Space positioning device and method, terminal and storage medium

Abstract

The invention provides a spatial positioning device and method, a terminal and a storage medium, and the spatial positioning device comprises a beacon module which is disposed on a to-be-positioned object and is used for emitting a light source; the shooting module is used for shooting a first image and a second image of the light source, and the shooting directions of the first image and the second image are different; and the image processing module is used for determining the position of the to-be-positioned object according to the first pixel point position of the light source in the first image and the second pixel point position of the light source in the second image. According to the technical scheme, after the first image and the second image of the to-be-positioned object are determined, the spatial position of the to-be-positioned object can be determined according to the pixel point positions of the beacon module in the first image and the second image, the positioning effect with higher precision is achieved, and the user experience is improved.

Description

Technical Field

[0001] This application relates to the technical field of positioning devices, and particularly to a spatial positioning device, method, terminal, and storage medium. Background Art

[0002] Currently, when positioning a certain object, it is generally possible to perform positioning through spatial positioning technologies (such as GPS, Beidou, 4G / 5G, Wi-Fi fingerprint, V2X, UWB, Bluetooth beacon, RFID, NFC), etc.

[0003] During the conception and implementation of this application, the inventors found that at least the following problems exist: When performing local positioning, since current positioning technologies are all based on radio frequency microwave technology, they are susceptible to environmental interference, signal attenuation, and multipath effects, resulting in limited positioning accuracy (centimeter to meter level), which affects the use.

[0004] The foregoing description is for providing general background information and does not necessarily constitute prior art. Summary of the Invention

[0005] In view of the above technical problems, this application provides a spatial positioning device, method, terminal, and storage medium, which can avoid the interference and attenuation problems of traditional radio frequency technologies and achieve a higher-precision positioning effect.

[0006] To solve the above technical problems, this application provides a spatial positioning device, including:

[0007] A beacon module, disposed on the object to be positioned, for emitting a light source;

[0008] A photographing module, for photographing a first image and a second image of the light source, with different photographing directions for the first image and the second image;

[0009] An image processing module, for determining the position of the object to be positioned according to the position of the first pixel point of the light source in the first image and the position of the second pixel point in the second image.

[0010] Optionally, the photographing module includes:

[0011] A first photographing unit, for obtaining the first image of the light source in a first photographing direction; and / or,

[0012] A second photographing unit, for obtaining the second image of the light source in a second photographing direction.

[0013] Optionally, the first photographing direction and the second photographing direction are perpendicularly arranged.

[0014] Optionally, the first photographing unit and / or the second photographing unit is / are arranged facing the beacon module.

[0015] Optionally, the first imaging unit and / or the second imaging unit are respectively moved to a position directly opposite the beacon module by a mobile device.

[0016] Optionally, the position of the object to be located is determined according to the first pixel position, the first distance between the first imaging unit in the imaging module and the light source, the second pixel position, and the second distance between the second imaging unit in the imaging module and the light source.

[0017] Optionally, the first pixel position is determined according to the pixels of the first imaging unit in the imaging module and the light source size of the light source.

[0018] Optionally, the second pixel position is determined according to the pixels of the second imaging unit in the imaging module and the light source size of the light source.

[0019] Optionally, when there are at least two objects to be located, the duty cycles of the light sources emitted by the beacon modules installed on different objects to be located are different.

[0020] Optionally, the emission angle of the light source emitted by the beacon module is greater than or equal to 120°.

[0021] This application also provides a spatial positioning method, including the steps of:

[0022] S20. Obtain a first image and a second image of the light source in space, where the shooting directions of the first image and the second image are different, and the light source is emitted by the object to be located;

[0023] S30. Determine the position of the object to be located in space according to the first pixel position of the light source in the first image and the second pixel position in the second image.

[0024] Optionally, the light source is emitted by a beacon module provided on the object to be located.

[0025] Optionally, before step S20, it further includes step S10:

[0026] Move the first imaging unit and / or the second imaging unit to a position directly opposite the beacon module.

[0027] Optionally, step S30 includes:

[0028] Determine the first pixel position of the light source in the first image according to the shooting distance of the first image and the pixels of the first image;

[0029] Determine the second pixel position of the light source in the second image according to the shooting distance of the second image and the pixels of the second image;

[0030] Determine the position of the object to be located in space based on the position of the light source at the first pixel point of the first image and the position of the second pixel point in the second image.

[0031] This application also provides an intelligent terminal, including: a memory and a processor. A space positioning program is stored on the memory. When the space positioning program is executed by the processor, the steps of the space positioning method described above are implemented.

[0032] This application also provides a computer storage medium. The computer storage medium stores a computer program. When the computer program is executed by the processor, the steps of the space positioning method described above are implemented.

[0033] As described above, the space positioning device provided by this application includes: a beacon module, which is arranged on the object to be located, and the beacon module is used to emit a light source; a shooting module, which is used to shoot the first image and the second image of the light source, and the shooting directions of the first image and the second image are different; an image processing module, which is used to determine the position of the object to be located according to the position of the light source at the first pixel point of the first image and the position of the second pixel point in the second image. Through the technical solution of this application, the function of achieving a higher-precision positioning effect can be realized, and the problem that the traditional radio frequency technology has low positioning accuracy due to being easily interfered and attenuated can be solved, thereby improving the user experience. Description of the Drawings

[0034] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with this application, and are used together with the specification to explain the principles of this application. In order to more clearly illustrate the technical solutions of the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 Schematic diagram of the hardware structure of a mobile terminal for implementing various embodiments of this application;

[0036] Figure 2 Schematic diagram of a communication network system architecture provided by an embodiment of this application;

[0037] Figure 3 Schematic diagram of the modules of the space positioning device provided by an embodiment of this application;

[0038] Figure 4 Schematic diagram of the modules of the beacon module provided by an embodiment of this application;

[0039] Figure 5 Schematic diagram of the modules of the recognition system provided by an embodiment of this application;

[0040] Figure 6 Schematic diagram of the settings of the first shooting unit and the second shooting unit provided in the embodiments of the present application in space;

[0041] Figure 7 Flow schematic diagram of a space positioning method provided in the embodiments of the present application.

[0042] The realization of the purpose of the present application, functional features and advantages will be further described in conjunction with the embodiments with reference to the accompanying drawings. Through the above-mentioned accompanying drawings, the specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0043] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all the implementation manners consistent with the present application. On the contrary, they are only examples of the devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0044] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitations, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or device including that element. Optionally, components, features, elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined according to their explanations in the specific embodiments or further in combination with the context in the specific embodiments.

[0045] It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining". Furthermore, as used herein, the singular forms "a", "an", and "the" are also intended to include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising", "including" indicate the presence of the features, steps, operations, elements, components, items, kinds, and / or groups, but do not preclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or", "and / or", "including at least one of the following" used in this application may be interpreted inclusively, or mean any one or any combination. For example, "including at least one of the following: A, B, C" means "any one of the following: A; B; C; A and B; A and C; B and C; A and B and C", and again, "A, B or C" or "A, B and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A and B and C". An exception to this definition only occurs when the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0046] It should be understood that although the steps in the flowcharts in the embodiments of the present application are shown sequentially according to the indication of the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless there is a clear indication in the present disclosure, the execution of these steps has no strict order limit, and they can be executed in other orders. Moreover, at least a part of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same moment, but can be executed at different moments, and their execution order is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0047] Depending on the context, the words "if", "when" as used herein may be interpreted as "when" or "while" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (stated condition or event)" may be interpreted as "when determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)".

[0048] It should be understood that the specific embodiments described herein are merely for explaining the present application and are not used to limit the present application.

[0049] In the following description, suffixes such as "module", "component", or "unit" used to represent elements are only for the convenience of describing the present application and have no specific meaning in themselves. Therefore, "module", "component", or "unit" can be used interchangeably.

[0050] The intelligent terminal can be implemented in various forms. For example, the intelligent terminal described in the present application may include mobile terminals such as mobile phones, tablet computers, laptop computers, palmtop computers, personal digital assistants (PDAs), portable media players (PMPs), navigation devices, wearable devices, smart bracelets, pedometers, etc., and fixed terminals such as digital TVs, desktop computers, etc.

[0051] In the following description, the mobile terminal will be taken as an example for illustration. Those skilled in the art will understand that, except for the components specifically for mobile purposes, the structure according to the embodiments of the present application can also be applied to fixed-type terminals.

[0052] Please refer to Figure 1 , which is a schematic diagram of the hardware structure of a mobile terminal for implementing various embodiments of the present application. The mobile terminal 100 may include: an RF (Radio Frequency) unit 101, a WiFi module 102, an audio output unit 103, an A / V (audio / video) input unit 104, a sensor 105, a display unit 106, a user input unit 107, an interface unit 108, a memory 109, a processor 110, and a power supply 111, etc. Those skilled in the art can understand that Figure 1 the structure of the mobile terminal shown in

[0053] does not constitute a limitation on the mobile terminal. The mobile terminal may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements. Figure 1 The following specifically introduces each component of the mobile terminal:

[0054] The radio frequency unit 101 can be used for receiving and transmitting information or signals during communication. Specifically, after receiving the downlink information from the base station, it is sent to the processor 110 for processing. Additionally, it sends the uplink data to the base station. Generally, the radio frequency unit 101 includes, but is not limited to, antennas, at least one amplifier, transceivers, couplers, low-noise amplifiers, duplexers, etc. Moreover, the radio frequency unit 101 can also communicate with the network and other devices through wireless communication. The above wireless communication can use any communication standard or protocol, including but not limited to GSM (Global System of Mobile communication), GPRS (General Packet Radio Service), CDMA2000 (Code Division Multiple Access 2000), WCDMA (Wideband Code Division Multiple Access), TD-SCDMA (Time Division-Synchronous Code Division Multiple Access), FDD-LTE (Frequency Division Duplexing-Long Term Evolution), TDD-LTE (Time Division Duplexing-Long Term Evolution), 5G, and 6G, etc.

[0055] WiFi belongs to short-range wireless transmission technology. The mobile terminal can help users send and receive emails, browse the web, and access streaming media through the WiFi module 102, providing users with wireless broadband Internet access. Although Figure 1 the WiFi module 102 is shown, it can be understood that it is not an essential component of the mobile terminal and can be omitted entirely within the scope of not changing the essence of the invention as needed.

[0056] The audio output unit 103 can convert the audio data received by the radio frequency unit 101 or the WiFi module 102 or stored in the memory 109 into an audio signal and output it as sound when the mobile terminal 100 is in modes such as call signal reception mode, call mode, recording mode, voice recognition mode, broadcast reception mode, etc. Moreover, the audio output unit 103 can also provide audio output related to specific functions executed by the mobile terminal 100 (such as call signal reception sound, message reception sound, etc.). The audio output unit 103 can include speakers, buzzers, etc.

[0057] The A / V input unit 104 is used to receive audio or video signals. The A / V input unit 104 may include a Graphics Processing Unit (GPU) 1041 and a microphone 1042. The GPU 1041 processes the image data of still pictures or videos obtained by an image capturing device (such as a camera) in a video capture mode or an image capture mode. The processed image frames can be displayed on the display unit 106. The image frames processed by the GPU 1041 can be stored in the memory 109 (or other storage media) or transmitted via the radio frequency unit 101 or the WiFi module 102. The microphone 1042 can receive sounds (audio data) via the microphone 1042 in operating modes such as a phone call mode, a recording mode, a voice recognition mode, etc., and can process such sounds into audio data. The processed audio (voice) data can be converted into a format that can be transmitted to a mobile communication base station via the radio frequency unit 101 in the case of the phone call mode. The microphone 1042 can implement various types of noise cancellation (or suppression) algorithms to cancel (or suppress) the noise or interference generated during the reception and transmission of audio signals.

[0058] The mobile terminal 100 further includes at least one sensor 105, such as a light sensor, a motion sensor, and other sensors. Optionally, the light sensor includes an ambient light sensor and a proximity sensor. Optionally, the ambient light sensor can adjust the brightness of the display panel 1061 according to the brightness of the ambient light, and the proximity sensor can turn off the display panel 1061 and / or the backlight when the mobile terminal 100 is moved to the ear. As a type of motion sensor, the accelerometer sensor can detect the magnitude of acceleration in all directions (generally three axes), and can detect the magnitude and direction of gravity when stationary, and can be used in applications for identifying the posture of the mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as a pedometer, tapping), etc.; as for other sensors that the mobile phone can also be configured with, such as a fingerprint sensor, a pressure sensor, an iris sensor, a molecular sensor, a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., they will not be elaborated here.

[0059] The display unit 106 is used to display information input by the user or information provided to the user. The display unit 106 may include a display panel 1061, and the display panel 1061 can be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), etc.

[0060] The user input unit 107 can be used to receive input numerical or character information and generate key signal inputs related to the user settings and function controls of the mobile terminal. Optionally, the user input unit 107 can include a touch panel 1071 and other input devices 1072. The touch panel 1071, also known as a touch screen, can collect touch operations of the user thereon or nearby (such as operations of the user using any suitable object or accessory such as a finger or a stylus on or near the touch panel 1071), and control corresponding connection devices according to a preset program. The touch panel 1071 can include two parts: a touch detection device and a touch controller. Optionally, the touch detection device detects the touch orientation of the user, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into contact coordinates, and then sends it to the processor 110, and can receive and execute commands sent by the processor 110. In addition, the touch panel 1071 can be implemented in multiple types such as resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch panel 1071, the user input unit 107 can also include other input devices 1072. Optionally, the other input devices 1072 can include but are not limited to one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, etc., and specific details are not limited here.

[0061] Optionally, the touch panel 1071 can cover the display panel 1061. After the touch panel 1071 detects a touch operation thereon or nearby, it transmits the operation to the processor 110 to determine the type of touch event. Subsequently, the processor 110 provides a corresponding visual output on the display panel 1061 according to the type of touch event. Although in Figure 1 the touch panel 1071 and the display panel 1061 are implemented as two independent components to realize the input and output functions of the mobile terminal, in some embodiments, the touch panel 1071 and the display panel 1061 can be integrated to realize the input and output functions of the mobile terminal, and specific details are not limited here.

[0062] The interface unit 108 serves as an interface through which at least one external device can be connected to the mobile terminal 100. For example, the external device can include a wired or wireless headset port, an external power supply (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device with an identification module, an audio input / output (I / O) port, a video I / O port, a headset port, and so on. The interface unit 108 can be used to receive inputs from external devices (such as data information, power, etc.) and transmit the received inputs to one or more components within the mobile terminal 100 or can be used to transmit data between the mobile terminal 100 and external devices.

[0063] The memory 109 can be used to store software programs and various data. The memory 109 mainly includes a program storage area and a data storage area. Optionally, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, phone book, etc.). In addition, the memory 109 can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0064] The processor 110 is the control center of the mobile terminal, connecting various parts of the entire mobile terminal through various interfaces and lines. By running or executing software programs and / or modules stored in the memory 109, and calling data stored in the memory 109, it executes various functions of the mobile terminal and processes data, thereby monitoring the mobile terminal as a whole. The processor 110 can include one or more processing units; preferably, the processor 110 can integrate an application processor and a modem processor. Optionally, the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 110.

[0065] The mobile terminal 100 can also include a power supply 111 (such as a battery) for powering each component. Preferably, the power supply 111 can be logically connected to the processor 110 through a power management system, so as to implement functions such as management of charging, discharging, and power consumption management through the power management system.

[0066] Although Figure 1 not shown, the mobile terminal 100 can also include a Bluetooth module, etc., which will not be elaborated here.

[0067] To facilitate the understanding of the embodiments of the present application, the communication network system on which the mobile terminal of the present application is based will be described below.

[0068] Please refer to Figure 2 , Figure 2 which is an architecture diagram of a communication network system provided by an embodiment of the present application. This communication network system is an LTE system of the general mobile communication technology. This LTE system includes a UE (User Equipment) 201, an E-UTRAN (Evolved UMTS Terrestrial Radio Access Network) 202, an EPC (Evolved Packet Core) 203, and the IP service 204 of the operator that are communicatively connected in sequence.

[0069] Optionally, the UE 201 may be the aforementioned terminal 100, which will not be elaborated herein.

[0070] The E-UTRAN 202 includes an eNodeB 2021 and other eNodeBs 2022, etc. Optionally, the eNodeB 2021 may be connected to other eNodeBs 2022 through a backhaul (such as the X2 interface), the eNodeB 2021 is connected to the EPC 203, and the eNodeB 2021 may provide access for the UE 201 to the EPC 203.

[0071] The EPC 203 may include an MME (Mobility Management Entity) 2031, an HSS (Home Subscriber Server) 2032, other MMEs 2033, an SGW (Serving Gate Way) 2034, a PGW (PDN Gate Way) 2035, a PCRF (Policy and Charging Rules Function) 2036, etc. Optionally, the MME 2031 is a control node that processes the signaling between the UE 201 and the EPC 203 and provides bearer and connection management. The HSS 2032 is used to provide some registers to manage functions such as a home location register (not shown in the figure) and stores some user-specific information such as service characteristics and data rates. All user data may be sent through the SGW 2034. The PGW 2035 may provide IP address allocation for the UE 201 and other functions. The PCRF 2036 is a policy and charging control policy decision point for service data flows and IP bearer resources, and it selects and provides available policy and charging control decisions for a policy and charging enforcement function unit (not shown in the figure).

[0072] The IP service 204 may include the Internet, an intranet, an IMS (IP Multimedia Subsystem), or other IP services, etc.

[0073] Although the above has been described by taking the LTE system as an example, those skilled in the art should be aware that the present application is not only applicable to the LTE system, but also applicable to other wireless communication systems, such as GSM, CDMA2000, WCDMA, TD-SCDMA, 5G, and future new network systems (such as 6G), etc., which are not limited herein.

[0074] Based on the above mobile terminal hardware structure and communication network system, various embodiments of the present application are proposed.

[0075] Figure 3 This is a schematic diagram of the modules of the spatial positioning device provided by the embodiments of the present application. As Figure 3 shown, the spatial positioning device includes a beacon module, a shooting module, and an image processing module. The beacon module is arranged on the object to be positioned and is used to emit a light source. The shooting module is used to shoot a first image and a second image of the light source, and the shooting directions of the first image and the second image are different. The image processing module is used to determine the position of the object to be positioned according to the position of the first pixel point of the light source in the first image and the position of the second pixel point in the second image.

[0076] Optionally, the beacon module may refer to an active optical marking device installed on the target to be positioned, which can provide an identifiable physical reference point for the spatial positioning device by emitting an optical signal with a specific code.

[0077] Optionally, the beacon module may include a light emitting unit and a power supply unit. The light emitting unit is used to emit a light source and may include a light emitting diode unit or a xenon flash lamp unit.

[0078] Optionally, the light emitting unit may be an LED light emitting unit, and the LED light emitting unit may also be a single-wavelength far-infrared invisible light bead.

[0079] Optionally, the power supply unit is used to supply power to each unit in the beacon module. Optionally, the power supply unit may include a lithium battery pack, a supercapacitor module, or a wireless charging receiving module.

[0080] Optionally, the emission angle of the light source emitted by the beacon module may be greater than or equal to 120°. Thus, it can adaptively compensate for the attitude change of the target object by ±60°, avoiding signal loss caused by inclination; and / or, it can also meet the observation requirements of different perspectives of the multi-camera system at the same time, eliminating the collaborative positioning blind area.

[0081] Optionally, when the object to be positioned is a moving target, it can also provide a position tolerance buffer for the target to ensure dynamic tracking stability. Within a working range of 10 meters, the contradiction between coverage breadth and positioning accuracy can be balanced through light intensity uniformity control (±15% deviation).

[0082] Optionally, the object to be positioned may refer to a target object or device that needs to be tracked by the spatial positioning device.

[0083] Optionally, the object to be positioned may be different target objects or devices in different application scenarios:

[0084] In an industrial scenario, the object to be positioned may be the end effector of a robotic arm or an AGV vehicle;

[0085] In the medical field, the object to be located can be a surgical instrument or an endoscope;

[0086] In consumer electronics, the object to be located can be an AR / VR headset or a controller;

[0087] In the field of positioning or navigation, the object to be located can also be the user's vehicle or mobile phone.

[0088] Optionally, the object to be located can be set in space to facilitate positioning by the space positioning device.

[0089] The space can refer to a three-dimensional environment with clear physical boundaries and a coordinate reference system, and its scale range can be defined according to application requirements (such as a small workbench, a factory workshop, or a large outdoor area). This space can meet the basic deployment conditions of the space positioning device:

[0090] 1) There are fixed reference points (such as walls / brackets) for installing the shooting module;

[0091] 2) The ambient light is controllable or the interference can be suppressed through optical filtering;

[0092] 3) There are no continuous occlusions in the field of view coverage.

[0093] Optionally, as an active optical marking device, the beacon module can be fixedly installed at a specific position of the object to be located (such as a robot, a mobile device, etc.), and by emitting a light source signal with specific spectral characteristics (such as infrared / visible light) and coding format (such as pulse modulation), it provides a detectable physical reference point for the space positioning device.

[0094] Optionally, when there are at least two objects to be located, the number of beacon modules in the space can also be multiple. To facilitate the distinction of different objects to be located and accurately locate different objects to be located in the space, the on-off duty ratios of the light sources emitted by the beacon modules installed on different objects to be located are different, that is, in the beacon positioning system, the LED beacons installed on each object to be located will emit invisible infrared light signals according to specific on-off duty ratio rules (such as 50ms on / 50ms off, 30ms on / 70ms off, etc.). When identifying different objects to be located, different objects can be effectively distinguished. Thus, based on the visible light communication technology encoded by the duty ratio, high-precision distinction and positioning of multiple targets can be achieved.

[0095] Figure 4 The schematic diagram of the beacon module provided by the embodiment of the present application is as Figure 4 shown. The beacon module can include a light-emitting unit, a drive control unit, a communication unit, an attitude recognition unit, and a power supply unit.

[0096] Optionally, the power supply unit is electrically connected to the light emitting unit, the drive control unit, the communication unit, and the attitude recognition unit respectively to supply power to each unit in the module. The attitude recognition unit is connected to the drive control unit to transmit the detected object attitude data to the drive control unit in real time, so as to dynamically adjust the light emitting mode. The drive control unit is electrically connected to the light emitting unit to accurately regulate parameters such as light intensity, frequency, and duty cycle according to the received control instructions. The drive control unit is also electrically connected to the communication unit to receive instruction data from an external control system, feedback the working state information of the module, or synchronize the communication timing between multiple modules.

[0097] Optionally, the shooting module may refer to a collaborative acquisition system composed of multiple optical imaging devices, and the shooting module can synchronously capture the light source signals emitted by the beacon module from different spatial perspectives. This module can obtain the first image and the second image (or multi-view images) of the target light source through different shooting directions (such as a pair of orthogonally arranged cameras or a multi-camera in a circular array).

[0098] Optionally, the first image and the second image with different shooting directions may refer to visual data synchronously captured from different angles of the same beacon light source by two imaging devices with spatial position differences (such as a binocular camera system).

[0099] Optionally, the first image may represent the observation result of the main view angle (such as the horizontal azimuth angle of 0°), and the second image may be another view angle forming a spatial baseline with the main view angle (such as the vertical azimuth angle of 90°). Thus, these two images can form the parallax information required for stereo vision measurement.

[0100] Optionally, the shooting module element may be composed of a filter, a lens, and an optical sensor.

[0101] Optionally, a band-pass filter can be selected as the filter. The band-pass filter can allow light of a specific wavelength (such as the light emitted by a single-wavelength far-infrared invisible light bead) to pass through the lens.

[0102] The lens can focus light, control the aperture, and correct distortion. Optionally, a lens with an angle of 120° or 150° without distortion can be used.

[0103] The optical sensor can be a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal-Oxide-Semiconductor) to capture light and convert it into an electrical signal.

[0104] Optionally, the image processing module may refer to the core computing unit of the optical positioning system. The image processing module can convert two-dimensional image coordinates into three-dimensional spatial position data through computer vision algorithms.

[0105] Optionally, the image processing module can first preprocess the dual-view images obtained by the shooting module (such as noise reduction and spot enhancement), and then use sub-pixel positioning technology to accurately extract the pixel coordinates (u 1 , v 1 ) and (u 2 , v 2 ) of the light source in the first image and the second image; based on the pre-calibrated camera parameters (including focal length, distortion coefficient, relative position between cameras, etc.), use the principles of stereo vision and multi-view geometry algorithms (such as triangulation) to calculate the spatial coordinates of the beacon; finally, output the real-time position and attitude information of the object to be located in the preset spatial coordinate system through coordinate transformation.

[0106] Optionally, the image processing module can include an Image Signal Processor (ISP) and a microprocessor or a Digital Signal Processor (DSP).

[0107] Optionally, the image signal processor can perform noise reduction processing, white balance adjustment, exposure control, sharpening processing, color correction, and gamma correction on the image. The microprocessor or DSP can be used to control the image processing flow and execute algorithm and logic processing.

[0108] Optionally, the shooting module and the image processing module can form an identification system to cooperate to complete image acquisition, processing, optimization, and coordinate positioning output. That is, the camera module can be used for high-frame-rate and low-distortion image acquisition, and its optical design (such as global shutter, narrowband filtering) matches the characteristics of the beacon light source to ensure the signal-to-noise ratio of the original image; the image processing module can then receive the image data captured by the shooting module in real time, convert the pixel coordinates into spatial coordinates accordingly, and fuse the timing information to optimize the trajectory smoothness. The two modules achieve microsecond-level cooperation through a hardware synchronization signal (such as a PTP clock) and a standardized interface (such as GigE Vision), and finally output positioning data.

[0109] Figure 5 This is a schematic diagram of the modules of the identification system provided by the embodiments of the present application. As Figure 5 shown, the identification system includes a shooting module, an image processing module, a communication module, and a power supply module. The power supply module is electrically connected to the shooting module, the image processing module, the communication module, and the power supply module respectively to supply electrical energy. The shooting module is electrically connected to the image processing module, and the image processing module is interconnected with the communication module.

[0110] Optionally, the photographing module may include a filter, a lens, and an optical sensor, the image processing module may include an ISP and a microprocessor, and the communication module may include a wired communication unit and a wireless communication unit.

[0111] The spatial positioning device provided by the embodiment of the present application sets the beacon module on the object to be positioned, and uses a wide-angle (≥120°) high-stability infrared light source to emit optical signals with specific codes, and the photographing module synchronously captures the first image and the second image of the light source in space through a multi-view camera array, and the image processing module accurately extracts the pixel coordinates of the light source in the two images based on the sub-pixel-level spot positioning algorithm, and calculates the three-dimensional spatial position of the object to be positioned through the stereo vision algorithm. Thus, it can solve the problem that the spatial positioning accuracy is not fine enough due to the radio frequency microwave technology, and the positioning accuracy can be achieved between 1 millimeter and 10 millimeters.

[0112] Optionally, in order to facilitate the simultaneous acquisition of the first image and the second image, the photographing module may include: a first photographing unit and a second photographing unit. The first photographing unit is used to acquire the first image of the light source in space in the first photographing direction; the second photographing unit is used to acquire the second image of the light source in space in the second photographing direction; optionally, the first photographing direction and the second photographing direction are perpendicularly arranged.

[0113] Optionally, the perpendicular arrangement of the first photographing direction and the second photographing direction may refer to the installation and configuration of two optical photographing modules (such as industrial cameras) in space at a 90-degree angle perpendicular to each other, forming a three-dimensional rectangular observation coordinate system. This orthogonal layout realizes the natural decoupling of spatial coordinates by establishing independent observation benchmarks for the X-Z plane and the Y-Z plane, enabling the horizontal (X / Y axis) position and the vertical (Z axis) depth parameters to be independently calculated from two orthogonal perspectives. This not only simplifies the mathematical model of three-dimensional coordinate reconstruction, but also improves the depth measurement accuracy by more than about 40% (compared with the oblique arrangement) by maximizing the parallax detection sensitivity.

[0114] Figure 6 It is a schematic diagram of the settings of the first photographing unit and the second photographing unit provided by the embodiment of the present application in space, as Figure 6 shown, when the space is a room, the first photographing unit may be set on the roof in the room, and the second photographing unit may be set on the left wall in the room.

[0115] Optionally, the first photographing unit and / or the second photographing unit are set facing the beacon module.

[0116] Optionally, the first photographing unit and / or the second photographing unit are respectively moved to the position facing the beacon module through a mobile device.

[0117] Optionally, the first imaging unit or / and the second imaging unit being set opposite to the beacon module may mean that the optical axes of at least one imaging device and the main light-emitting direction of the beacon module maintain a coaxial or small-angle deviation (≤5°) alignment relationship. Through this setting method, the signal-to-noise ratio of the beacon light spot in the image can be maximized, so that the camera sensor is located in the central area with the strongest radiation of the beacon light source, improving the optical signal intensity and avoiding the elliptical light spot distortion caused by large-angle imaging, and enabling the center extraction error to be controlled within 0.01 pixel.

[0118] Optionally, the mobile device may refer to a device for dynamically controlling the spatial position of the imaging unit so that it can accurately align with the beacon module in real time. The device may consist of a precision linear guide, a servo motor, an encoder, and a closed-loop control system. During operation, by analyzing the position deviation of the beacon light spot in the image in real time, calculating the optimal adjustment path, and then driving the mobile device to complete the position correction to ensure that the optical axis of the imaging unit always maintains an alignment state with the beacon module (such as the deviation angle ≤0.5°).

[0119] Optionally, when determining the trimming of the moving position, the displacement of the imaging unit can be accurately measured by means of multi-sensor fusion:

[0120] 1. Using a grating scale or a magnetic grating encoder as the main detection means to directly measure the linear displacement of the mobile device;

[0121] 2. Assisted by a laser rangefinder for absolute position calibration;

[0122] 3. Combining image feedback to trigger position locking when the beacon light spot is in the central area of the image (such as within the range of ±10 pixels).

[0123] Optionally, the position of the object to be located is determined according to the position of the first pixel point, the first distance between the first imaging unit in the imaging module and the light source, the position of the second pixel point, and the second distance between the second imaging unit in the imaging module and the light source.

[0124] Optionally, the first distance between the first imaging unit in the imaging module and the light source may refer to the linear spatial distance from the optical center point of the first imaging unit (such as an industrial camera) to the light-emitting center of the beacon light source.

[0125] Optionally, the second distance between the second imaging unit in the imaging module and the light source may refer to the linear spatial distance from the optical center point of the second imaging unit (such as an industrial camera) to the light-emitting center of the beacon light source.

[0126] Optionally, the first distance and / or the second distance can be measured by a sensor.

[0127] Optionally, a modulated infrared pulse can be emitted by a laser ToF ranging module integrated in the first imaging unit, and an initial distance value can be calculated based on the photon round-trip time; at the same time, based on the proportional relationship between the pixel size of the light source in the first image and the known physical size, the visual ranging result can be deduced through the pinhole imaging model; finally, the Kalman filtering algorithm is used to fuse the ToF data and the visual estimation value to output the optimized spatial straight-line distance.

[0128] Optionally, when determining the position of the object to be located in space, when the coordinates of the first pixel point position are (u1, v1), the first distance is d1, the coordinates of the second pixel point position are (u2, v2), and the second distance is d2: First, based on the internal parameter matrix of the first imaging unit, the pixel coordinates (u1, v1) are converted into a normalized direction vector in the camera coordinate system, and then combined with the first distance d1 obtained by the ranging module, the three-dimensional coordinates P1(x1, y1, z1) of the light source in the first camera coordinate system are calculated; and / or, through a pre-calibrated coordinate transformation matrix, the pixel coordinates (u2, v2) and the second distance d2 measured by the second imaging unit are converted into the coordinates P2(x2, y2, z2) in the first camera coordinate system; finally, the system performs weighted average fusion according to the measurement confidence levels of the two coordinate points and outputs the optimized three-dimensional space coordinates (x, y, z).

[0129] Optionally, the position of the first pixel point is determined according to the pixels of the first imaging unit in the imaging module and the light source size of the light source; and / or, the position of the second pixel point is determined according to the pixels of the second imaging unit in the imaging module and the light source size of the light source.

[0130] Optionally, the light source size of the light source can refer to the physical geometric parameters of the light-emitting surface of the beacon module (such as the diameter of a circular light source or the side length of a square light source). Optionally, the light source size of the light source can directly affect the sub-pixel positioning accuracy in image processing.

[0131] Optionally, when determining the pixel point position, the known light source size (such as Φ5mm) can be converted into a theoretical imaging pixel span (such as 72 pixels should be imaged at a distance of 2m) based on the pixel size (such as 3.45μm) and the optical magnification of the imaging unit; subsequently, the constrained least squares method is used to search for the light intensity distribution region that meets the size range in the image, and the spot energy center is determined by Gaussian surface fitting, and finally the coordinates of the pixel point position are output.

[0132] Optionally, as Figure 6 shown, in the indoor space positioning device, the camera unit vertically installed on the ceiling only receives the invisible light of a specific wavelength emitted by the LED in the beacon module through an optical filter, and a conical effective recognition area is formed below it.

[0133] When configuring a camera with 5 million pixels (2592×1944 resolution), the plane where the beacon module is located is discretized into a coordinate grid of 2592 columns × 1944 rows. By analyzing the characteristic light spots formed by the LED flashing at a specific duty cycle and using image processing algorithms, the central position is accurately calculated, and the two-dimensional coordinates (X0, Y0) of the image are output. If a second camera (Camera 2) is added to form a stereo vision system, the vertical height value Z0 of the beacon can be further calculated through the parallax principle, so as to obtain the complete three-dimensional space coordinates (X0, Y0, Z0).

[0134] Optionally, in the indoor space positioning device, the process of using a 5 million pixel (2592×1944 resolution) camera to perform 3-meter distance positioning on a 3mm×3mm LED beacon may include:

[0135] 1. If the camera sensor size is 1 / 2.5 inches (5.76mm×4.29mm), the size of a single pixel can be: Δx = 5.76mm / 2592 ≈ 2.22μm; Δy = 4.29mm / 1944 ≈ 2.21μm;

[0136] 2. The theoretical image height size of the 3mm beacon at a 3m distance can be determined first according to the formula "image height / object height = focal length / object distance". That is, when the focal length f = 8mm, the theoretical image height = 8μm;

[0137] 3. According to the diffraction effect and the theoretical image height, it can be determined that the 3mm beacon forms an image of a light spot of about 5×5 pixels;

[0138] 4. When it is detected that the light spot spans pixel columns 1024 - 1028 and pixel rows 768 - 772, the central pixel coordinates can be determined as X0 = 1026.3, Y0 = 770.2;

[0139] 5. According to the central pixel coordinates (X0, Y0), the origin coordinates (1296, 972), the pixel size, the object distance, and the focal length, the coordinates in space can be determined as (X = -0.224m, Y = -0.167m);

[0140] 6. When the baseline distance between the second camera and the main camera is 1m, and the detected parallax Δp of the same beacon is 15.4 pixels, the depth Z can be determined as 3.02m.

[0141] Figure 7 The flowchart of a space positioning method provided by an embodiment of the present application is as Figure 7 shown. This space positioning method can be applied to the space positioning device in the embodiment of the present application, or can be applied to an intelligent terminal including the space positioning device in the embodiment of the present application. This method includes step S20 and step S30:

[0142] Step S20: Obtain a first image and a second image of the light source in space. The shooting directions of the first image and the second image are different, and the light source is emitted by the object to be located.

[0143] Step S30: Determine the position of the object to be located in space according to the position of the first pixel point of the light source in the first image and the position of the second pixel point of the light source in the second image.

[0144] Optionally, the light source is emitted by a beacon module provided on the object to be located.

[0145] Optionally, before step S20, step S10 is further included:

[0146] Move the first shooting unit and / or the second shooting unit to a position directly facing the beacon module.

[0147] Optionally, step S30 includes:

[0148] Determine the position of the first pixel point of the light source in the first image according to the shooting distance of the first image and the pixels of the first image;

[0149] Determine the position of the second pixel point of the light source in the second image according to the shooting distance of the second image and the pixels of the second image;

[0150] Determine the position of the object to be located in space according to the position of the first pixel point of the light source in the first image and the position of the second pixel point of the light source in the second image.

[0151] The implementation principle and beneficial effects of the spatial positioning method embodiment provided in the embodiments of the present application are similar to those shown in the corresponding spatial positioning device embodiments above, and will not be elaborated here.

[0152] The present application also provides a computer-readable storage medium, on which a spatial positioning program is stored. When the spatial positioning program is executed by a processor, the steps of the spatial positioning method in any of the above embodiments are implemented.

[0153] In the embodiments of the intelligent terminal and the computer-readable storage medium provided in the present application, all technical features of any of the above spatial positioning method embodiments may be included. The extended and explanatory content of the specification is basically the same as that of the respective embodiments of the above method, and will not be elaborated here.

[0154] The embodiments of the present application also provide a computer program product, which includes computer program code. When the computer program code runs on a computer, the computer is caused to execute the methods in the above various possible implementation manners.

[0155] An embodiment of the present application further provides a chip, including a memory and a processor. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that a device installed with the chip executes the methods in the above various possible embodiments.

[0156] It can be understood that the above scenarios are only examples and do not constitute a limitation on the application scenarios of the technical solutions provided by the embodiments of the present application. The technical solutions of the present application can also be applied to other scenarios. For example, as known to those of ordinary skill in the art, with the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0157] The serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0158] The steps in the method of the embodiment of the present application can be adjusted, combined, and deleted according to actual needs.

[0159] The units in the device of the embodiment of the present application can be combined, divided, and deleted according to actual needs.

[0160] In the present application, for the description of the same or similar term concepts, technical solutions, and / or application scenarios, generally only a detailed description is made when it first appears. When it appears repeatedly later, for the sake of brevity, it is generally not repeated. When understanding the technical solutions and other contents of the present application, for the same or similar term concepts, technical solutions, and / or application scenarios that are not described in detail later, reference can be made to the relevant detailed descriptions before.

[0161] In the present application, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0162] The technical features of the technical solutions of the present application can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combinations of these technical features do not conflict, they should be considered as within the scope recorded in the present application.

[0163] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, controlled terminal, or network device, etc.) to execute the methods of each embodiment of the present application.

[0164] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, storage disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0165] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A spatial positioning device, characterized in that: include: A beacon module, arranged on the object to be located, and used for emitting a light source; A shooting module, used for shooting a first image and a second image of the light source, where the first image and the second image are shot in different directions; The image processing module is used to determine the position of the object to be located according to the first pixel position of the light source in the first image and the second pixel position of the light source in the second image.

2. The spatial positioning device according to claim 1, characterized in that: The shooting module comprises: A first shooting unit is configured to acquire a first image of the light source in a first shooting direction; and / or, The second shooting unit is used to obtain a second image of the light source in a second shooting direction.

3. The spatial positioning device according to claim 2, characterized in that: The first shooting direction and the second shooting direction are arranged vertically; or, The first photographing unit and / or the second photographing unit are arranged opposite to the beacon module; or, The first shooting unit and / or the second shooting unit are respectively moved to a position facing the beacon module by a moving device.

4. The spatial positioning device according to claim 2 or 3, characterized in that: The position of the object to be located is determined according to the first pixel position, a first distance between a first shooting unit in the shooting module and the light source, and the second pixel position, a second distance between a second shooting unit in the shooting module and the light source.

5. The spatial positioning device according to claim 2 or 3, characterized in that: The first pixel point position is determined according to the pixels of the first shooting unit in the shooting module and the light source size of the light source; and / or, The position of the second pixel point is determined according to the pixels of the second shooting unit in the shooting module and the light source size of the light source.

6. The spatial positioning device according to any one of claims 1 to 3, characterized in that: When there are at least two objects to be located, the light sources emitted by the beacon modules installed on different objects to be located have different on-off duty ratios; and / or, The beacon module emits the light source at a light emitting angle greater than or equal to 120°.

7. A spatial positioning method, characterized in that: Includes steps: S20, acquiring a first image and a second image of a light source in space, wherein the first image and the second image are shot in different directions, and the light source is emitted by an object to be located; S30: Determine a position of the object to be located in the space according to a first pixel position of the light source in the first image and a second pixel position of the light source in the second image.

8. The method according to claim 7, characterized in that Also includes at least one of the following: The light source is emitted by a beacon module provided on the object to be located; Before step S20, the method further includes step S10: Move the first photographing unit and / or the second photographing unit to a position directly opposite to the beacon module; The step S30 includes: Determining a first pixel point position of the light source in the first image according to a shooting distance at which the first image is shot and a pixel at which the first image is shot; determining a second pixel point position of the light source in the second image according to a shooting distance for shooting the second image and a pixel of the second image; The position of the object to be located in the space is determined according to the first pixel position of the light source in the first image and the second pixel position in the second image.

9. An intelligent terminal, characterized in that: include: A memory and a processor, wherein a spatial positioning program is stored in the memory, and when the spatial positioning program is executed by the processor, the steps of the spatial positioning method as described in claim 7 or 8 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the spatial positioning method according to claim 7 or 8 are implemented.

Images