A visible light positioning and communication method, apparatus and system

Abstract

This application discloses a visible light positioning and communication method, apparatus, and system, belonging to the field of visible light positioning and communication. It involves driving an LED lamp to emit a light signal with a preset modulation frequency. A receiving sensor receives the spectrum, extracts the chip's native blue light spectrum, and then decodes the spectral information carried by the spectrum based on the hardware parameters of the receiving sensor to obtain digital information. Positioning and communication are then performed based on this digital information. This application's solution completely eliminates physiological flicker perceptible to the human eye by employing high-frequency modulation at a preset frequency. Simultaneously, receiving only the native blue light spectrum effectively removes the afterglow effect of phosphors, ensuring clear high-frequency signals and significantly improving decoding success rate. Adaptive decoding, combined with the receiving sensor's hardware parameters, solves the frequency offset problem caused by hardware differences between different devices, enhancing cross-device compatibility. This achieves high-precision, high-reliability visible light positioning and communication, applicable to indoor navigation, communication, and other scenarios.

Description

Technical Field

[0001] This application relates to the field of visible light positioning and communication technology, and in particular, to a visible light positioning and communication method, apparatus and system. Background Technology

[0002] Visible light positioning and communication (VLC) technology has gained widespread attention in recent years in fields such as indoor navigation, smart manufacturing, and warehousing and logistics. Its basic principle is to send modulated light signals through LED lights, which are then received and decoded by a mobile terminal camera to achieve location identification. However, existing technologies still have the following drawbacks in practical applications: the risk of physiological flicker is one of the key factors restricting the widespread adoption of VLC technology. Traditional VLC systems typically use modulation frequencies below 10 kHz, resulting in noticeable flicker perceptible to the human eye in low-brightness dimming scenarios, failing to meet the requirements of the IEEE 1789 standard for healthy lighting.

[0003] To avoid the risk of flicker, high-frequency signals are required. However, the yellow phosphor in white LEDs has a microsecond-level afterglow. When the modulation frequency is increased to above 100 kHz, the phosphor's trailing effect causes severe blurring of the time-domain signal, making it difficult for conventional CMOS receivers to accurately extract the stripe edges, resulting in a significant drop in decoding success rate. Summary of the Invention

[0004] In order to overcome the shortcomings of related technologies, this application provides a visible light positioning and communication method, apparatus and system to solve the problem that when the existing visible light positioning and communication (VLC) technology uses high-frequency signals, the yellow phosphor of white LED has a trailing effect, which causes the time domain signal to be blurred, making it difficult to identify the stripe edges and greatly reducing the decoding success rate.

[0005] The technical solution adopted by this application to solve its technical problem is: Firstly, a visible light positioning and communication method is provided, including: Drive LED lights to emit light signals with a preset modulation frequency; Obtain the native blue light spectrum of the LED received by the receiver; The spectral information carried by the native blue light spectrum of the LED is decoded based on the hardware parameters of the receiving sensor at the receiving end to obtain digital information. Location and communication are performed based on the digital information.

[0006] Furthermore, the driver of the LED lamp adopts a dual-output configuration, wherein one output is used to provide DC current for lighting, and the other output is used to provide a square wave carrier wave with a preset frequency. Wherein, the square wave carrier current = DC current * preset coefficient, and the preset coefficient is greater than 0 and less than 1.

[0007] Furthermore, the preset coefficient ranges from 10% to 15%.

[0008] Furthermore, the preset frequency is 200kHz.

[0009] Furthermore, it also includes: A blue light filter is installed in front of the receiver so that the spectrum received by the receiver only includes the native blue light spectrum of the LED; Alternatively, the Blue channel or U chromaticity component of the image frame received by the receiving end can be extracted to obtain only the native blue light spectrum of the LED.

[0010] Furthermore, the process of decoding the spectral information carried by the native blue light spectrum of the LED based on the hardware parameters of the receiving sensor at the receiving end to obtain digital information includes: Based on the hardware parameters of the receiving sensor, the filter parameters are dynamically adjusted. The digital information is obtained by decoding the spectral information carried by the native blue light spectrum of the LED based on the filter parameters.

[0011] Furthermore, the dynamic adjustment of filter parameters based on the hardware parameters of the receiving sensor includes: Obtain the total time difference and physical number of rows required for the receiving sensor to complete scanning of an image from the first row to the last row; The row scanning frequency is determined based on the total time difference and the number of physical rows, wherein the row scanning frequency = number of physical rows / total time difference; The spatial frequency index corresponding to the receiving sensor is calculated based on the row scanning frequency and the preset frequency; where the spatial frequency index = round(preset frequency / row scanning frequency * number of consecutive sampling points), and round() is the rounding function; The filter coefficients are determined based on the spatial frequency index, where filter coefficient = 2cos(2π*spatial frequency index / N).

[0012] Further, the step of decoding the spectral information carried by the native blue light spectrum of the LED based on the filter parameters to obtain digital information includes: Based on the filter coefficients, a second-order IIR filter is performed on each row of pixel data to obtain the energy value; When the energy value is greater than a preset value, the current envelope is determined to be logic 1; when the energy value is less than the preset value, the current envelope is determined to be logic 0. The bitstream obtained based on the determination result is decoded to obtain digital information.

[0013] Secondly, a visible light positioning and communication device is provided, comprising: The signal transmission module is used to drive LED lamps to emit light signals with a modulation frequency of a preset frequency; The spectrum acquisition module is used to acquire the native blue light spectrum of the LED received by the receiver. The spectral decoding module is used to decode the spectral information carried by the native blue light spectrum of the LED based on the hardware parameters of the receiving sensor at the receiving end to obtain digital information. A positioning and communication module is used for positioning and communication based on the digital information.

[0014] Thirdly, a computer-readable storage medium is provided, on which a computer program or instructions are stored, wherein when the computer program or instructions are executed by a processor, the steps of the visible light positioning and communication method provided in the first aspect of the technical solution are implemented.

[0015] Fourthly, a light-based positioning system is provided, comprising: At least one processor and at least one memory; The memory stores the executable instructions of the processor; The processor is configured to execute the visible light positioning and communication method provided by the first aspect of the technical solution.

[0016] Beneficial effects: This application provides a visible light positioning and communication method, device, and system. First, an LED lamp is driven to emit a light signal modulated at a preset frequency. Then, the native blue light spectrum of the LED is acquired by a receiver. Next, based on the hardware parameters of the receiver's sensor, the spectral information carried by the native blue light spectrum is decoded to obtain digital information. Finally, positioning and communication are performed based on the digital information. This application's technical solution completely eliminates perceptible physiological flicker by employing high-frequency modulation, meeting healthy lighting standards. Simultaneously, receiving only the native blue light spectrum of the LED effectively eliminates signal trailing caused by phosphor afterglow, ensuring clear edges of the high-frequency signal and significantly improving decoding success rate. Adaptive decoding, combined with the receiver sensor's hardware parameters, solves the frequency offset problem caused by hardware differences between different devices, enhancing cross-device compatibility. Ultimately, high-precision, high-reliability visible light positioning and communication are achieved, suitable for scenarios such as indoor navigation and intelligent manufacturing. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a visible light positioning and communication method provided in an embodiment of this application; Figure 2 This is a schematic diagram of a visible light positioning and communication device provided in an embodiment of this application; Figure 3 This is a diagram illustrating a visible light positioning and communication system architecture provided in an embodiment of this application. Figure 4 This is a schematic diagram comparing a blurred waveform acquired under full-band acquisition with a clear waveform after blue light gating, provided in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] Furthermore, the hardware parameters (such as line scan rate and line delay time) of CMOS sensors in mobile terminals of different brands and models vary significantly. Traditional VLC solutions typically use fixed frequency decoding algorithms, which can easily lead to frequency offset when the signal frequency does not match the device's line scan rate, resulting in decoding failure and severely limiting the technology's cross-device versatility. Finally, the IDs of existing lighting fixtures are mostly hard-coded at the factory, requiring manual on-site reprogramming once the physical location changes, resulting in high maintenance costs and making it difficult to meet the industrial requirements for flexible deployment.

[0021] To solve the above problems, refer to Figure 1 This application provides a visible light positioning and communication method, including: S11: Drive the LED lamp to emit a light signal with a modulation frequency of a preset frequency, wherein the preset frequency is greater than 8kHz, because the tailing effect of phosphor is more severe at high frequencies; The LED luminaire driver employs a dual-output configuration. One output provides DC current for lighting, while the other outputs a square wave carrier wave at a preset frequency. The square wave carrier current is calculated as DC current multiplied by a preset coefficient, which is greater than 0 and less than 1. This dual-output separation of lighting and communication functions ensures that the DC current provides basic lighting while the high-frequency square wave carrier transmits signals. The carrier current scales proportionally with the DC current, ensuring adaptive adjustment of the communication signal amplitude during dimming. This prevents weak signals from being overwhelmed or excessively strong signals from affecting the lighting, achieving coordinated operation of lighting and communication and maintaining a stable signal-to-noise ratio and decoding reliability across the entire brightness range.

[0022] The preset coefficient is set based on practical experience. In a preferred implementation of this application, the preset coefficient ranges from 10% to 15%. The lower limit of 10% ensures that the communication signal is not overwhelmed by ambient light under low brightness, maintaining a sufficient signal-to-noise ratio; the upper limit of 15% avoids excessively strong signals at high brightness, which could lead to LED nonlinear distortion or visual interference. Within this range, it is necessary to ensure that the signal is strong enough to be reliably decoded (lower limit) while not excessively interfering with the lighting effect or causing visual discomfort (upper limit).

[0023] In a preferred implementation of this application, the preset frequency is 200kHz. 200kHz completely avoids the frequency band sensitive to the human eye (typically below several hundred Hz), thoroughly eliminating physiological flicker and conforming to the IEEE 1789 standard; simultaneously, it is higher than the phosphor response cutoff frequency, and combined with blue light gating, it can form clear stripes; this frequency matches the common CMOS line scan rate, and after undersampling, it can be stably presented in the image, ensuring cross-device decoding reliability.

[0024] S12: Obtain the native blue light spectrum of the LED received by the receiver; The specific implementation is as follows: a blue light filter is installed in front of the receiver so that the spectrum received by the receiver only includes the native blue light spectrum of the LED; or, the Blue channel or U chromaticity component of the image frame received by the receiver is extracted so as to obtain only the native blue light spectrum of the LED.

[0025] S13: Based on the hardware parameters of the receiving sensor at the receiving end, the spectral information carried by the native blue light spectrum of the LED is decoded to obtain digital information; It should be noted that existing technologies all use fixed frequency decoding algorithms. However, due to significant differences in the hardware parameters of different receiving sensors (such as line delay time and total number of lines), fixed frequency decoding algorithms can cause frequency shifts when deployed across devices, leading to decoding failures.

[0026] As a preferred implementation of this application, the step of decoding the spectral information carried by the native blue light spectrum of the LED based on the hardware parameters of the receiving sensor at the receiving end to obtain digital information includes: Based on the hardware parameters of the receiving sensor, the filter parameters are dynamically adjusted. The digital information is obtained by decoding the spectral information carried by the native blue light spectrum of the LED based on the filter parameters.

[0027] The step of dynamically adjusting the filter parameters based on the hardware parameters of the receiving sensor includes: Obtain the total time difference and physical number of rows required for the receiving sensor to complete scanning of an image from the first row to the last row; The row scanning frequency is determined based on the total time difference and the number of physical rows, wherein the row scanning frequency = number of physical rows / total time difference; The spatial frequency index corresponding to the receiving sensor is calculated based on the row scanning frequency and the preset frequency; where the spatial frequency index = round(preset frequency / row scanning frequency * number of consecutive sampling points), and round() is the rounding function; The filter coefficients are determined based on the spatial frequency index, where filter coefficient = 2cos(2π*spatial frequency index / N).

[0028] The process of decoding the spectral information carried by the native blue light spectrum of the LED based on the filter parameters to obtain digital information includes: Based on the filter coefficients, a second-order IIR filter is performed on each row of pixel data to obtain the energy value; When the energy value is greater than a preset value, the current envelope is determined to be logic 1; when the energy value is less than the preset value, the current envelope is determined to be logic 0. The bitstream obtained based on the determination result is decoded to obtain digital information.

[0029] This application does not make any improvements to the specific decoding process and adopts existing technology.

[0030] S14: Perform positioning and communication based on the digital information.

[0031] The specific positioning can be achieved using methods such as triangulation or fingerprint positioning. This application does not make any improvements and will not elaborate further here.

[0032] The visible light positioning and communication method provided in this application first drives an LED lamp to emit a light signal with a modulation frequency of a preset frequency; then, it acquires the native blue light spectrum of the LED received by the receiving end; subsequently, it decodes the spectral information carried by the native blue light spectrum of the LED based on the hardware parameters of the receiving sensor at the receiving end to obtain digital information; finally, it performs positioning and communication based on the digital information. This technical solution completely eliminates physiological flicker perceptible to the human eye by employing high-frequency modulation, meeting healthy lighting standards; simultaneously, by receiving only the native blue light spectrum of the LED, it effectively removes signal trailing caused by phosphor afterglow, ensuring clear edges of high-frequency signals and significantly improving decoding success rate; combined with adaptive decoding using the hardware parameters of the receiving sensor, it solves the frequency offset problem caused by differences in hardware between different devices, enhancing cross-device compatibility. Ultimately, it achieves high-precision, high-reliability visible light positioning and communication, suitable for scenarios such as indoor navigation and intelligent manufacturing.

[0033] Based on the same inventive concept, such as Figure 2 As shown, this application provides a visible light positioning and communication device 20, comprising: Signal transmitting module 21 is used to drive LED lamps to emit light signals with a modulation frequency of a preset frequency; The driver for the LED lamp adopts a dual-output configuration, where one output is used to provide DC current for lighting, and the other output is used to provide a square wave carrier wave with a preset frequency. Wherein, the square wave carrier current = DC current * preset coefficient, and the preset coefficient is greater than 0 and less than 1.

[0034] Preferably, the preset coefficient ranges from 10% to 15%.

[0035] Preferably, the preset frequency is 200kHz.

[0036] Spectrum acquisition module 22 is used to acquire the native blue light spectrum of the LED received by the receiver; For example, a blue light filter is installed in front of the receiver so that the spectrum received by the receiver only includes the native blue light spectrum of the LED; Alternatively, the Blue channel or U chromaticity component of the image frame received by the receiving end can be extracted to obtain only the native blue light spectrum of the LED.

[0037] The spectrum decoding module 23 is used to decode the spectral information carried by the native blue light spectrum of the LED based on the hardware parameters of the receiving sensor of the receiving end to obtain digital information. The process of decoding the spectral information carried by the native blue light spectrum of the LED based on the hardware parameters of the receiving sensor at the receiving end to obtain digital information includes: Based on the hardware parameters of the receiving sensor, the filter parameters are dynamically adjusted. The digital information is obtained by decoding the spectral information carried by the native blue light spectrum of the LED based on the filter parameters.

[0038] The dynamic adjustment of filter parameters based on the hardware parameters of the receiving sensor includes: Obtain the total time difference and physical number of rows required for the receiving sensor to complete scanning of an image from the first row to the last row; The row scanning frequency is determined based on the total time difference and the number of physical rows, wherein the row scanning frequency = number of physical rows / total time difference; The spatial frequency index corresponding to the receiving sensor is calculated based on the row scanning frequency and the preset frequency; where the spatial frequency index = round(preset frequency / row scanning frequency * number of consecutive sampling points), and round() is the rounding function; The filter coefficients are determined based on the spatial frequency index, where filter coefficient = 2cos(2π*spatial frequency index / N).

[0039] The process of decoding the spectral information carried by the native blue light spectrum of the LED based on the filter parameters to obtain digital information includes: Based on the filter coefficients, a second-order IIR filter is performed on each row of pixel data to obtain the energy value; When the energy value is greater than a preset value, the current envelope is determined to be logic 1; when the energy value is less than the preset value, the current envelope is determined to be logic 0. The bitstream obtained based on the determination result is decoded to obtain digital information.

[0040] The positioning and communication module 24 is used for positioning and communication based on the digital information.

[0041] Based on the same inventive concept, this application provides a computer-readable storage medium storing a computer program or instructions thereon, wherein when the computer program or instructions are executed by a processor, the steps of the visible light positioning and communication method provided in any of the above embodiments are implemented.

[0042] Based on the same inventive concept, this application provides a visible light positioning and communication system, including: At least one processor and at least one memory; The memory stores the executable instructions of the processor; The processor is configured to perform the visible light positioning and communication method provided in any of the above embodiments.

[0043] To more clearly illustrate the solution of this application, a specific visible light positioning and communication system is provided below, the architecture of which is as follows: Figure 3 As shown, it includes the cloud, multiple LED lights, and receiving terminals such as mobile phones / robots.

[0044] The visible light positioning and communication system provided in this application addresses the problems of existing technologies through innovative synergy across three dimensions: frequency, spectrum, and protocol. This can be summarized as follows: 1. 200kHz UHF carrier: Completely avoids human eye perception and ambient light interference, improves communication link quality and completely eliminates physiological flicker.

[0045] 2. LED native blue light spectrum gating: Utilizing the extremely fast response of the native blue light chip of LED, phosphor tailing is eliminated and high-frequency signal fidelity is restored through physical filtering or digital channel stripping.

[0046] 3. Adaptive proportional modulation: The amplitude of the communication signal scales proportionally with the illumination brightness (modulation depth 10%-15%), ensuring a stable signal-to-noise ratio across the entire brightness range.

[0047] 4. Row Scan Adaptive Goertzel Algorithm: Dynamically reads hardware parameters to calculate the spatial frequency index, solving the compatibility problem of cross-device demodulation.

[0048] 5. Cloud-based closed loop: Dynamic mapping of geographic coordinates to logical IDs and related regional information is achieved through cellular networks.

[0049] The technical solution is described in detail below: Hardware: Adaptive dual-channel driver architecture The driver uses a dual-current superposition mode: Channel 1 (DC): Outputs a stable DC current L1, responsible for basic lighting.

[0050] Channel 2 (AC): Outputs a square wave carrier L2 with a frequency of 200 kHz.

[0051] Proportional linkage mechanism: The system automatically adjusts L2 = L1 × k (k is 10%-15%) to prevent the signal from being blocked or overloaded during dimming.

[0052] Physical layer: Signal enhancement based on spectral gating Physical implementation: A 450 nm blue light narrowband filter is installed in front of the receiving sensor.

[0053] Algorithm implementation: Force the extraction of the Blue channel or U chromaticity component of the image frame, and discard the luminance channel that is affected by phosphor interference.

[0054] Results: Reference Figure 4 It transforms the edges of a 200 kHz signal from "gradually blurred" to "suddenly sharp," increasing the slope by more than 150%.

[0055] Algorithm layer: A simplified frequency domain demodulation scheme based on adaptive line scan rate Technical background and pain points addressed Because the CMOS sensor hardware parameters (such as line delay time and total number of lines) of different mobile terminals (such as mobile phones of different brands and cameras of inspection robots) vary significantly, a fixed frequency decoding algorithm will cause frequency offset when deployed across devices, thus leading to decoding failure. This solution achieves "adaptive focusing" of the algorithm by reading the underlying hardware parameters in real time and dynamically adjusting the filter coefficients.

[0056] Detailed algorithm steps Step 1: Real-time Hardware Profiling When initializing the camera stream, the terminal SDK forcibly extracts the following key hardware metadata by calling the Camera2 API or the underlying driver interface: Tskew (Rolling Shutter Skew): The total time difference required for a sensor to complete scanning an image from the first row to the last row.

[0057] Nrows (Pixel Array Height): The number of physical rows of the image sensor. The line scan frequency fscan of the device is calculated from this: fscan = Nrows / Tskew.

[0058] Step 2: Frequency Mapping from Target Frequency to Spatial Domain Given that the transmitter carrier frequency is fc = 200kHz, calculate its corresponding spatial frequency index (t) under the current hardware based on the Nyquist sampling theorem in the aliasing state: t = round(fc / fscan×WindowSize), where round is the rounding function and WindowSize refers to the number of continuous sample points involved in the Fourier transform (or Goertzel algorithm).

[0059] This step ensures that the algorithm can accurately pinpoint the "coordinates" of the 200kHz signal within the image stripes, regardless of changes in device hardware.

[0060] Step 3: Targeted Energy Integration Based on the Goertzel Operator. To extract the signal while ensuring real-time performance, this invention abandons the full-spectrum FFT operation and uses the Goertzel algorithm to perform recursive calculations for a specific point t: 1. Coefficient generation: The filter coefficients Coeff = 2 cos(2πt / N) are dynamically generated based on the t value, where N is the number of continuous sample points involved in the calculation.

[0061] 2. Recursive integration: Perform second-order IIR filtering on each row of pixel data to obtain the energy value E.

[0062] 3. Logical judgment: If E > E threshold, the current envelope bit is determined to be logic "1".

[0063] If E ≤ E threshold, the current envelope bit is determined to be logic "0".

[0064] Protocol layer: 28-bit robust data frame structure To ensure industrial-grade positioning accuracy, the following frame structure is used for cyclic transmission (bit width 125). s): Synchronization header (8-bit): 1111 0000, used to capture the start phase.

[0065] Data payload (16-bit): A unique device ID dynamically assigned by the cloud.

[0066] Check bit (4-bit): CRC-4 cyclic redundancy check, ensuring zero false alarms in the location results.

[0067] In addition, the cloud uses cellular networks to remotely distribute logical IDs to achieve dynamic decoupling between lamp IDs and physical geographic coordinates. That is, the demodulated device ID is uploaded to the cloud via cellular networks, and the cloud establishes a dynamic mapping relationship between the device ID and the current geographic coordinates to realize remote management and flexible deployment of lamp IDs.

[0068] The following provides two applications of this application's solution in different scenarios: Application Scenario 1: In hotels, service robots are required to provide guidance, luggage delivery, and room service to guests in complex lighting environments. The hotel lobby, corridors, and restaurant areas have been renovated using the visible light positioning and communication system described in this application.

[0069] LED lights supporting this application solution are installed on the ceilings of each floor of the hotel. The AC channel of each light fixture driver is modulated at 200 kHz, and the carrier amplitude is scaled at 12% of the illumination current. The 16-bit device ID of each light fixture is dynamically mapped to geographical coordinates (such as floor, corridor number, and guest room door location) on the hotel's electronic map via a cloud management system. All lights cyclically transmit their IDs in 28-bit data frame structures.

[0070] The hotel service robot is equipped with a camera on top, with a 450 nm blue light narrowband filter installed in front of the camera. When the robot moves within the hotel environment: The robot's camera captures images of the ceiling lights. Thanks to the addition of a blue light filter, only the blue light component is retained, effectively filtering out the trailing interference caused by the phosphor's afterglow. Even when the robot moves quickly or in low-light environments (such as a nighttime corridor), the stripe edges of the 200 kHz high-frequency signal remain clear and sharp.

[0071] The robot uses the SDK to read the hardware parameters (line delay time, number of physical lines) of its camera in real time, dynamically calculates the spatial frequency index of the 200 kHz signal under the current device, and generates Goertzel filter coefficients. Regardless of the camera model used by the robot, the algorithm can accurately lock the signal frequency and stably decode the lamp ID.

[0072] The robot uploads the decoded light fixture ID to the cloud via cellular network (or hotel Wi-Fi). The cloud management system returns the corresponding geographic coordinates and area information in real time (e.g., "3rd floor elevator entrance," "in front of room 521"). Based on this, the robot plans its route and navigates precisely to its destination.

[0073] In this application scenario, the robot can still receive positioning signals stably without flicker interference even when the lights are dimmed to a low brightness (such as night mode); the blue light gating technology ensures the high fidelity of high-frequency signals and eliminates decoding errors caused by phosphor trailing; the cloud dynamic mapping allows hotels to adjust room numbers or area functions without replacing or rewriting the lights, only needing to update the mapping relationship in the cloud, which greatly reduces maintenance costs.

[0074] Application Scenario 2: In large-scale automated warehousing centers, multiple AGVs (Automated Guided Vehicles) need to efficiently and accurately handle goods in high-bay aisles. The warehouses are densely lit, and the numerous metal shelves cause interference from reflected wireless signals, rendering traditional RFID or Wi-Fi positioning solutions inaccurate.

[0075] The LED luminaires of this invention are installed on the warehouse ceiling in a grid layout. The luminaire drivers are configured with 200 kHz carrier modulation, and the carrier amplitude is automatically adjusted according to the warehouse lighting brightness requirements (maintaining a modulation depth of 10%-15%). The ID of each luminaire is bound to the coordinates of the shelving area, aisle, and picking point in the warehouse management system (WMS) in the cloud.

[0076] Each AGV is equipped with an industrial camera on top. After the camera's image processing module acquires the image, it forcibly extracts the blue channel component and discards the luminance channel and other color channels that are affected by phosphor interference.

[0077] The AGV travels at high speed within the tunnel, frequently starting and stopping. Thanks to digital blue light channel extraction, a clear 200 kHz stripe signal is obtained without the need for physical filters. The phosphor tailing effect is completely eliminated, ensuring the AGV can accurately read the light fixture ID even during rapid movement.

[0078] Warehouses may contain a mix of AGVs of different brands and models, each with varying industrial camera parameters. The adaptive Goertzel algorithm of this invention reads the camera hardware parameters in real time for each AGV and dynamically adjusts the filter coefficients, ensuring stable decoding for all AGVs without requiring algorithm adaptation for different models.

[0079] Once the AGV decodes the light fixture ID for its current location and uploads it to the cloud, the cloud management system not only returns the coordinates but also dynamically assigns tasks based on the AGV's current location. For example, when an AGV enters "A3 aisle," the system automatically pushes a list of goods to be picked within that aisle. When the warehouse shelving layout is adjusted, the administrator only needs to update the mapping relationship between the light fixture ID and geographical coordinates in the cloud, and all AGVs immediately adapt to the new layout without requiring any physical modifications to the lights on-site.

[0080] In this application scenario, blue light gating technology solves the reliability problem of high-frequency signals under phosphor interference in industrial settings; adaptive demodulation technology ensures compatibility for multi-brand AGVs; and cloud-based dynamic mapping provides great flexibility for warehouse layout adjustments, enabling flexible and high-precision automated warehouse logistics management. It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0081] It should be noted that in the description of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means at least two.

[0082] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0083] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0084] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0085] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0086] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0087] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0088] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A visible light positioning and communication method, characterized in that, include: Drive LED lights to emit light signals with a preset modulation frequency; Obtain the native blue light spectrum of the LED received by the receiver; The spectral information carried by the native blue light spectrum of the LED is decoded based on the hardware parameters of the receiving sensor at the receiving end to obtain digital information. Location and communication are performed based on the digital information.

2. The method according to claim 1, characterized in that, The driver for the LED lamp adopts a dual-output configuration, where one output is used to provide DC current for lighting, and the other output is used to provide a square wave carrier wave with a preset frequency. Wherein, the square wave carrier current = DC current * preset coefficient, and the preset coefficient is greater than 0 and less than 1.

3. The method according to claim 2, characterized in that, The preset coefficient ranges from 10% to 15%.

4. The method according to claim 1, characterized in that, The preset frequency is 200kHz.

5. The method according to claim 1, characterized in that, Also includes: A blue light filter is installed in front of the receiver so that the spectrum received by the receiver only includes the native blue light spectrum of the LED; Alternatively, the Blue channel or U chromaticity component of the image frame received by the receiving end can be extracted to obtain only the native blue light spectrum of the LED.

6. The method according to claim 1, characterized in that, The process of decoding the spectral information carried by the native blue light spectrum of the LED based on the hardware parameters of the receiving sensor at the receiving end to obtain digital information includes: Based on the hardware parameters of the receiving sensor, the filter parameters are dynamically adjusted. The digital information is obtained by decoding the spectral information carried by the native blue light spectrum of the LED based on the filter parameters.

7. The method according to claim 6, characterized in that, The dynamic adjustment of filter parameters based on the hardware parameters of the receiving sensor includes: Obtain the total time difference and physical number of rows required for the receiving sensor to complete scanning of an image from the first row to the last row; The row scanning frequency is determined based on the total time difference and the number of physical rows, wherein the row scanning frequency = number of physical rows / total time difference; The spatial frequency index corresponding to the receiving sensor is calculated based on the row scanning frequency and the preset frequency; where the spatial frequency index = round(preset frequency / row scanning frequency * number of consecutive sampling points), and round() is the rounding function; The filter coefficients are determined based on the spatial frequency index, where filter coefficient = 2cos(2π*spatial frequency index / N).

8. The method according to claim 6, characterized in that, The process of decoding the spectral information carried by the native blue light spectrum of the LED based on the filter parameters to obtain digital information includes: Based on the filter coefficients, a second-order IIR filter is performed on each row of pixel data to obtain the energy value; When the energy value is greater than a preset value, the current envelope is determined to be logic 1; when the energy value is less than the preset value, the current envelope is determined to be logic 0. The bitstream obtained based on the determination result is decoded to obtain digital information.

9. A visible light positioning and communication device, characterized in that, include: The signal transmission module is used to drive LED lamps to emit light signals with a modulation frequency of a preset frequency; The spectrum acquisition module is used to acquire the native blue light spectrum of the LED received by the receiver. The spectral decoding module is used to decode the spectral information carried by the native blue light spectrum of the LED based on the hardware parameters of the receiving sensor at the receiving end to obtain digital information. A positioning and communication module is used for positioning and communication based on the digital information.

10. A visible light positioning and communication system, characterized in that, include: At least one processor and at least one memory; The memory stores the executable instructions of the processor; The processor is configured to perform the method according to any one of claims 1-8.

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