing has a hole, light is incident on the photoelectric conversion array from the hole to form a light spot, and the projection information includes position information of the light spot on the photoelectric conversion array or a projection state of the light on the positioning module.
9. The optical positioning system of claim 1, wherein the tag further comprises an action prediction module, the action prediction module is configured to predict motion information of the moving object and send the motion information to the control terminal;
the control terminal is further used for predicting the moving position of the moving target according to the motion information and sending a control instruction to the corresponding lamp according to the received lamp code so that the lamp projects light to the moving position of the moving target.
10. The optical positioning system of claim 9, wherein the behavior prediction module comprises an inertial sensor or an acceleration sensor for detecting motion information of a moving object.
11. An optical locating system as claimed in any one of claims 1 to 4 and 7 to 9, wherein the tag is in wireless communication with the control terminal, and the control terminal is in wireless communication with the lamp or in wired communication with the lamp.
12. A light following method is characterized by comprising the following steps:
the tag receives light rays sent by a lamp after loading light coding information, wherein the light coding information comprises a timestamp and a lamp code;
the label measures the projection information of the light according to the condition of the received light, and sends the lamp codes and the projection information to the control terminal, so that the control terminal determines the position of the moving target, and sends a control instruction to the corresponding lamp according to the lamp codes, so that the lamp positions the moving target according to the instruction sent by the control terminal.
13. A method for following spot according to claim 12,
and the control terminal obtains the relative distance between the moving target and the lamp emitting the light and the relative angle between the moving target and the lamp emitting the light according to the projection information, and determines the position of the moving target based on the relative distance and the relative angle.
14. A method as claimed in claim 12 or 13, further comprising the tag determining whether the moving object is moving: if so, reading the motion direction and the motion acceleration or the motion speed of the moving target, and sending the motion direction and the motion acceleration or the motion speed to the control terminal so that the control terminal can predict the moving position of the moving target, and sending a control command to the lamp according to the moving position so that the lamp can project light to the moving position of the moving target according to the command sent by the control terminal; if not, whether the moving target moves or not is judged again until the moving target starts to move.
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