Indoor positioning equipment, positioning method, positioning device and mobile terminal

Abstract

The present application provides an indoor positioning device, a positioning method, a positioning apparatus and a mobile terminal. The positioning device detects the illumination intensity of a received visible light beam emitted by an LED, determines the LED for locating the indoor positioning device, and calculates the position information of the center of the image detector in the indoor space based on the light spot formed by the visible light beam emitted by the LED for locating and converging onto the image detector and the spatial position information of the LED for locating. The position indicated by the spatial position information of the image detector is determined as the position of the indoor positioning device. The operation of spatial three-dimensional positioning of the indoor positioning device can be completed without the user rotating the detector multiple times. The operation is simple and convenient, which greatly improves the user experience of the indoor positioning device.

Description

Technical Field

[0001] The present application relates to the field of indoor positioning application technology, and in particular to an indoor positioning device, a positioning method, a positioning apparatus and a mobile terminal. Background Art

[0002] Currently, LED-based visible light positioning is a very hot research topic and a forefront of industry development. The existing LED-based visible light three-dimensional positioning method requires the user to rotate the detector multiple times while keeping the visible light detector position unchanged to complete the positioning operation, which is very inconvenient. The three-dimensional positioning method that does not require rotating the detector has low positioning accuracy. Summary of the Invention

[0003] To solve the above problems, the purpose of the embodiments of the present application is to provide an indoor positioning device, a positioning method, a positioning apparatus and a mobile terminal.

[0004] In a first aspect, an embodiment of the present application provides an indoor positioning device for positioning using multiple LEDs located indoors, the indoor positioning device comprising: an optical communication and light intensity detection module, an image detection module, and a processing module;

[0005] The optical communication and light intensity detection module and the image detection module are respectively connected to the processing module;

[0006] The image detection module includes: a lens and an image detector;

[0007] The optical communication and light intensity detection module is used to detect the light intensity of the visible light beams emitted by each of the multiple LEDs in the room, and send the received light intensity of the visible light beams emitted by each of the LEDs to the processing module;

[0008] The lens converges the visible light beam emitted by the positioning LED onto the image detector to form a light spot;

[0009] The processing module is used to determine a preset number of LEDs for locating the location of the indoor positioning device based on the light intensity of the visible light beams emitted by each of the LEDs received by the optical communication and light intensity detection module, obtain spatial position information of the LEDs for locating, and calculate the spatial position information of the image detector based on the light spots formed by the visible light beams emitted by the LEDs for locating and converging on the image detector and the spatial position information of the LEDs for locating, and determine the spatial position indicated by the spatial position information of the image detector as the location of the indoor positioning device.

[0010] In a second aspect, an embodiment of the present application further provides an indoor positioning method, which uses the indoor positioning device described in the first aspect to perform positioning indoors, the method comprising:

[0011] determining a preset number of LEDs for locating the position of the indoor positioning device based on the illumination intensity of the visible light beams emitted by each of the plurality of LEDs;

[0012] Obtaining spatial position information of the LED to be positioned;

[0013] Based on the light spot formed by the visible light beam emitted by the positioning LED converging onto the image detector and the spatial position information of the positioning LED, the spatial position information of the image detector is calculated, and the spatial position indicated by the spatial position information of the image detector is determined as the location of the indoor positioning device.

[0014] In a third aspect, an embodiment of the present application further provides an indoor positioning device for executing the indoor positioning method described in the second aspect, the device comprising:

[0015] a determining unit, configured to determine a preset number of LEDs for locating the position of the indoor positioning device based on the illumination intensity of the visible light beams emitted by each of the plurality of LEDs;

[0016] An acquisition unit, configured to acquire spatial position information of an LED to be positioned;

[0017] a position determination unit, configured to calculate the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED converging onto the image detector and the spatial position information of the positioning LED, and determine the spatial position indicated by the spatial position information of the image detector as the location of the indoor positioning device.

[0018] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in the second aspect are executed.

[0019] In the fifth aspect, an embodiment of the present application also provides an electronic device, which includes a memory, a processor and one or more programs, wherein the one or more programs are stored in the memory and are configured so that the processor executes the steps of the method described in the second aspect above.

[0020] In a sixth aspect, an embodiment of the present application further provides a mobile terminal, comprising: the indoor positioning device described in the first aspect above.

[0021] In the solutions provided in the first and sixth aspects of the embodiments of the present application, an image detection module with a lens is provided in the indoor positioning device, and the visible light beam emitted by the positioning LED is converged onto the image detector through the lens to form a light spot. Then, the processing module is used to calculate the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED and the spatial position information of the positioning LED, and the position indicated by the spatial position information of the image detector is determined as the position of the indoor positioning device, which is different from the related art that requires the user to adjust the position of the detector while keeping the position of the visible light detector unchanged. Compared with the method in which the positioning operation can be completed only by rotating the detector multiple times, the illumination intensity of the visible light beam emitted by the LED is used to determine the LED for positioning the indoor positioning device, and the spatial position information of the image detector is calculated based on the light spot formed by the visible light beam emitted by the positioning LED converging on the image detector and the spatial position information of the positioning LED, and the position indicated by the spatial position information of the image detector is determined as the position of the indoor positioning device. The user does not need to rotate the detector multiple times to complete the high-precision three-dimensional positioning operation of the indoor positioning device, and the positioning operation is simple and convenient, which greatly improves the user experience of the indoor positioning device.

[0022] In the solutions provided in the second to fifth aspects of the embodiments of the present application, the illumination intensity of the visible light beam emitted by the LED is used to determine the LED for positioning the indoor positioning device, and the spatial position information of the image detector is calculated based on the light spot formed by the visible light beam emitted by the positioning LED converging on the image detector and the spatial position information of the positioning LED, and the position indicated by the spatial position information of the image detector is determined as the position of the indoor positioning device. Compared with the method in the related art that requires the user to rotate the detector multiple times while keeping the position of the visible light detector unchanged to complete the positioning operation, the three-dimensional positioning operation of the indoor positioning device can be completed without the user rotating the detector multiple times. The positioning operation is simple and convenient, which improves the user experience.

[0023] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A schematic diagram of an application scenario of an indoor three-dimensional positioning device based on LED focused projection, which is applied to the indoor positioning device, positioning method, positioning device, and mobile terminal proposed in this application, is shown;

[0026] Figure 2 A schematic diagram showing the layout of multiple LEDs on an indoor roof in Example 1 of the present application is shown;

[0027] Figure 3 A schematic diagram showing the image detection module receiving a visible light beam emitted by an LED in Example 1 of the present application is shown;

[0028] Figure 4 FIG1 shows a schematic diagram of positioning an indoor positioning device using the AOA method in Example 1 of the present application;

[0029] Figure 5 Schematic diagram of a metalens comprising multiple structural units in Example 1 of the present application is shown;

[0030] Figure 6 A flow chart of an indoor positioning method provided in Example 2 of the present application is shown;

[0031] Figure 7 A schematic structural diagram of an indoor positioning device provided in Example 3 of the present application is shown;

[0032] Figure 8 A structural schematic diagram of an electronic device provided in Example 4 of the present application is shown.

[0033] Icons: 51, bus; 52, processor; 53, transceiver; 54, bus interface; 55, memory; 56, user interface; 551, operating system; 552, application; 100, LED; 102, LED control module; 104, optical communication and light intensity detection module; 106, image detection module; 108, processing module; 300, image detector; 302, lens; 700, determination unit; 702, acquisition unit; 704, position determination unit. DETAILED DESCRIPTION

[0034] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0036] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0037] Currently, LED visible light indoor positioning is achieved using LED lighting installed on indoor ceilings, which are widely used for indoor lighting. This utilizes existing indoor LED infrastructure, saving investment costs. Furthermore, the high bandwidth of the visible light beam emitted by LEDs enables both high-speed visible light communication transmission and relatively high-precision indoor positioning.

[0038] LED-based visible light positioning is a very hot research topic and a forefront of industry development. Existing methods for indoor three-dimensional positioning based on LED visible light require users to rotate the detector multiple times while keeping the visible light detector position unchanged to complete the positioning operation, which is very inconvenient. Three-dimensional positioning methods that do not require rotating the detector have low positioning accuracy.

[0039] Based on this, this solution proposes an indoor positioning device, positioning method, positioning device and mobile terminal, which uses the geometric measurement method of the angle of arrival (AOA) of LED light to achieve indoor three-dimensional positioning. Three LEDs at different positions are used to form light spots at different positions on the image detector to obtain the arrival angle and direction of the LED light. The positioning method proposed in this application can complete the three-dimensional positioning of the positioning device without rotating the direction of the detector; moreover, this solution uses a light, thin, and easy-to-mass-produce super lens to achieve focusing, which is very conducive to the miniaturization and integration of the entire positioning device.

[0040] The application scenarios of the indoor positioning equipment, positioning method, positioning device and mobile terminal proposed in this application are as follows:

[0041] See also Figure 1 The schematic diagram of the application scenario of the indoor three-dimensional positioning device based on LED focused projection, which is applied to the indoor positioning device, positioning method, positioning device and mobile terminal proposed in this application, includes: multiple LEDs 100, an LED control module 102, an optical communication and light intensity detection module 104, an image detection module 106, and a processing module 108.

[0042] The processing module is connected to the optical communication and light intensity detection module and the image detection module respectively; the LED control module is connected to a plurality of LEDs respectively.

[0043] Among them, the light intensity detection module, the image detection module, and the processing module constitute the indoor positioning device. The indoor positioning device can be placed in any mobile terminal that can move with the user to indicate the user's position indoors.

[0044] See also Figure 2 The diagram shows a layout of multiple LEDs on an indoor roof. Each of the multiple LEDs is installed on the indoor roof and can emit a visible light beam under the control of the LED control module and communicate with the optical communication and light intensity detection module. The visible light beam emitted by each LED can be received by the optical communication and light intensity detection module and the image detection module respectively.

[0045] like Figure 2 The layout of multiple LEDs on the indoor roof shown is only for illustration. Multiple LEDs on the indoor roof can also be arranged in other layouts, which will not be described here one by one.

[0046] The visible light beam emitted by the LED carries the identification of the LED that emits the visible light beam and is a light beam used for optical communication, positioning and lighting.

[0047] The LED control module is used to control the on / off of the LED and the brightness of the visible light beam emitted by the LED, thereby realizing the communication, auxiliary positioning and lighting functions of the LED.

[0048] The optical communication and light intensity detection module is used to receive information sent by the LED and measure the light intensity of the visible light beam received from each LED.

[0049] The image detection module is used to obtain the focused light spot of the visible light beam emitted by the LED.

[0050] The processing module is used to receive the illumination intensity of the visible light beam measured by the optical communication and light intensity detection modules, and determine a preset number of LEDs for locating the position of the indoor positioning device based on the illumination intensity of the visible light beam emitted by each of the LEDs. The processing module locates the position of the indoor positioning device indoors through the light spots formed after the visible light beams emitted by the positioning LEDs converge on the image detection module and the spatial position information of the positioning LEDs. The processing module is also capable of communicating with the LED control module to control the LED control module to turn on / off the positioning LEDs.

[0051] The indoor position of the indoor positioning device obtained by the processing module is fed back to the user as the indoor position of the user by the indoor positioning device, so that the user can determine his or her indoor position.

[0052] In one embodiment, the optical communication and light intensity detection module is a communication chip connected to a photodiode.

[0053] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and embodiments.

[0054] Example 1

[0055] This embodiment provides an indoor positioning device for positioning using multiple LEDs located indoors. The indoor positioning device includes a processing module, an image detection module, and an optical communication and light intensity detection module.

[0056] The processing module is connected to the optical communication and light intensity detection module and the image detection module respectively.

[0057] The image detection module includes a lens and an image detector.

[0058] The lens includes but is not limited to: a converging lens and a super lens with a converging function.

[0059] The optical communication and light intensity detection module is used to detect the light intensity of the visible light beams emitted by each of the multiple LEDs in the room, and send the light intensity of the visible light beams emitted by each of the LEDs to the processing module.

[0060] Here, the optical communication and light intensity detection module converts the visible light beams emitted by each LED into electrical signals, and then sends the electrical signals of the visible light beams emitted by each LED and the detected light intensity of the visible light beams emitted by each LED to the processing module.

[0061] The lens converges the visible light beam emitted by the positioning LED onto the image detector to form a light spot.

[0062] The processing module is used to determine a preset number of LEDs for locating the location of the indoor positioning device based on the light intensity of the visible light beams emitted by each of the LEDs received by the optical communication and light intensity detection module, obtain spatial position information of the LEDs for locating, and calculate the spatial position information of the image detector based on the light spots formed by the visible light beams emitted by the LEDs for locating and converging on the image detector and the spatial position information of the LEDs for locating, and determine the spatial position indicated by the spatial position information of the image detector as the location of the indoor positioning device.

[0063] Specifically, see Figure 3 The image detection module shown is a schematic diagram of receiving a visible light beam emitted by an LED. In the image detection module, the image detector 300 can use but is not limited to: CCD or CMOS.

[0064] The visible light beam emitted by the LED is converged by the lens 302 and forms a light spot on the image detector. Here, the LED (such as: Figure 3 The angle γ between the line connecting the center of LED1 and LED2 in the figure and the center of the lens surface and the plane where the lens is located (e.g.: Figure 3 The angle γ between the line connecting the center of LED1 and the center of the lens surface and the plane where the lens is located m , the angle γ between the line connecting the center of LED2 and the center of the lens surface and the plane where the super lens is located n) is the angle between the line connecting the LED and the image detector and the plane on which the image detector resides, and γ can be obtained by measurement. The distance between the center of the convergent spot of the visible light beam emitted by the LED on the image detector and the center of the image detector is r, and r is obtained by measurement. Thus, the corresponding relationship between the LED identifier, γ, and r can be obtained, and the obtained corresponding relationship between the LED identifier, γ, and r is cached in the processing module. The processing module can obtain the γ value of the LED using the LED identifier, the measured r value, and the corresponding relationship between γ and r.

[0065] The center point of the converging spot of the visible light beam emitted by the LED on the image detector can be obtained through image processing and other methods (such as measuring the center point of the highest light intensity of the spot of the visible light beam emitted by each LED). The specific process is existing technology and will not be repeated here.

[0066] Moreover, the coordinates of the projection center point of the LED in the plane where the image detector is located must be measured in advance as the position information of the projection center point of the LED in the plane where the image detector is located; on this basis, the height information of each LED also needs to be measured, and the position information of the projection center point of the LED in the plane where the image detector is located (that is, the position information of the projection center point of the LED) and the height information of the LED must be combined to obtain the spatial position information of the LED, and the obtained spatial position information of the LED must be combined with the identification of the LED to form a correspondence between the identification of the LED and the spatial position information of the LED, which is cached in the processing module.

[0067] The height information of the LED is the height of the indoor position of the LED after it is installed on the indoor roof.

[0068] The position information of the projection center point of the LED is the two-dimensional coordinate of the LED in the xy plane coordinate system set in the plane where the image detector is located.

[0069] The spatial position information is the three-dimensional position coordinates of the indoor space.

[0070] In one embodiment, the preset number can be set to any integer greater than or equal to three.

[0071] When the lens is a super lens, in order to converge the visible light beam emitted by the LED to form a light spot on the image detector, the super lens includes: a substrate and a plurality of nanostructures.

[0072] A plurality of the nanostructures are disposed on the substrate.

[0073] The phase of the metalens satisfies the following formula:

[0074]

[0075] in, represents the modulation phase of the visible light beam by the nanostructure located at the (x, y) position of the metalens; (x, y) represents the position coordinates of the nanostructure relative to the center of the metalens; λ represents the wavelength of the visible light beam; and f represents the focal length of the metalens.

[0076] Due to the light and thin characteristics of the metalens, the use of metalens in indoor positioning equipment is very beneficial to the miniaturization and integration of the entire indoor positioning equipment.

[0077] See also Figure 4 The schematic diagram of using the AOA method to locate an indoor positioning device is shown. When the preset number is three, the processing module is used to select the three LEDs with the largest light intensity from the LEDs: the first LED, the second LED, and the third LED as the LEDs for positioning based on the light intensity of the visible light beams emitted by the LEDs. Figure 4 As shown, the projection center point of the first LED on the plane where the image detector is located is point A, the projection center point of the second LED on the plane where the image detector is located is point B, and the projection center point of the third LED on the plane where the image detector is located is point C.

[0078] Specifically, the angle between the line connecting the positioning LED and the image detector and the plane where the image detector is located includes: the angle between the line connecting the first LED and the image detector and the plane where the image detector is located as a first angle, the angle between the line connecting the second LED and the image detector and the plane where the image detector is located as a second angle, and the angle between the line connecting the third LED and the image detector and the plane where the image detector is located as a third angle.

[0079] Furthermore, the processing module can also obtain the spatial position information of the LED to be positioned from the cached correspondence between the LED identifiers and the LED spatial position information according to the identifiers of the first LED, the second LED, and the third LED.

[0080] The spatial position information of the LEDs to be positioned includes: spatial position information of the first LED, spatial position information of the second LED, and spatial position information of the third LED.

[0081] The visible light beam emitted by the positioning LED converges to form a light spot on the image detector, including: the visible light beams emitted by the first LED, the second LED and the third LED respectively converge to form a light spot on the image detector.

[0082] In this embodiment, in order to obtain the spatial position information of the image detector, the processing module is used to calculate the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED converging on the image detector and the spatial position information of the positioning LED, and determine the spatial position indicated by the spatial position information of the image detector as the location of the indoor positioning device, including the following specific steps (1) to (5):

[0083] (1) determining a first angle between a line connecting the first LED and the image detector and a plane on which the image detector is located, a second angle between a line connecting the second LED and the image detector and the plane on which the image detector is located, and a third angle between a line connecting the third LED and the image detector and the plane on which the image detector is located;

[0084] (2) obtaining the position information of the projection center point of the first LED from the spatial position information of the first LED, obtaining the position information of the projection center point of the second LED from the spatial position information of the second LED, and obtaining the position information of the projection center point of the third LED from the spatial position information of the third LED; wherein the projection center point of the first LED is the projection center point of the first LED in the plane where the image detector is located; the projection center point of the second LED is the projection center point of the second LED in the plane where the image detector is located; and the projection center point of the third LED is the projection center point of the third LED in the plane where the image detector is located;

[0085] (3) obtaining, based on the position information of the projection center of the first LED, the position information of the projection center of the second LED, and the position information of the third LED, a first connecting line between the projection center of the first LED and the projection center of the second LED, a second connecting line between the projection center of the first LED and the projection center of the third LED, a third connecting line between the projection center of the second LED and the projection center of the third LED, the length of the first connecting line, the length of the second connecting line, and the length of the third connecting line;

[0086] (4) obtaining, based on the first connecting line, the second connecting line, and the third connecting line, a fourth angle between the first connecting line and the second connecting line, a fifth angle between the first connecting line and the third connecting line, and a sixth angle between the second connecting line and the third connecting line;

[0087] (5) The spatial position information of the image detector is calculated based on the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the length of the first connecting line, the length of the second connecting line, the length of the third connecting line, the spatial position information of the first LED, the spatial position information of the second LED, and the spatial position information of the third LED.

[0088] In the above step (1), specifically, the first angle, the second angle, and the third angle can be determined by the following steps (10) to (14):

[0089] (10) determining that the visible light beams emitted by the first LED, the second LED, and the third LED respectively converge onto a light spot formed on the image detector;

[0090] (11) collecting a detector image of an image detector having the light spot, and processing the light spots formed by the visible light beams emitted by the first LED, the second LED, and the third LED in the detector image respectively converging on the image detector, to obtain position information of a first light spot center point of the light spot formed by the visible light beam emitted by the first LED converging on the image detector, position information of a second light spot center point of the light spot formed by the visible light beam emitted by the second LED converging on the image detector, and position information of a third light spot center point of the light spot formed by the visible light beam emitted by the third LED converging on the image detector;

[0091] (12) calculating a first distance between the center of the first light spot and the center of the image detector based on the position information of the center of the first light spot, and determining the angle corresponding to the first distance as the first angle between the line connecting the first LED and the image detector and the plane on which the image detector is located;

[0092] (13) calculating a second distance between the center of the second light spot and the center of the image detector based on the position information of the center of the second light spot, and determining the angle corresponding to the second distance as the second angle between the line connecting the second LED and the image detector and the plane on which the image detector is located;

[0093] (14) Based on the position information of the center point of the third light spot, a third distance between the center point of the third light spot and the center of the image detector is calculated, and the angle corresponding to the third distance is determined as the third angle between the line connecting the third LED and the image detector and the plane where the image detector is located.

[0094] In the above step (10), it is determined that the visible light beams emitted by the first LED, the second LED, and the third LED respectively converge to form a light spot on the image detector. The processing module may perform the following specific steps:

[0095] The electrical signal of the visible light beam emitted by the first LED is processed to obtain the identification of the first LED, the electrical signal of the visible light beam emitted by the second LED is processed to obtain the identification of the second LED, and the electrical signal of the visible light beam emitted by the third LED is processed to obtain the identification of the third LED; a control instruction is generated based on the obtained identification of the first LED, the identification of the second LED, and the identification of the third LED, and the generated control instruction is sent to the LED control module. The control instruction is executed by the LED control module to turn on / off the first LED, the second LED, and the third LED in turn, so that it can be determined that the visible light beam emitted by the first LED, the visible light beam emitted by the second LED, and the visible light beam emitted by the third LED are respectively focused by the metalens to the light spot on the image detector. Figure 4 As shown, the light spot of the visible light beam emitted by the first LED irradiating the image detector is K1; the light spot of the visible light beam emitted by the second LED irradiating the image detector is K2; and the light spot of the visible light beam emitted by the third LED irradiating the image detector is K3.

[0096] In the above step (11), the processing module may acquire a detector image of the image detector having the light spot through an image acquisition device connected to the processing module.

[0097] The specific process of separately processing the light spots formed by the visible light beams emitted by the first LED, the second LED, and the third LED in the detector image converging onto the image detector to obtain position information of a first light spot center point of the light spot formed by the visible light beam emitted by the first LED converging onto the image detector, position information of a second light spot center point of the light spot formed by the visible light beam emitted by the second LED converging onto the image detector, and position information of a third light spot center point of the light spot formed by the visible light beam emitted by the third LED converging onto the image detector can be implemented using any existing image processing technology and will not be repeated here.

[0098] In the above step (12), if Figure 4 As shown, the center of the image detector is point E in the figure.

[0099] When the range of the image detector is known, the server can determine the position of the center of the image detector.

[0100] In the above steps (12) to (14), the specific process of calculating the first distance between the center point of the first light spot and the center of the image detector, calculating the second distance between the center point of the second light spot and the center of the image detector, and calculating the third distance between the center point of the third light spot and the center of the image detector is similar to the process of calculating the distance between any point in a region and the center of the region in the prior art, and will not be repeated here.

[0101] Moreover, the first angle, the second angle and the third angle can be obtained by using existing plane geometry methods, and the specific process will not be repeated here.

[0102] In the above step (4), the specific process of obtaining the fourth angle between the first line and the second line, the fifth angle between the first line and the third line, and the sixth angle between the second line and the third line based on the first line, the second line and the third line is an existing plane geometry method and will not be repeated here.

[0103] In the above step (5), in order to calculate the spatial position information of the image detector, the following steps (51) to (53) can be performed:

[0104] (51) The length of the fourth line between the center of the image detector and the projection center of the first LED, the length of the fifth line between the center of the image detector and the projection center of the second LED, the length of the sixth line between the center of the image detector and the projection center of the third LED, the first angle between the first line and the fourth line, the second angle between the first line and the fifth line, the third angle between the third line and the fifth line, the fourth angle between the third line and the sixth line, the fifth angle between the second line and the sixth line, and the sixth angle between the second line and the fourth line are calculated using the following formula:

[0105]

[0106] Wherein, γ1 represents the first angle; γ2 represents the second angle; γ3 represents the third angle; c represents the fourth angle; a represents the fifth angle; b represents the sixth angle; l AB Indicates the length of the first line, l BC Indicates the length of the third line, l AC Indicates the length of the second line; l AE represents the length of the fourth line between the center of the image detector and the projection center point of the first LED; l BE represents the length of the fifth line between the center of the image detector and the projection center point of the second LED; l CErepresents the length of the sixth line between the center of the image detector and the projection center point of the third LED; α1 represents the first angle between the first line and the fourth line; α2 represents the second angle between the first line and the fifth line; α3 represents the third angle between the third line and the fifth line; α4 represents the fourth angle between the third line and the sixth line; α5 represents the fifth angle between the second line and the sixth line; α6 represents the sixth angle between the second line and the fourth line; β1 represents the angle between the fourth line and the fifth line; β2 represents the angle between the fifth line and the sixth line; β3 represents the angle between the fourth line and the sixth line;

[0107] (52) The average height difference between the image detector and the first LED, the second LED, and the third LED is calculated using the following formula:

[0108]

[0109] Wherein, h represents the height difference between the image detector and the first LED, the second LED, and the third LED;

[0110] (53) The spatial position information of the image detector is obtained based on the calculated length of the fourth line, the length of the fifth line, the length of the sixth line, the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the average height difference between the image detector and the first LED, the second LED and the third LED, the spatial position information of the first LED, the spatial position information of the second LED and the spatial position information of the third LED.

[0111] In the above step (53), based on the calculated length of the fourth line, the length of the fifth line, the length of the sixth line, the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the spatial position information of the first LED, the spatial position information of the second LED and the spatial position information of the third LED, the x-axis coordinate and the y-axis coordinate in the spatial position information of the image detector can be determined.

[0112] The z-axis coordinate in the spatial position information of the image detector is obtained according to the average height difference between the image detector and the first LED, the second LED and the third LED, and the height information of the LED to be positioned.

[0113] Therefore, based on determining the x-axis coordinate and the y-axis coordinate in the spatial position information of the image detector and obtaining the z-axis coordinate in the spatial position information of the image detector, the spatial position information of the image detector can be obtained.

[0114] The above content describes the process of how to use three LEDs to determine the location of an indoor positioning device. The process of using more than three LEDs to determine the location of an indoor positioning device is similar to the above-mentioned process of using three LEDs to determine the location of an indoor positioning device, and will not be repeated here.

[0115] See also Figure 5 The schematic diagram of a metalens comprising multiple structural units is shown, each structural unit comprising at least one nanostructure, the structural unit being capable of modulating incident light, and the nanostructure being capable of directly regulating properties such as the phase of light; in this embodiment, the nanostructure is an all-dielectric structural unit having high transmittance at least in the visible light band, and optional materials include: titanium oxide, silicon nitride, fused quartz, aluminum oxide, gallium nitride, gallium phosphide, and hydrogenated amorphous silicon, etc. The multiple nanostructures are arranged in an array, thereby being able to divide the structural units; the structural units may be regular hexagons, squares, sectors, etc., and a nanostructure is provided at the center of each structural unit, or at the center and vertex of each structural unit. All the nanostructures may be located on the same side of the substrate, or some of the nanostructures may be located on one side of the substrate and others on the other side of the substrate, which is not limited in this embodiment.

[0116] It should be noted that the substrate of the metalens is an integral layer structure, and the multiple structural units in the metalens can be artificially divided, that is, multiple nanostructures are arranged on the substrate, thereby dividing the structural units containing one or more nanostructures, or in other words, multiple structural units can form a metalens with an integrated structure.

[0117] This embodiment also provides a mobile terminal including the above-mentioned indoor positioning device.

[0118] In summary, this embodiment proposes an indoor positioning device and a mobile terminal. An image detection module with a lens is set in the indoor positioning device, and the visible light beam emitted by the positioning LED is converged onto the image detector through the lens to form a light spot. Then, a processing module is used to calculate the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED and the spatial position information of the positioning LED. The position indicated by the spatial position information of the image detector is determined as the location of the indoor positioning device. This is different from the related art that requires the user to adjust the position of the detector while keeping the position of the visible light detector unchanged. Compared with the method in which the positioning operation can be completed only by rotating the detector multiple times, the illumination intensity of the visible light beam emitted by the LED is used to determine the LED for positioning the indoor positioning device, and the spatial position information of the image detector is calculated based on the light spot formed by the visible light beam emitted by the positioning LED converging on the image detector and the spatial position information of the positioning LED, and the position indicated by the spatial position information of the image detector is determined as the position of the indoor positioning device. The user does not need to rotate the detector multiple times to complete the high-precision three-dimensional positioning operation of the indoor positioning device, and the positioning operation is simple and convenient, which greatly improves the user experience of the indoor positioning device.

[0119] Example 2

[0120] See also Figure 6 FIG. 1 is a flow chart of an indoor positioning method. This embodiment provides an indoor positioning method, which uses the indoor positioning device described in the above embodiment 1 to perform positioning indoors. The method includes the following specific steps:

[0121] Step 600: Determine a preset number of LEDs for locating the position of the indoor positioning device based on the illumination intensity of the visible light beams emitted by each LED among the plurality of LEDs.

[0122] Step 602: Acquire the spatial position information of the LED to be positioned.

[0123] Step 604: Calculate the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED converging onto the image detector and the spatial position information of the positioning LED, and determine the spatial position indicated by the spatial position information of the image detector as the location of the indoor positioning device.

[0124] Specifically, when the preset number is three, the LEDs for locating the position of the indoor positioning device include: a first LED, a second LED, and a third LED.

[0125] The angles between the line connecting the positioning LED and the image detector and the plane where the image detector is located include: the angle between the line connecting the first LED and the image detector and the plane where the image detector is located as a first angle, the angle between the line connecting the second LED and the image detector and the plane where the image detector is located as a second angle, and the angle between the line connecting the third LED and the image detector and the plane where the image detector is located as a third angle.

[0126] The spatial position information of the LEDs to be positioned includes: spatial position information of the first LED, spatial position information of the second LED, and spatial position information of the third LED.

[0127] The visible light beam emitted by the positioning LED converges to form a light spot on the image detector, including: visible light beams emitted by the first LED, the second LED and the third LED respectively converge to form a light spot on the image detector.

[0128] In step 604, based on the light spot formed by the visible light beam emitted by the positioning LED converging onto the image detector and the spatial position information of the positioning LED, the spatial position information of the image detector is calculated, and the spatial position indicated by the spatial position information of the image detector is determined as the location of the indoor positioning device. The following steps (1) to (5) may be performed:

[0129] (1) determining a first angle between a line connecting the first LED and the image detector and a plane on which the image detector is located, a second angle between a line connecting the second LED and the image detector and the plane on which the image detector is located, and a third angle between a line connecting the third LED and the image detector and the plane on which the image detector is located;

[0130] (2) obtaining the position information of the projection center point of the first LED from the spatial position information of the first LED, obtaining the position information of the projection center point of the second LED from the spatial position information of the second LED, and obtaining the position information of the projection center point of the third LED from the spatial position information of the third LED; wherein the projection center point of the first LED is the projection center point of the first LED in the plane where the image detector is located; the projection center point of the second LED is the projection center point of the second LED in the plane where the image detector is located; and the projection center point of the third LED is the projection center point of the third LED in the plane where the image detector is located;

[0131] (3) obtaining, based on the position information of the projection center of the first LED, the position information of the projection center of the second LED, and the position information of the third LED, a first connecting line between the projection center of the first LED and the projection center of the second LED, a second connecting line between the projection center of the first LED and the projection center of the third LED, a third connecting line between the projection center of the second LED and the projection center of the third LED, the length of the first connecting line, the length of the second connecting line, and the length of the third connecting line;

[0132] (4) obtaining, based on the first connecting line, the second connecting line, and the third connecting line, a fourth angle between the first connecting line and the second connecting line, a fifth angle between the first connecting line and the third connecting line, and a sixth angle between the second connecting line and the third connecting line;

[0133] (5) The spatial position information of the image detector is calculated based on the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the length of the first connecting line, the length of the second connecting line, the length of the third connecting line, the spatial position information of the first LED, the spatial position information of the second LED, and the spatial position information of the third LED.

[0134] In the above step (1), determining a first angle between a line connecting the first LED and the image detector and a plane where the image detector is located, a second angle between a line connecting the second LED and the image detector and the plane where the image detector is located, and a third angle between a line connecting the third LED and the image detector and the plane where the image detector is located includes the following specific steps (11) to (15):

[0135] (11) determining that the visible light beams emitted by the first LED, the second LED, and the third LED respectively converge onto the light spots formed on the image detector;

[0136] (12) collecting a detector image of an image detector having the light spot, and processing the light spots formed by the visible light beams emitted by the first LED, the second LED, and the third LED in the detector image respectively converging on the image detector, to obtain position information of a first light spot center point of the light spot formed by the visible light beam emitted by the first LED converging on the image detector, position information of a second light spot center point of the light spot formed by the visible light beam emitted by the second LED converging on the image detector, and position information of a third light spot center point of the light spot formed by the visible light beam emitted by the third LED converging on the image detector;

[0137] (13) calculating a first distance between the center of the first light spot and the center of the image detector based on the position information of the center of the first light spot, and determining the angle corresponding to the first distance as the first angle between the line connecting the first LED and the image detector and the plane on which the image detector is located;

[0138] (14) calculating a second distance between the center of the second light spot and the center of the image detector based on the position information of the center of the second light spot, and determining the angle corresponding to the second distance as the second angle between the line connecting the second LED and the image detector and the plane where the image detector is located;

[0139] (15) Based on the position information of the center point of the third light spot, a third distance between the center point of the third light spot and the center of the image detector is calculated, and the angle corresponding to the third distance is determined as the third angle between the line connecting the third LED and the image detector and the plane where the image detector is located.

[0140] In the above step (5), the spatial position information of the image detector is calculated based on the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the length of the first connecting line, the length of the second connecting line, and the length of the third connecting line, including the following steps (51) to (53):

[0141] (51) The length of the fourth line between the center of the image detector and the projection center of the first LED, the length of the fifth line between the center of the image detector and the projection center of the second LED, the length of the sixth line between the center of the image detector and the projection center of the third LED, the first angle between the first line and the fourth line, the second angle between the first line and the fifth line, the third angle between the third line and the fifth line, the fourth angle between the third line and the sixth line, the fifth angle between the second line and the sixth line, and the sixth angle between the second line and the fourth line are calculated using the following formula:

[0142]

[0143] Wherein, γ1 represents the first angle; γ2 represents the second angle; γ3 represents the third angle; c represents the fourth angle; a represents the fifth angle; b represents the sixth angle; l AB Indicates the length of the first line, l BC Indicates the length of the third line, l AC Indicates the length of the second line; l AE represents the length of the fourth line between the center of the image detector and the projection center point of the first LED; lBE represents the length of the fifth line between the center of the image detector and the projection center point of the second LED; l CE represents the length of the sixth line between the center of the image detector and the projection center point of the third LED; α1 represents the first angle between the first line and the fourth line; α2 represents the second angle between the first line and the fifth line; α3 represents the third angle between the third line and the fifth line; α4 represents the fourth angle between the third line and the sixth line; α5 represents the fifth angle between the second line and the sixth line; α6 represents the sixth angle between the second line and the fourth line; β1 represents the angle between the fourth line and the fifth line; β2 represents the angle between the fifth line and the sixth line; β3 represents the angle between the fourth line and the sixth line;

[0144] (52) The average height difference between the image detector and the first LED, the second LED, and the third LED is calculated using the following formula:

[0145]

[0146] Wherein, h represents the height difference between the image detector and the first LED, the second LED, and the third LED;

[0147] (53) The spatial position information of the image detector is obtained based on the calculated length of the fourth line, the length of the fifth line, the length of the sixth line, the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the average height difference between the image detector and the first LED, the second LED and the third LED, the spatial position information of the first LED, the spatial position information of the second LED and the spatial position information of the third LED.

[0148] In summary, this embodiment proposes an indoor positioning method, which uses the illumination intensity of the visible light beam emitted by the LED to determine the LED for positioning the indoor positioning device, and calculates the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED converging on the image detector and the spatial position information of the positioning LED, and determines the position indicated by the spatial position information of the image detector as the position of the indoor positioning device. Compared with the method in the related art that requires the user to rotate the detector multiple times while keeping the position of the visible light detector unchanged to complete the positioning operation, the user does not need to rotate the detector multiple times to complete the positioning operation. The positioning operation is simple and convenient, which improves the user experience.

[0149] Example 3

[0150] The indoor positioning device proposed in this embodiment is used to execute the indoor positioning method proposed in the above embodiment 2.

[0151] See also Figure 7 The structure diagram of an indoor positioning device shown in FIG. 1 is a schematic diagram of an indoor positioning device. This embodiment provides an indoor positioning device including:

[0152] A determining unit 700 is configured to determine a preset number of LEDs for locating the position of the indoor positioning device based on the illumination intensity of the visible light beams emitted by each of the plurality of LEDs;

[0153] An acquisition unit 702 is configured to acquire spatial position information of an LED to be positioned;

[0154] The position determination unit 704 is used to calculate the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED converging on the image detector and the spatial position information of the positioning LED, and determine the spatial position indicated by the spatial position information of the image detector as the location of the indoor positioning device.

[0155] When the preset number is three, the LEDs for locating the location of the indoor positioning device include: a first LED, a second LED, and a third LED.

[0156] The angles between the line connecting the positioning LED and the image detector and the plane where the image detector is located include: the angle between the line connecting the first LED and the image detector and the plane where the image detector is located as a first angle, the angle between the line connecting the second LED and the image detector and the plane where the image detector is located as a second angle, and the angle between the line connecting the third LED and the image detector and the plane where the image detector is located as a third angle.

[0157] The spatial position information of the LEDs to be positioned includes: spatial position information of the first LED, spatial position information of the second LED, and spatial position information of the third LED.

[0158] The visible light beam emitted by the positioning LED converges to form a light spot on the image detector, including: visible light beams emitted by the first LED, the second LED and the third LED respectively converge to form a light spot on the image detector.

[0159] Specifically, the position determination unit 704 is configured to calculate the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED converging on the image detector and the spatial position information of the positioning LED, and determine the spatial position indicated by the spatial position information of the image detector as the location of the indoor positioning device, including:

[0160] Determining a first angle between a line connecting the first LED and the image detector and a plane where the image detector is located, a second angle between a line connecting the second LED and the image detector and the plane where the image detector is located, and a third angle between a line connecting the third LED and the image detector and the plane where the image detector is located;

[0161] The position information of the projection center point of the first LED is obtained from the spatial position information of the first LED, the position information of the projection center point of the second LED is obtained from the spatial position information of the second LED, and the position information of the projection center point of the third LED is obtained from the spatial position information of the third LED; wherein the projection center point of the first LED is the projection center point of the first LED in the plane where the image detector is located; the projection center point of the second LED is the projection center point of the second LED in the plane where the image detector is located; and the projection center point of the third LED is the projection center point of the third LED in the plane where the image detector is located;

[0162] Obtaining, based on the position information of the projection center of the first LED, the position information of the projection center of the second LED, and the position information of the third LED, a first connecting line between the projection center of the first LED and the projection center of the second LED, a second connecting line between the projection center of the first LED and the projection center of the third LED, a third connecting line between the projection center of the second LED and the projection center of the third LED, the length of the first connecting line, the length of the second connecting line, and the length of the third connecting line;

[0163] According to the first connecting line, the second connecting line, and the third connecting line, a fourth angle between the first connecting line and the second connecting line, a fifth angle between the first connecting line and the third connecting line, and a sixth angle between the second connecting line and the third connecting line are obtained;

[0164] The spatial position information of the image detector is calculated based on the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the length of the first connecting line, the length of the second connecting line, the length of the third connecting line, the spatial position information of the first LED, the spatial position information of the second LED, and the spatial position information of the third LED.

[0165] Specifically, the position determination unit is configured to determine a first angle between a line connecting the first LED and the image detector and a plane on which the image detector is located, a second angle between a line connecting the second LED and the image detector and the plane on which the image detector is located, and a third angle between a line connecting the third LED and the image detector and the plane on which the image detector is located, including:

[0166] Determine that the visible light beams emitted by the first LED, the second LED, and the third LED respectively converge to form a light spot on the image detector;

[0167] Acquiring a detector image of an image detector having the light spot, and processing light spots formed on the image detector by visible light beams emitted by the first LED, the second LED, and the third LED, respectively, in the detector image, to obtain position information of a first center point of the light spot formed on the image detector by the visible light beam emitted by the first LED, the second center point of the light spot formed on the image detector by the visible light beam emitted by the second LED, and the third center point of the light spot formed on the image detector by the visible light beam emitted by the third LED;

[0168] calculating, based on the position information of the center of the first light spot, a first distance between the center of the first light spot and the center of the image detector, and determining an angle corresponding to the first distance as a first angle between a line connecting the first LED and the image detector and a plane on which the image detector is located;

[0169] calculating, based on the position information of the center of the second light spot, a second distance between the center of the second light spot and the center of the image detector, and determining an angle corresponding to the second distance as a second angle between a line connecting the second LED and the image detector and a plane on which the image detector is located;

[0170] Based on the position information of the center point of the third light spot, a third distance between the center point of the third light spot and the center of the image detector is calculated, and the angle corresponding to the third distance is determined as the third angle between the line connecting the third LED and the image detector and the plane where the image detector is located.

[0171] Specifically, the position determination unit 704 is configured to calculate the spatial position information of the image detector based on the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the length of the first connecting line, the length of the second connecting line, and the length of the third connecting line, including:

[0172] The length of the fourth line between the center of the image detector and the projection center of the first LED, the length of the fifth line between the center of the image detector and the projection center of the second LED, the length of the sixth line between the center of the image detector and the projection center of the third LED, the first angle between the first line and the fourth line, the second angle between the first line and the fifth line, the third angle between the third line and the fifth line, the fourth angle between the third line and the sixth line, the fifth angle between the second line and the sixth line, and the sixth angle between the second line and the fourth line are calculated using the following formula:

[0173]

[0174] Wherein, γ1 represents the first angle; γ2 represents the second angle; γ3 represents the third angle; c represents the fourth angle; a represents the fifth angle; b represents the sixth angle; l AB Indicates the length of the first line, l BC Indicates the length of the third line, l AC Indicates the length of the second line; l AE represents the length of the fourth line between the center of the image detector and the projection center point of the first LED; l BE represents the length of the fifth line between the center of the image detector and the projection center point of the second LED; l CE represents the length of the sixth line between the center of the image detector and the projection center point of the third LED; α1 represents the first angle between the first line and the fourth line; α2 represents the second angle between the first line and the fifth line; α3 represents the third angle between the third line and the fifth line; α4 represents the fourth angle between the third line and the sixth line; α5 represents the fifth angle between the second line and the sixth line; α6 represents the sixth angle between the second line and the fourth line; β1 represents the angle between the fourth line and the fifth line; β2 represents the angle between the fifth line and the sixth line; β3 represents the angle between the fourth line and the sixth line;

[0175] The average height difference between the image detector and the first, second, and third LEDs is calculated using the following formula:

[0176]

[0177] Wherein, h represents the height difference between the image detector and the first LED, the second LED, and the third LED;

[0178] The spatial position information of the image detector is obtained based on the calculated length of the fourth line, the length of the fifth line, the length of the sixth line, the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the average height difference between the image detector and the first LED, the second LED and the third LED, the spatial position information of the first LED, the spatial position information of the second LED and the spatial position information of the third LED.

[0179] In summary, this embodiment proposes an indoor positioning device, which uses the illumination intensity of the visible light beam emitted by the LED to determine the LED for locating the indoor positioning device, and calculates the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED converging on the image detector and the spatial position information of the positioning LED, and determines the position indicated by the spatial position information of the image detector as the position of the indoor positioning device. Compared with the related art that requires the user to rotate the detector multiple times while keeping the position of the visible light detector unchanged to complete the positioning operation, the user does not need to rotate the detector multiple times to complete the positioning operation. The positioning operation is simple and convenient, which improves the user experience.

[0180] Example 4

[0181] This embodiment provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the steps of the indoor positioning method described in the above embodiment 2 are executed. For specific implementation, please refer to the method embodiment 2 and will not be described in detail here.

[0182] In addition, see Figure 8 The structure diagram of an electronic device shown in FIG. 5 is a block diagram of an electronic device. This embodiment further provides an electronic device, which includes a bus 51 , a processor 52 , a transceiver 53 , a bus interface 54 , a memory 55 and a user interface 56 .

[0183] In this embodiment, the electronic device further includes: one or more programs stored in the memory and executable on the processor, and configured so that the processor executes the one or more programs to perform the following steps (1) to (3):

[0184] (1) determining a preset number of LEDs for locating the position of the indoor positioning device based on the illumination intensity of the visible light beam emitted by each of the plurality of LEDs;

[0185] (2) Obtaining spatial position information of the LED to be positioned;

[0186] (3) Based on the light spot formed by the visible light beam emitted by the positioning LED converging onto the image detector and the spatial position information of the positioning LED, the spatial position information of the image detector is calculated, and the spatial position indicated by the spatial position information of the image detector is determined as the location of the indoor positioning device.

[0187] A transceiver is used to receive and send data under the control of the processor.

[0188] The bus architecture (represented by a bus) may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by a processor and memory represented by a memory. The bus may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described in this embodiment. The bus interface provides an interface between the bus and the transceiver. The transceiver may be a single component or multiple components, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. For example, the transceiver receives external data from other devices. The transceiver is used to send data processed by the processor to other devices. Depending on the nature of the computing system, a user interface may also be provided, such as a keypad, display, speaker, microphone, or joystick.

[0189] The processor is responsible for managing the bus and general processing, such as running the general operating system mentioned above. The memory can be used to store data used by the processor when performing operations.

[0190] Optionally, the processor may be, but is not limited to: a central processing unit, a single chip microcomputer, a microprocessor or a programmable logic device.

[0191] It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory of the systems and methods described in the present embodiments is intended to include, but is not limited to, these and any other suitable types of memory.

[0192] In some embodiments, the memory stores the following elements, executable modules or data structures, or a subset thereof, or an extended set thereof: operating system 551 and application programs 552 .

[0193] The operating system 551 includes various system programs, such as a framework layer, a core library layer, and a driver layer, which are used to implement various basic services and process hardware-based tasks. The application 552 includes various application programs, such as a media player and a browser, which are used to implement various application services. The program that implements the method of the embodiment of the present application can be included in the application.

[0194] In summary, this embodiment proposes a computer-readable storage medium and an electronic device, which use the illumination intensity of the visible light beam emitted by the LED to determine the LED for locating the indoor positioning device, and calculate the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED converging on the image detector and the spatial position information of the positioning LED, and determine the position indicated by the spatial position information of the image detector as the location of the indoor positioning device. Compared with the method in the related art that requires the user to rotate the detector multiple times while keeping the position of the visible light detector unchanged to complete the positioning operation, the user does not need to rotate the detector multiple times to complete the positioning operation, and the positioning operation is simple and convenient, which improves the user experience.

[0195] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An indoor positioning device for positioning using multiple LEDs located indoors, characterized in that: The indoor positioning device includes: an optical communication and light intensity detection module, an image detection module and a processing module; The optical communication and light intensity detection module and the image detection module are respectively connected to the processing module; The image detection module includes: a lens and an image detector; The optical communication and light intensity detection module is used to detect the light intensity of the visible light beams emitted by each of the multiple LEDs in the room, and send the received light intensity of the visible light beams emitted by each of the LEDs to the processing module; The lens converges the visible light beam emitted by the positioning LED onto the image detector to form a light spot; The processing module is configured to determine a preset number of LEDs for locating the position of the indoor positioning device based on the illumination intensity of the visible light beams emitted by each of the LEDs received by the optical communication and light intensity detection module, and obtain spatial position information of the LEDs for locating; The preset number is at least three, and three LEDs with the largest light intensity are selected from the preset LEDs based on the light intensity, and the angles between the lines connecting the three LEDs and the image detector and the plane where the image detector is located are determined respectively; The projection center point of each LED on the plane where the image detector is located is determined according to the spatial position information of each LED, and the spatial position information of the image detector is determined based on the angle between the line connecting the three LEDs and the image detector and the plane where the image detector is located, the length of the line connecting the projection center points of any two of the three LEDs, the angle between any two lines, and the spatial position information of the three LEDs to obtain the spatial position information of the object to be located.

2. The indoor positioning device according to claim 1, characterized in that When the preset number is three, the LEDs for locating the location of the indoor positioning device include: a first LED, a second LED, and a third LED; The angles between the line connecting the positioning LED and the image detector and the plane where the image detector is located include: the angle between the line connecting the first LED and the image detector and the plane where the image detector is located as a first angle, the angle between the line connecting the second LED and the image detector and the plane where the image detector is located as a second angle, and the angle between the line connecting the third LED and the image detector and the plane where the image detector is located as a third angle; The spatial position information of the LEDs to be positioned includes: spatial position information of the first LED, spatial position information of the second LED, and spatial position information of the third LED; The visible light beam emitted by the positioning LED converges to form a light spot on the image detector, including: visible light beams emitted by the first LED, the second LED and the third LED respectively converge to form a light spot on the image detector; The processing module is configured to calculate the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED converging on the image detector and the spatial position information of the positioning LED, and determine the spatial position indicated by the spatial position information of the image detector as the location of the indoor positioning device, including: Determining a first angle between a line connecting the first LED and the image detector and a plane where the image detector is located, a second angle between a line connecting the second LED and the image detector and the plane where the image detector is located, and a third angle between a line connecting the third LED and the image detector and the plane where the image detector is located; The position information of the projection center point of the first LED is obtained from the spatial position information of the first LED, the position information of the projection center point of the second LED is obtained from the spatial position information of the second LED, and the position information of the projection center point of the third LED is obtained from the spatial position information of the third LED; wherein the projection center point of the first LED is the projection center point of the first LED in the plane where the image detector is located; the projection center point of the second LED is the projection center point of the second LED in the plane where the image detector is located; and the projection center point of the third LED is the projection center point of the third LED in the plane where the image detector is located; Obtaining, based on the position information of the projection center of the first LED, the position information of the projection center of the second LED, and the position information of the projection center of the third LED, a first connecting line between the projection center of the first LED and the projection center of the second LED, a second connecting line between the projection center of the first LED and the projection center of the third LED, a third connecting line between the projection center of the second LED and the projection center of the third LED, the length of the first connecting line, the length of the second connecting line, and the length of the third connecting line; According to the first connecting line, the second connecting line, and the third connecting line, a fourth angle between the first connecting line and the second connecting line, a fifth angle between the first connecting line and the third connecting line, and a sixth angle between the second connecting line and the third connecting line are obtained; The spatial position information of the image detector is calculated based on the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the length of the first connecting line, the length of the second connecting line, the length of the third connecting line, the spatial position information of the first LED, the spatial position information of the second LED, and the spatial position information of the third LED.

3. The indoor positioning device according to claim 2, characterized in that: The processing module is configured to determine a first angle between a line connecting the first LED and the image detector and a plane on which the image detector is located, a second angle between a line connecting the second LED and the image detector and the plane on which the image detector is located, and a third angle between a line connecting the third LED and the image detector and the plane on which the image detector is located, including: Determine that the visible light beams emitted by the first LED, the second LED, and the third LED respectively converge to form a light spot on the image detector; Acquiring a detector image of an image detector having the light spot, and processing light spots formed on the image detector by visible light beams emitted by the first LED, the second LED, and the third LED, respectively, in the detector image, to obtain position information of a first center point of the light spot formed on the image detector by the visible light beam emitted by the first LED, the second center point of the light spot formed on the image detector by the visible light beam emitted by the second LED, and the third center point of the light spot formed on the image detector by the visible light beam emitted by the third LED; calculating, based on the position information of the center of the first light spot, a first distance between the center of the first light spot and the center of the image detector, and determining an angle corresponding to the first distance as a first angle between a line connecting the first LED and the image detector and a plane on which the image detector is located; calculating, based on the position information of the center of the second light spot, a second distance between the center of the second light spot and the center of the image detector, and determining an angle corresponding to the second distance as a second angle between a line connecting the second LED and the image detector and a plane on which the image detector is located; Based on the position information of the center point of the third light spot, a third distance between the center point of the third light spot and the center of the image detector is calculated, and the angle corresponding to the third distance is determined as the third angle between the line connecting the third LED and the image detector and the plane where the image detector is located.

4. The indoor positioning device according to claim 3, characterized in that: The processing module, configured to calculate the spatial position information of the image detector based on the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the length of the first connecting line, the length of the second connecting line, and the length of the third connecting line, includes: The length of the fourth line between the center of the image detector and the projection center of the first LED, the length of the fifth line between the center of the image detector and the projection center of the second LED, the length of the sixth line between the center of the image detector and the projection center of the third LED, the first angle between the first line and the fourth line, the second angle between the first line and the fifth line, the third angle between the third line and the fifth line, the fourth angle between the third line and the sixth line, the fifth angle between the second line and the sixth line, and the sixth angle between the second line and the fourth line are calculated using the following formula: ； in, represents the first angle; represents the second angle; represents the third angle; represents the fourth angle; Indicates the fifth angle, represents the sixth angle; Indicates the length of the first line, Indicates the length of the third line, Indicates the length of the second line; represents the length of a fourth line between the center of the image detector and the projection center point of the first LED; represents the length of the fifth line between the center of the image detector and the projection center point of the second LED; represents the length of a sixth line between the center of the image detector and the projection center point of the third LED; represents a first angle between the first connecting line and the fourth connecting line; represents the second angle between the first connecting line and the fifth connecting line; represents the third angle between the third connecting line and the fifth connecting line; represents the fourth angle between the third connecting line and the sixth connecting line; represents the fifth angle between the second connecting line and the sixth connecting line; represents the sixth angle between the second connecting line and the fourth connecting line; represents the angle between the fourth and fifth lines; represents the angle between the fifth and sixth lines; represents the angle between the fourth and sixth lines; The average height difference between the image detector and the first, second, and third LEDs is calculated using the following formula: ； in, represents the height difference between the image detector and the first LED, the second LED, and the third LED; The spatial position information of the image detector is obtained based on the calculated length of the fourth line, the length of the fifth line, the length of the sixth line, the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the average height difference between the image detector and the first LED, the second LED and the third LED, the spatial position information of the first LED, the spatial position information of the second LED and the spatial position information of the third LED.

5. An indoor positioning method, characterized in that: The indoor positioning device according to any one of claims 1 to 4 is used to perform indoor positioning, the method comprising: Determining a preset number of LEDs for locating the location of the indoor positioning device based on the illumination intensity of the visible light beams emitted by each of the plurality of LEDs; and obtaining spatial position information of the LEDs for locating. Based on the light spot formed by the visible light beam emitted by the positioning LED converging onto the image detector and the spatial position information of the positioning LED, the spatial position information of the image detector is calculated, and the spatial position indicated by the spatial position information of the image detector is determined as the location of the indoor positioning device.

6. The indoor positioning method according to claim 5, characterized in that: When the preset number is three, the LEDs for locating the location of the indoor positioning device include: a first LED, a second LED, and a third LED; The angle between the line connecting the positioning LED and the image detector and the plane where the image detector is located includes: the angle between the line connecting the first LED and the image detector and the plane where the image detector is located as a first angle, the angle between the line connecting the second LED and the image detector and the plane where the image detector is located as a second angle, and the angle between the line connecting the third LED and the image detector and the plane where the image detector is located as a third angle; the spatial position information of the positioning LED includes: the spatial position information of the first LED, the spatial position information of the second LED, and the spatial position information of the third LED; the light spot formed by the visible light beam emitted by the positioning LED converging onto the image detector includes: the light spot formed by the visible light beams emitted by the first LED, the second LED, and the third LED respectively converging onto the image detector; The method comprises: calculating the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED and the spatial position information of the positioning LED, and determining the spatial position indicated by the spatial position information of the image detector as the location of the indoor positioning device. Determining a first angle between a line connecting the first LED and the image detector and a plane where the image detector is located, a second angle between a line connecting the second LED and the image detector and the plane where the image detector is located, and a third angle between a line connecting the third LED and the image detector and the plane where the image detector is located; The position information of the projection center point of the first LED is obtained from the spatial position information of the first LED, the position information of the projection center point of the second LED is obtained from the spatial position information of the second LED, and the position information of the projection center point of the third LED is obtained from the spatial position information of the third LED; wherein the projection center point of the first LED is the projection center point of the first LED in the plane where the image detector is located; the projection center point of the second LED is the projection center point of the second LED in the plane where the image detector is located; and the projection center point of the third LED is the projection center point of the third LED in the plane where the image detector is located; Obtaining, based on the position information of the projection center of the first LED, the position information of the projection center of the second LED, and the position information of the projection center of the third LED, a first connecting line between the projection center of the first LED and the projection center of the second LED, a second connecting line between the projection center of the first LED and the projection center of the third LED, a third connecting line between the projection center of the second LED and the projection center of the third LED, the length of the first connecting line, the length of the second connecting line, and the length of the third connecting line; According to the first connecting line, the second connecting line, and the third connecting line, a fourth angle between the first connecting line and the second connecting line, a fifth angle between the first connecting line and the third connecting line, and a sixth angle between the second connecting line and the third connecting line are obtained; The spatial position information of the image detector is calculated based on the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the length of the first connecting line, the length of the second connecting line, the length of the third connecting line, the spatial position information of the first LED, the spatial position information of the second LED, and the spatial position information of the third LED.

7. The indoor positioning method according to claim 6, characterized in that: The determining of a first angle between a line connecting the first LED and the image detector and a plane where the image detector is located, a second angle between a line connecting the second LED and the image detector and the plane where the image detector is located, and a third angle between a line connecting the third LED and the image detector and the plane where the image detector is located includes: Determine that the visible light beams emitted by the first LED, the second LED, and the third LED respectively converge to form a light spot on the image detector; Acquiring a detector image of an image detector having the light spot, and processing light spots formed on the image detector by visible light beams emitted by the first LED, the second LED, and the third LED, respectively, in the detector image, to obtain position information of a first center point of the light spot formed on the image detector by the visible light beam emitted by the first LED, the second center point of the light spot formed on the image detector by the visible light beam emitted by the second LED, and the third center point of the light spot formed on the image detector by the visible light beam emitted by the third LED; calculating, based on the position information of the center of the first light spot, a first distance between the center of the first light spot and the center of the image detector, and determining an angle corresponding to the first distance as a first angle between a line connecting the first LED and the image detector and a plane on which the image detector is located; calculating, based on the position information of the center of the second light spot, a second distance between the center of the second light spot and the center of the image detector, and determining an angle corresponding to the second distance as a second angle between a line connecting the second LED and the image detector and a plane on which the image detector is located; Based on the position information of the center point of the third light spot, a third distance between the center point of the third light spot and the center of the image detector is calculated, and the angle corresponding to the third distance is determined as the third angle between the line connecting the third LED and the image detector and the plane where the image detector is located.

8. The indoor positioning method according to claim 7, characterized in that: The calculating the spatial position information of the image detector according to the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the length of the first connecting line, the length of the second connecting line, and the length of the third connecting line includes: The length of the fourth line between the center of the image detector and the projection center of the first LED, the length of the fifth line between the center of the image detector and the projection center of the second LED, the length of the sixth line between the center of the image detector and the projection center of the third LED, the first angle between the first line and the fourth line, the second angle between the first line and the fifth line, the third angle between the third line and the fifth line, the fourth angle between the third line and the sixth line, the fifth angle between the second line and the sixth line, and the sixth angle between the second line and the fourth line are calculated using the following formula: ； in, represents the first angle; represents the second angle; represents the third angle; represents the fourth angle; Indicates the fifth angle, represents the sixth angle; Indicates the length of the first line, Indicates the length of the third line, Indicates the length of the second line; represents the length of a fourth line between the center of the image detector and the projection center point of the first LED; represents the length of the fifth line between the center of the image detector and the projection center point of the second LED; represents the length of a sixth line between the center of the image detector and the projection center point of the third LED; represents a first angle between the first connecting line and the fourth connecting line; represents the second angle between the first connecting line and the fifth connecting line; represents the third angle between the third connecting line and the fifth connecting line; represents the fourth angle between the third connecting line and the sixth connecting line; represents the fifth angle between the second connecting line and the sixth connecting line; represents the sixth angle between the second connecting line and the fourth connecting line; represents the angle between the fourth and fifth lines; represents the angle between the fifth and sixth lines; represents the angle between the fourth and sixth lines; The average height difference between the image detector and the first, second, and third LEDs is calculated using the following formula: ； in, represents the height difference between the image detector and the first LED, the second LED, and the third LED; The spatial position information of the image detector is obtained based on the calculated length of the fourth line, the length of the fifth line, the length of the sixth line, the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the average height difference between the image detector and the first LED, the second LED and the third LED, the spatial position information of the first LED, the spatial position information of the second LED and the spatial position information of the third LED.

9. An indoor positioning device, characterized in that: The device is used to execute the indoor positioning method according to any one of claims 5 to 8, comprising: a determining unit, configured to determine a preset number of LEDs for locating the position of the indoor positioning device based on the illumination intensity of the visible light beams emitted by each of the plurality of LEDs; An acquisition unit, configured to acquire spatial position information of an LED to be positioned; a position determination unit, configured to calculate the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED converging onto the image detector and the spatial position information of the positioning LED, and determine the spatial position indicated by the spatial position information of the image detector as the location of the indoor positioning device.

10. The device according to claim 9, characterized in that When the preset number is three, the LEDs for locating the location of the indoor positioning device include: a first LED, a second LED, and a third LED; The angles between the line connecting the positioning LED and the image detector and the plane where the image detector is located include: the angle between the line connecting the first LED and the image detector and the plane where the image detector is located as a first angle, the angle between the line connecting the second LED and the image detector and the plane where the image detector is located as a second angle, and the angle between the line connecting the third LED and the image detector and the plane where the image detector is located as a third angle; The spatial position information of the LEDs to be positioned includes: spatial position information of the first LED, spatial position information of the second LED, and spatial position information of the third LED; The visible light beam emitted by the positioning LED converges to form a light spot on the image detector, including: visible light beams emitted by the first LED, the second LED and the third LED respectively converge to form a light spot on the image detector; The position determination unit is configured to calculate the spatial position information of the image detector based on the light spot formed by the visible light beam emitted by the positioning LED converging on the image detector and the spatial position information of the positioning LED, and determine the spatial position indicated by the spatial position information of the image detector as the location of the indoor positioning device, including: Determining a first angle between a line connecting the first LED and the image detector and a plane where the image detector is located, a second angle between a line connecting the second LED and the image detector and the plane where the image detector is located, and a third angle between a line connecting the third LED and the image detector and the plane where the image detector is located; The position information of the projection center point of the first LED is obtained from the spatial position information of the first LED, the position information of the projection center point of the second LED is obtained from the spatial position information of the second LED, and the position information of the projection center point of the third LED is obtained from the spatial position information of the third LED; wherein the projection center point of the first LED is the projection center point of the first LED in the plane where the image detector is located; the projection center point of the second LED is the projection center point of the second LED in the plane where the image detector is located; and the projection center point of the third LED is the projection center point of the third LED in the plane where the image detector is located; Obtaining, based on the position information of the projection center of the first LED, the position information of the projection center of the second LED, and the position information of the third LED, a first connecting line between the projection center of the first LED and the projection center of the second LED, a second connecting line between the projection center of the first LED and the projection center of the third LED, a third connecting line between the projection center of the second LED and the projection center of the third LED, the length of the first connecting line, the length of the second connecting line, and the length of the third connecting line; According to the first connecting line, the second connecting line, and the third connecting line, a fourth angle between the first connecting line and the second connecting line, a fifth angle between the first connecting line and the third connecting line, and a sixth angle between the second connecting line and the third connecting line are obtained; The spatial position information of the image detector is calculated based on the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the length of the first connecting line, the length of the second connecting line, the length of the third connecting line, the spatial position information of the first LED, the spatial position information of the second LED, and the spatial position information of the third LED.

11. The device according to claim 10, characterized in that The position determination unit is configured to determine a first angle between a line connecting the first LED and the image detector and a plane on which the image detector is located, a second angle between a line connecting the second LED and the image detector and the plane on which the image detector is located, and a third angle between a line connecting the third LED and the image detector and the plane on which the image detector is located, including: Determine that the visible light beams emitted by the first LED, the second LED, and the third LED respectively converge to form a light spot on the image detector; Acquiring a detector image of an image detector having the light spot, and processing light spots formed on the image detector by visible light beams emitted by the first LED, the second LED, and the third LED, respectively, in the detector image, to obtain position information of a first center point of the light spot formed on the image detector by the visible light beam emitted by the first LED, the second center point of the light spot formed on the image detector by the visible light beam emitted by the second LED, and the third center point of the light spot formed on the image detector by the visible light beam emitted by the third LED; calculating, based on the position information of the center of the first light spot, a first distance between the center of the first light spot and the center of the image detector, and determining an angle corresponding to the first distance as a first angle between a line connecting the first LED and the image detector and a plane on which the image detector is located; calculating, based on the position information of the center of the second light spot, a second distance between the center of the second light spot and the center of the image detector, and determining an angle corresponding to the second distance as a second angle between a line connecting the second LED and the image detector and a plane on which the image detector is located; Based on the position information of the center point of the third light spot, a third distance between the center point of the third light spot and the center of the image detector is calculated, and the angle corresponding to the third distance is determined as the third angle between the line connecting the third LED and the image detector and the plane where the image detector is located.

12. The device according to claim 11, characterized in that The position determination unit is configured to calculate the spatial position information of the image detector based on the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the length of the first connecting line, the length of the second connecting line, and the length of the third connecting line, including: The length of the fourth line between the center of the image detector and the projection center of the first LED, the length of the fifth line between the center of the image detector and the projection center of the second LED, the length of the sixth line between the center of the image detector and the projection center of the third LED, the first angle between the first line and the fourth line, the second angle between the first line and the fifth line, the third angle between the third line and the fifth line, the fourth angle between the third line and the sixth line, the fifth angle between the second line and the sixth line, and the sixth angle between the second line and the fourth line are calculated using the following formula: ； in, represents the first angle; represents the second angle; represents the third angle; represents the fourth angle; Indicates the fifth angle, represents the sixth angle; Indicates the length of the first line, Indicates the length of the third line, Indicates the length of the second line; represents the length of a fourth line between the center of the image detector and the projection center point of the first LED; represents the length of the fifth line between the center of the image detector and the projection center point of the second LED; represents the length of a sixth line between the center of the image detector and the projection center point of the third LED; represents a first angle between the first connecting line and the fourth connecting line; represents the second angle between the first connecting line and the fifth connecting line; represents the third angle between the third connecting line and the fifth connecting line; represents the fourth angle between the third connecting line and the sixth connecting line; represents the fifth angle between the second connecting line and the sixth connecting line; represents the sixth angle between the second connecting line and the fourth connecting line; represents the angle between the fourth and fifth lines; represents the angle between the fifth and sixth lines; represents the angle between the fourth and sixth lines; The average height difference between the image detector and the first, second, and third LEDs is calculated using the following formula: ； in, represents the height difference between the image detector and the first LED, the second LED, and the third LED; The spatial position information of the image detector is obtained based on the calculated length of the fourth line, the length of the fifth line, the length of the sixth line, the first angle, the second angle, the third angle, the fourth angle, the fifth angle, the sixth angle, the average height difference between the image detector and the first LED, the second LED and the third LED, the spatial position information of the first LED, the spatial position information of the second LED and the spatial position information of the third LED.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 5 to 8 are performed.

14. An electronic device, characterized in that: The electronic device includes a memory, a processor, and one or more programs, wherein the one or more programs are stored in the memory and are configured so that the processor executes the steps of any one of claims 5 to 8.

15. A mobile terminal, characterized in that: include: The indoor positioning device according to any one of claims 1 to 4.

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