Logistics positioning navigation system and method based on visible light communication

Abstract

The invention discloses a logistics positioning navigation system and method based on visible light communication. The system comprises a visible light transceiving array used for controlling an LED lamp to emit visible light carrying coded information of position information and service information; the navigation service module is used for processing the visible light with the coding information; the signal processing module is used for detecting the visible light with the coding information, calculating the initial position of the target cargo and correcting the initial position based on the processed visible light; and the path planning module is used for receiving the information of the signal processing module, displaying the position information of the target goods and planning a navigation path. According to the invention, the efficiency and accuracy of logistics operation are improved.

Description

Technical Field

[0001] The present invention relates to the field of logistics positioning technology, and in particular to a logistics positioning navigation system and method based on visible light communication. Background Art

[0002] In the current logistics industry, positioning and navigation systems play a vital role. They ensure that goods and personnel can move efficiently and accurately in complex environments such as warehouses and distribution centers. However, existing positioning and navigation systems mainly rely on technologies such as GPS, RFID, wireless local area network (WLAN) and Bluetooth, which have obvious limitations in specific environments. For example, GPS can provide relatively accurate positioning services in outdoor environments, but in indoor or signal-blocked areas, such as large warehouses, GPS signals often cannot penetrate buildings, resulting in a significant decrease in positioning accuracy or even inability to locate; in environments such as urban canyons and high-rise buildings, GPS signals are easily affected by multipath effects and electromagnetic interference, resulting in increased positioning errors. RFID tags need to be read at close range and need to be pre-installed on the target object, which increases management costs and complexity in large warehouses; at the same time, RFID signals are also easily interfered by metals, liquids and other substances, affecting positioning accuracy. In large warehouses or complex environments, WLAN and Bluetooth signals attenuate quickly, resulting in reduced positioning accuracy; these technologies require the pre-deployment of a large number of wireless access points or Bluetooth beacons, which increases deployment costs and complexity. Wireless signals can be easily intercepted and tampered with, posing a security risk.

[0003] In summary, the existing technologies in logistics positioning and navigation have the following major defects: insufficient accuracy, especially in indoor or signal-interfered environments; high deployment costs, requiring the laying of complex communication lines and infrastructure; susceptibility to interference and poor signal stability; security issues, with wireless signals at risk of being intercepted and tampered with. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes a logistics positioning and navigation system and method based on visible light communication, so as to solve the problems of the existing logistics positioning and navigation system in terms of accuracy, cost, signal stability and security, and provide the logistics industry with an efficient, accurate and low-cost positioning and navigation solution.

[0005] On the one hand, to achieve the above-mentioned purpose, the present invention provides a logistics positioning and navigation system based on visible light communication, comprising:

[0006] Visible light transceiver array: used to control the LED lights to emit visible light containing coded information of location information and service information;

[0007] Navigation service module: used for processing the visible light with the coded information;

[0008] Signal processing module: used to detect visible light with coded information, calculate the initial position of the target goods, and correct the initial position based on the processed visible light;

[0009] Path planning module: used to receive information from the signal processing module, display target cargo location information, and plan navigation paths.

[0010] Preferably, the visible light transceiver array comprises a plurality of LED lights arranged in the logistics area, wherein the LED lights are all provided with information loading circuits.

[0011] Preferably, the information loading circuit is used to encode the information to be transmitted into a specific electrical signal, the encoded electrical signal drives the LED lamp to flash at a specific frequency and duty cycle, and modulates the specific electrical signal into the visible light with the encoded information. The modulated visible light is focused and emitted outward through the lens of the LED lamp.

[0012] Preferably, the navigation service module includes:

[0013] A first visible light receiving device: used for receiving visible light having the coded information;

[0014] A data decoding unit: used to decode the received coded information and parse out the location information and service request of the first visible light receiving device;

[0015] Information sending unit: used to send real-time traffic information and warehouse layout change information to the signal processing module.

[0016] Preferably, the signal processing module includes:

[0017] The second visible light receiving device is used to receive the visible light signal from the LED light array, and convert the visible light signal into an electrical signal for analysis and processing to extract the position information;

[0018] Position calculation unit: used to calculate the initial position of the target goods based on the position information by using the RSSI triangle positioning method combined with the position information of several LED lights.

[0019] Preferably, the signal processing module also includes a DNN neural network processing unit, which trains the position of each first visible light receiving device as a separate sample through the DNN network, learns the distribution characteristics of the distance vector between the second visible light receiving device and the first visible light receiving device, and performs error correction on the initial position of the target cargo.

[0020] Preferably, the input data of the DNN neural network is a distance vector, the number of input nodes is the number of LED lights, the output value is the probability that the input vector belongs to the initial position of the target cargo, and the activation function of the output layer of the DNN neural network is a softmax function.

[0021] Preferably, the path planning module includes:

[0022] A judgment unit is used to receive the data sent by the signal processing module. If the probability value output by the DNN neural network is greater than or equal to a preset threshold, the location of the target cargo is judged to be an accurate location. If the probability value is less than the preset threshold, the target cargo is relocated.

[0023] Navigation planning unit: used to plan the optimal navigation path through the electronic map according to the judgment result of the judgment unit, and send it to the mobile terminal.

[0024] On the other hand, to achieve the above-mentioned purpose, the present invention also provides a navigation method of a logistics positioning and navigation system based on visible light communication, comprising:

[0025] Visible light carrying coded information is emitted through a visible light transceiver array;

[0026] Processing the visible light with the coded information through a navigation service module to obtain position information of the first visible light receiving device;

[0027] Based on the signal processing module, the visible light with coded information is detected, and the initial position of the target goods is calculated by using the RSSI triangle positioning method combined with the position information of several LED lights, and the error correction of the initial position of the target goods is performed through the position information of the first visible light receiving device and the DNN neural network;

[0028] The corrected data is judged by the path planning module. If the probability value output by the DNN neural network is greater than or equal to the preset threshold, the location of the target cargo is judged to be the accurate location. If the probability value is less than the preset threshold, the target cargo is relocated.

[0029] The optimal navigation path is planned based on the navigation planning unit and sent to the mobile terminal.

[0030] Compared with the prior art, the present invention has the following advantages and technical effects:

[0031] The present invention uses visible light signals emitted by LED lamps to transmit information and locate navigation, thereby improving the efficiency and accuracy of logistics operations. It has the advantages of high precision, low cost, easy deployment, health and environmental protection, and is suitable for various warehouses and logistics scenarios.

[0032] The visible light signal in the present invention has the characteristics of rectilinear propagation and is not easily interfered with, which can ensure the stability of signal transmission. In addition, visible light communication does not occupy wireless spectrum resources, reducing the risk of being intercepted and tampered with. Through efficient and accurate data processing and navigation path planning, it provides users with high-quality positioning and navigation services. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0034] Figure 1 This is a schematic diagram of the structure of a logistics positioning and navigation system based on visible light communication according to an embodiment of the present invention;

[0035] Figure 2 This is a flow chart of a logistics positioning and navigation method based on visible light communication according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0038] The present invention proposes a logistics positioning and navigation system based on visible light communication, such as Figure 1 ,include:

[0039] Visible light transceiver array: used to control the LED lights to emit visible light containing coded information of location information and service information;

[0040] Navigation service module: used for processing the visible light with the coded information;

[0041] Signal processing module: used to detect visible light with coded information, calculate the initial position of the target goods, and correct the initial position based on the processed visible light;

[0042] Path planning module: used to receive information from the signal processing module, display target cargo location information, and plan navigation paths.

[0043] The present invention uses visible light signals emitted by LED lamps to transmit information and perform positioning navigation, thereby improving the efficiency and accuracy of logistics operations. It has the advantages of high precision, low cost, easy deployment, health and environmental protection, and is suitable for various warehouses and logistics scenarios. The visible light signals in the present invention have the characteristics of linear propagation and not being easily interfered with, which can ensure the stability of signal transmission, and visible light communication does not occupy wireless spectrum resources, reducing the risk of being intercepted and tampered with. Through efficient and accurate data processing and navigation path planning, high-quality positioning and navigation services are provided to users.

[0044] Furthermore, the visible light transceiver array includes a plurality of LED lights arranged in the logistics area, wherein the LED lights are all provided with information loading circuits for controlling the LED lights to emit visible light with coded information.

[0045] Specifically, the information loading circuit is used to encode the information to be transmitted into a specific electrical signal. The encoded electrical signal drives the LED lamp to flash at a specific frequency and duty cycle, and modulates the specific electrical signal into the visible light with the encoded information. The modulated visible light is focused and emitted outward through the lens of the LED lamp.

[0046] Among them, the specific frequency and duty cycle of the LED lamp are:

[0047] Frequency refers to the number of times an LED light flashes per unit time, usually expressed in Hertz (Hz). For example, if an LED light flashes 10 times per second, then its flashing frequency is 10Hz. The frequency determines how fast the LED light flashes.

[0048] Duty cycle refers to the proportion of time that the LED light is in the on state within a complete flashing cycle. Duty cycle is usually expressed as a percentage (%), and the calculation formula is: Duty cycle = lighting time / cycle time × 100%.

[0049] By adjusting the flashing frequency and duty cycle of the LED light, different visual effects and brightness control can be achieved.

[0050] The visible light signal emitted by the LED light array propagates in space and is received by the visible light receiving device array. Since there is a certain distance and angle relationship between the LED light and the receiving device, the intensity of the received light signal will weaken as the distance increases, and will also be affected by factors such as ambient light and scattering. In order to overcome these effects, this embodiment uses multipath reception, signal enhancement and other technologies to improve receiving sensitivity and positioning accuracy.

[0051] In this embodiment, the location information includes:

[0052] Coordinate information: GPS coordinates (latitude and longitude) or relative coordinates relative to a fixed point, used to determine the specific location of a device or person in space.

[0053] Path information: For moving objects (such as vehicles and pedestrians), location information may also include their moving path, speed, direction, etc. for navigation or tracking.

[0054] The service information is the service content or instructions related to the location transmitted through visible light communication. In this embodiment, it is information broadcasting, and in the warehouse, information such as notifications and announcements are broadcast through visible light communication.

[0055] Furthermore, the navigation service module includes:

[0056] The first visible light receiving device is used to receive visible light with the coded information. The first visible light receiving device captures the visible light signals emitted by the LED light through its built-in photodetector. These signals contain the coded location information, service request, etc.

[0057] Data decoding unit: used to decode the received coded information and parse out the location information and service request of the first visible light receiving device; wherein the parsed location information is an accuracy index used to describe the accuracy of the location information. Its format is binary data; the service request is the operation sent by the first visible light receiving device to the system and is expected to be performed by the system or the service provided, and its format is a binary data packet.

[0058] Information sending unit: used to send real-time traffic information and warehouse layout change information to the signal processing module. Real-time traffic information is the latest and dynamic data about the road traffic conditions in the warehouse, including but not limited to traffic flow, speed, and accident information. Its format follows the traffic information of a specific data format, such as JSON, XML, etc., which is convenient for computer processing and parsing.

[0059] Warehouse layout change information refers to data about changes in the warehouse's internal spatial structure, storage area, shelf location, channel layout, etc. This information is crucial for warehouse managers, logistics personnel, and automated warehousing systems because it can help them adjust warehouse operation processes in a timely manner, optimize cargo storage and movement paths, and improve warehouse operation efficiency. It follows layout change information in a specific data format, such as JSON or XML data containing fields such as shelf number, location coordinates, and change type.

[0060] After receiving the data from the first visible light receiving device, the navigation service module first decodes the data, and the decoding process involves converting the received coded information (such as binary data) back to the original location information, service request, etc. The navigation service module can effectively process the data from the first visible light receiving device and provide accurate and reliable navigation services for users.

[0061] Signal processing module: used to detect visible light with coded information, calculate the initial position of the target goods, and correct the initial position based on the processed visible light;

[0062] Furthermore, the signal processing module includes:

[0063] The second visible light receiving device is used to receive the visible light signal from the LED light array, and convert the visible light signal into an electrical signal for analysis and processing to extract the position information;

[0064] Position calculation unit: used to calculate the initial position of the target cargo based on the position information by using the RSSI triangle positioning method combined with the position information of several LED lights; in this embodiment, the initial position of the target cargo is calculated by using the RSSI (received signal strength indication) triangle positioning method or other positioning algorithms using the received coding information and the corresponding light intensity of at least three LED lights.

[0065] Among them, the location information of the LED light includes:

[0066] Path information: For moving objects (such as vehicles and pedestrians), location information may also include their moving path, speed, direction, etc. for navigation or tracking.

[0067] Regional division: Location information is presented in the form of regions, such as the identification of a room, floor or area, which is used to achieve regional positioning or regional management.

[0068] DNN neural network processing unit: The position of each first visible light receiving device is trained as a separate sample through the DNN network, the distribution characteristics of the distance vector between the second visible light receiving device and the first visible light receiving device are learned, and the error correction is performed on the initial position of the target cargo.

[0069] Specifically, the input data of the DNN neural network is the distance vector, the number of input nodes is the number of LED lights, the output value is the probability that the input vector belongs to the initial position of the target cargo, and the activation function of the output layer of the DNN neural network is the softmax function. The distance vector is used to describe the position relationship in space and contains three elements, representing the distance in the x, y, and z axes respectively.

[0070] The collected distance vector training data set is represented as a three-dimensional matrix D m =(D1, D2, ..., D M ), where D m is a two-dimensional matrix.

[0071] The activation function of the output layer uses the softmax function, so the output value reflects the probability that the input distance vector belongs to each reference point, and the sum of all output values ​​is equal to 1. The result of the rth output node is expressed as:

[0072]

[0073] In the formula, v r represents the input data of the rth output node, and

[0074] The method for training the DNN neural network is an offline training method. Since the training data set is collected at a fixed position, the output node with the highest probability value can be used as the predicted classification label in the training stage. In the training stage of the neural network, each first visible light receiving device is regarded as a classification, and the distribution characteristics of the distance vector collected by each first visible light receiving device are learned during the training process. Since the log-likelihood function can better characterize the probability distribution and reflect the confidence that the input sample belongs to each classification, the log-likelihood function is used as the loss function for training the neural network of this embodiment. The loss function is expressed as:

[0075]

[0076] In the formula, R is the number of reference points, N is the number of training samples collected for each reference point, R×N is the total number of samples in the training set, and S (r，j) is the jth training sample of the rth reference point, O (r，j) is the output result of the jth training sample of the rth reference point.

[0077] In the online positioning stage (testing stage), the probability vector output by the neural network is regarded as the similarity between the input distance vector and all the first visible light receiving devices, and the position of the input distance vector is estimated based on the similarity vector. In the online positioning stage, multiple samples can be collected while meeting the time efficiency requirements, thereby improving the positioning accuracy.

[0078] The position coordinates estimated in the online positioning stage are expressed as:

[0079]

[0080] Where p is the probability vector output by the neural network, x and y are the horizontal and vertical coordinate vectors of the reference points of the training set, and T is the transposition operation.

[0081] In the online positioning stage, multiple samples can be collected while meeting the time efficiency requirements, thereby improving the positioning accuracy. The positioning method of multiple distance vectors can be expressed as:

[0082]

[0083] Where (x′, y′) is the estimated coordinate, p i is the probability matrix of the i-th distance vector output, and F is the number of distance vectors sampled by the user.

[0084] Furthermore, the path planning module includes:

[0085] A judgment unit is used to receive the data sent by the signal processing module. If the probability value output by the DNN neural network is greater than or equal to a preset threshold, the location of the target cargo is judged to be an accurate location. If the probability value is less than the preset threshold, the target cargo is relocated.

[0086] Navigation planning unit: used to plan the optimal navigation path through the electronic map according to the judgment result of the judgment unit, and send it to the mobile terminal.

[0087] Specifically, the planned navigation path information (including turn instructions, distance information, etc.) is sent to the user's mobile terminal through wireless communication (such as Wi-Fi, Bluetooth, etc.) or a visible light emitting device. After the mobile terminal receives the navigation path information, it is displayed to the user on its display screen. The user can perform logistics operations or navigation according to the instructions on the screen.

[0088] The optimal navigation path is:

[0089] Shortest distance: The total length of the route is the shortest, that is, the distance required to drive or walk is the shortest.

[0090] Shortest time: Taking into account factors such as real-time traffic conditions, road speed limits, and traffic light waiting time, the route with the shortest estimated time is planned.

[0091] Minimum cost: In some cases, the cost of a path may include fuel consumption, tolls, time cost, etc. The optimal path is the path with the lowest sum of these costs.

[0092] Safest: Avoid potentially dangerous areas and choose safer paths.

[0093] Best suited to user preferences: Personalized planning based on driving habits and preferences.

[0094] The optimal navigation path is the result of comprehensive consideration of the above factors, but the specific weights and priorities may vary depending on system design and user settings.

[0095] The format of the optimal navigation path includes:

[0096] Start point and end point: clearly identify the starting and ending points of the route, usually including latitude and longitude coordinates or specific address information.

[0097] Waypoint sequence: A series of key points or turning points on a path, which are connected in sequence to form a navigation path. Each waypoint usually contains longitude and latitude coordinates and (optionally) other information such as road name, direction instructions, etc.

[0098] Navigation instructions: Detailed navigation instructions generated based on a sequence of waypoints, including specific actions such as turning, going straight, changing lanes, on and off ramps, as well as corresponding distance prompts and intersection preview images.

[0099] Additional information: Such as estimated driving time, total distance, and road condition information, which helps improve the user experience.

[0100] Furthermore, the system also includes a monitoring unit for monitoring the operating status and performance indicators of the entire system, such as data transmission rate, positioning accuracy, response time, etc. When an abnormality or failure is found, an alarm is issued and processed in time.

[0101] The first visible light receiving device and the second visible light receiving device in this embodiment each play an important role in the positioning and navigation system based on visible light communication. The first visible light receiving device is mainly responsible for converting the light signal emitted by the LED lamp into an electrical signal and transmitting it to the navigation service module for global data processing and analysis; while the second visible light receiving device is more focused on receiving and processing local data, as well as communicating with the navigation device in the positioning and navigation module to achieve accurate positioning and navigation services. The two work together to ensure the stability and reliability of the entire positioning and navigation system.

[0102] This embodiment also provides a navigation method for a logistics positioning and navigation system based on visible light communication, such as Figure 2 ,include:

[0103] Visible light carrying coded information is emitted through a visible light transceiver array;

[0104] Processing the visible light with the coded information through a navigation service module to obtain position information of the first visible light receiving device;

[0105] Based on the signal processing module, the visible light with coded information is detected, and the initial position of the target goods is calculated by using the RSSI triangle positioning method combined with the position information of several LED lights, and the error correction of the initial position of the target goods is performed through the position information of the first visible light receiving device and the DNN neural network;

[0106] The corrected data is judged by the path planning module. If the probability value output by the DNN neural network is greater than or equal to the preset threshold, the location of the target cargo is judged to be the accurate location. If the probability value is less than the preset threshold, the target cargo is relocated.

[0107] The optimal navigation path is planned based on the navigation planning unit and sent to the mobile terminal.

[0108] The present invention uses visible light signals emitted by LED lamps to transmit information and locate navigation, thereby improving the efficiency and accuracy of logistics operations. It has the advantages of high precision, low cost, easy deployment, health and environmental protection, and is suitable for various warehouses and logistics scenarios.

[0109] The visible light signal in the present invention has the characteristics of rectilinear propagation and is not easily interfered with, which can ensure the stability of signal transmission. In addition, visible light communication does not occupy wireless spectrum resources, reducing the risk of being intercepted and tampered with. Through efficient and accurate data processing and navigation path planning, it provides users with high-quality positioning and navigation services.

[0110] The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A logistics positioning and navigation system based on visible light communication, characterized in that: include: Visible light transceiver array: used to control the LED lights to emit visible light containing coded information of location information and service information; Navigation service module: used for processing the visible light with the coded information; Signal processing module: used to detect visible light with coded information, calculate the initial position of the target goods, and correct the initial position based on the processed visible light; Path planning module: used to receive information from the signal processing module, display target cargo location information, and plan navigation paths.

2. The logistics positioning and navigation system based on visible light communication according to claim 1 is characterized in that: The visible light transceiver array includes a plurality of LED lights arranged in a logistics area, wherein each of the LED lights is provided with an information loading circuit.

3. The logistics positioning and navigation system based on visible light communication according to claim 2 is characterized in that: The information loading circuit is used to encode the information to be transmitted into a specific electrical signal. The encoded electrical signal drives the LED lamp to flash at a specific frequency and duty cycle, and modulates the specific electrical signal into the visible light with the encoded information. The modulated visible light is focused and emitted outward through the lens of the LED lamp.

4. The logistics positioning and navigation system based on visible light communication according to claim 1 is characterized in that: The navigation service module includes: A first visible light receiving device: used for receiving visible light having the coded information; A data decoding unit: used to decode the received coded information and parse out the location information and service request of the first visible light receiving device; Information sending unit: used to send real-time traffic information and warehouse layout change information to the signal processing module.

5. The logistics positioning and navigation system based on visible light communication according to claim 1 is characterized in that: The signal processing module comprises: The second visible light receiving device is used to receive the visible light signal from the LED light array, and convert the visible light signal into an electrical signal for analysis and processing to extract the position information; Position calculation unit: used to calculate the initial position of the target goods based on the position information by using the RSSI triangle positioning method combined with the position information of several LED lights.

6. The logistics positioning and navigation system based on visible light communication according to claim 1 is characterized in that: The signal processing module also includes a DNN neural network processing unit, which trains the position of each first visible light receiving device as a separate sample through the DNN network, learns the distribution characteristics of the distance vector between the second visible light receiving device and the first visible light receiving device, and performs error correction on the initial position of the target cargo.

7. The logistics positioning and navigation system based on visible light communication according to claim 6 is characterized in that: The input data of the DNN neural network is a distance vector, the number of input nodes is the number of LED lights, the output value is the probability that the input vector belongs to the initial position of the target cargo, and the activation function of the output layer of the DNN neural network is a softmax function.

8. The logistics positioning and navigation system based on visible light communication according to claim 1 is characterized in that: The path planning module includes: A judgment unit is used to receive the data sent by the signal processing module. If the probability value output by the DNN neural network is greater than or equal to a preset threshold, the location of the target cargo is judged to be an accurate location. If the probability value is less than the preset threshold, the target cargo is relocated. Navigation planning unit: used to plan the optimal navigation path through the electronic map according to the judgment result of the judgment unit, and send it to the mobile terminal.

9. A navigation method applied to a logistics positioning and navigation system based on visible light communication according to any one of claims 1 to 8, characterized in that: include: Visible light carrying coded information is emitted through a visible light transceiver array; Processing the visible light with the coded information through a navigation service module to obtain position information of the first visible light receiving device; Based on the signal processing module, the visible light with coded information is detected, and the initial position of the target goods is calculated by using the RSSI triangle positioning method combined with the position information of several LED lights, and the error correction of the initial position of the target goods is performed through the position information of the first visible light receiving device and the DNN neural network; The corrected data is judged by the path planning module. If the probability value output by the DNN neural network is greater than or equal to the preset threshold, the location of the target cargo is judged to be the accurate location. If the probability value is less than the preset threshold, the target cargo is relocated. The optimal navigation path is planned based on the navigation planning unit and sent to the mobile terminal.

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