234 results about "Visible light positioning" patented technology

The invention discloses an indoor visible light positioning system. The indoor positioning technology is completed jointly by combination of an LED lamp, a hand-held receiving terminal, and a positioning algorithm. Position information is modulated on a carrier wave distributed to the LED lamp and reverse fast Fourier transform is carried out; a signal is sent into a drive circuit and then the signal is transmitted to an air channel in a visible light mode by free space. A receiving terminal carries out light convergence by an optical lens; the signal is converted into an electric signal; fast Fourier transform is carried out and digital demodulation is carried out; and according to information of three detected strongest powers, a distance between the receiving terminal and the LED lamp is estimated by a lambertian model. According to position coordinate information of a carried transmitting terminal and estimated distance information, a receiving coordinate is calculated finally and positioning is carried out. According to the invention, communication reliability is enhanced; the positioning precision is improved; and the interference of communication between LED cells is effectively resisted.

The invention discloses a Zigbee networks visible light positioning wireless charging system and a method. The system includes a wireless charging device and a Zigbee network node; the wireless charging device and the Zigbee network node communicate with each other through a Zigbee protocol; the wireless charging device includes a wireless charging module and a light source detection module; and the Zigbee network node comprises a gateway node, a coordinator and a terminal node, wherein the coordinator is used for coordinating the communication between the gateway node and the terminal node. As for a situation that wireless charging does not require accurate positioning, the invention provides a simple and convenient visible light positioning scheme. The visible light positioning scheme has the advantages of high positioning efficiency and simple computation, and can greatly improve wireless charging efficiency.

The invention provides an indoor positioning method adopting visible light and inert composition. A mobile carrier can detect a visible light signal in a process of moving in a room. The indoor positioning method comprises the following steps: judging whether the mobile carrier is positioned in a visible light strong coverage region according to a light intensity threshold value; if a light intensity value is less than the light intensity threshold value, directly taking a position estimation value acquired by an inert device as carrier positioning information; if the light intensity value is greater than or equal o the light intensity threshold value, calculating the position estimation value according to the visible light signal, subtracting the position estimation value acquired by the inert device from the position estimation value calculated according to the visible light signal, and performing Kalman filtering on an obtained difference value to obtain a drift error of the inert device, wherein the drift error is used for correcting the inert device, and the corrected position estimation value of the inert device is used as the carrier positioning information. According to the indoor positioning method, the influence caused by a cover blind area and a shadow in a visible light positioning process can be effectively avoided, and the shortcoming that the error of the inert device is accumulated along the time is overcome; continuous automatic high-precision indoor positioning is realized.

The invention discloses an indoor robot system based on visible light positioning and navigation. The indoor robot system comprises a visible light positioning and emitting unit used for sending positioning information, a visible light positioning and receiving unit used for receiving a visible light signal to perform positioning and navigation, a drive unit for driving a robot to move, a mechanical structure unit used for moving the robot, a sensing unit used for monitoring an external environment, a computer visual unit used for obtaining image information, a robot micro type computer unit, a control display panel unit and a power supply, wherein the robot micro computer unit is used for firstly obtaining values of all sensors of the sensing unit, controlling the robot system to avoid obstacles during walking motion, obtaining and processing images acquired by the computer visual unit, and helping the robot system to predicate and avoid pedestrians better; and in a moving process, the visible light signal with coding information is extracted to perform positioning and navigation after a visible light image receiver performs quick image obtaining on an indoor visible light signal light source.

The invention discloses an indoor AGV navigation method and system based on QR code guidance and visible light positioning. A QR code label is attached to the node of an AGV moving path, so that whenthe AGV moves to the position near the node, a QR code image captured by a high-speed camera can be analyzed to obtain the moving direction of the next step. The AGV can be positioned in real time through the RSS positioning method based on the visible light communication technology when the AGV moves between two nodes, and deviation can be prevented. The visible light communication positioning isadded when QR code recognition technology is used for navigation. The problem that the AGV is deviated from the direction due to lack of positioning information between QR codes which are too long indistance when only QR code navigation is used is avoided. An indoor AGV navigation positioning method which is low in cost is provided.

The invention discloses an indoor visible light visual positioning method and a hardware system thereof. The method comprises the following steps: allowing a transmitting end LED lamp to emit a modulated optical signal; allowing a receiving end of a mobile device to use a CMOS image sensor to acquire the optical signal to form images having different light and dark stripe widths; using the multi-iteration average manner to eliminate background light disturbance of the images received by the image sensor; acquiring an image frequency domain signal by using fast Fourier transform (FFT), and filtering the image frequency domain signal; selecting a peak frequency from the processed image frequency domain signal as a frequency value corresponding to the lamp ID; comparing the peak frequency with a frequency-coordinate database in a positioning server to acquire coordinates of the lamp, and completing an image decoding process; and finally realizing positioning of the receiving end of the mobile device through the reception angle (AOA) positioning algorithm. The method can increase the distance of demodulating the visible light signal, improve the information detection performance of thereceiving end of the mobile device, and further improve the precision of the visible light positioning system.

The present invention relates to a high-precision positioning method for indoor visible light based on an artificial neural network, which is characterized by including a training mode and a positioning mode, that is, an artificial neural network is established according to position coordinates of selected test points and received signal strength and is trained; and then, a final positioning result is obtained using the trained artificial neural network in combination with the received signal strength at a receiving end. In the training mode, the method can simultaneously consider direct light signals of a light source and diffuse reflection light signals from surfaces of walls and surfaces of other objects, and can use same in the positioning process after training is completed. The method proposed in the present invention is more accordant with a real application scenario, and the positioning result is more accurate; and relative to the traditional positioning method based on the received signal strength, the algorithm has the advantages of shorter operation time and higher efficiency.

Provided is a logistic vehicle control system based on visible light positioning and navigation. The logistic vehicle control system comprises a CCD camera, an infrared emitter, a motion control module, an LED positioning marker, and a server and a correlative communication network for system control, wherein the CCD camera, the infrared emitter, and the motion control module are installed on a logistic vehicle. The logistic vehicle control system acquires a unique response data signal of the LED positioning marker by means of an infrared synchronizing signal emitted from the infrared emitter on the logistic vehicle, acquires the information of the marker by decoding, measures distance to the marker by light intensity, acquires the accurate positional information of the logistic vehicle by using a RSSI triangular positioning method, uploads the positional information to the server in real time, and acquires a motion control instruction given by the server to achieve intelligent control. The logistic vehicle control system uses a visible light positioning manner, prevents multiple limitation of other indoor positioning manners, and is high in precision, simple in structure, easy to produce, and beneficial to intelligent control of logistic vehicles in factories and warehouses.

A visible light combined positioning system and method based on particle filter are disclosed, the visible light combined positioning method based on the particle filter (the method for short) and the system supporting the method are disclosed, and the visible light combined positioning method based on the particle filter is as follows: 1 initializing a cycle count value by a system initialization unit, setting a working mode Boolean value and a maximum cycle count value, and setting an initial coordinate value of a combined positioning position at the moment of K = 1; 2 producing particles; 3 resolving visible light positioning position coordinates, gathering inertial navigation motion parameters and determining a particle filter state equation; 4 calculating particle weight and normalizing; 5 resampling the particles to obtain a new particle swarm; 6 calculating combined positioning position coordinates; and 7 judging whether the cycle count value reaches the maximum count value, and performing corresponding operation. The system and the method greatly reduce errors caused by visible light positioning system signal shaking, map limitation and signal blockage, greatly overcomethe problem of pure inertial navigation system cumulative errors increasing with time, and have a wide application prospect.

The present invention discloses a polarization-based visible light positioning method and a hardware system thereof. Based on a polarization modulation technology, a light beam emitted out by a lamp generates the polarized light beams of different colors and different polarization directions via an emission end, a first polaroid at the emission end converts the non-polarized light emitted out by the lamp into the polarized light, a liquid crystal layer carries out the binary color shift keying (BCSK) modulation on the polarized light, and a dispersor disperses the polarized light emitted out by the liquid crystal layer into the polarized light of different colors. At a reception end, the light beam passes a second polaroid, only one beam of polarized light passes, the polarized light of other directions are filtered, and the polarization change of the light is transformed into the brightness change, thereby being captured by an image device accurately. By combining a camera-based angleof arrival (AOA) positioning algorithm, the higher-precision positioning is realized. According to the present invention, the calculation difficulty of the system can be reduced, the visible light positioning precision is improved, and the polarization-based visible light positioning method and the hardware system thereof are suitable for the electronic mobile terminal equipment, such as the intelligent mobile phones, the tablet personal computers, the Google glasses, etc.

The invention discloses a bookcase home decoration with intelligent visible light positioning. The bookcase home decoration with intelligent visible light positioning comprises a bookcase, the lower portion of the front of the bookcase is a storage cabinet, the upper portion of the bookcase is a four layers of bookshelves, the upper portion of the bookshelf clapboard is communicated with the back of the bookshelf, a guide rail is placed at each layer of the bookshelf, the upper portions of the guide rails are provided with book boxes, the book boxes comprises box bodies, extension springs, LED positioning lights and infrared induction switches, the back of the bookcase is provided with a positioning mechanism components and a control box, and the control box comprises a bookcase Bluetooth module, a single chip microcomputer, a storage device, a driving current and a power source. According to the bookcase home decoration with intelligent visible light positioning, the functions of automatic finding of books and correct positioning are achieved, and the trouble for a user to find books is relieved; through the infrared induction switches, the single chip microcomputer and an electric push rod, the book boxes are automatically pushed out; through the extension springs, a sliding block and the guide rails and the coordination of the infrared induction switches, the book boxes can be automatically recovered; by positioning through the LED light, the power consumption is low, and the interference is less, receiving is conducted through a mobile phone, there is no need to add a new device, and thus the bookcase home decoration can be bought by more users.

The invention discloses a visible light positioning method based on a particle filter algorithm and intelligent equipment, and the method comprises the steps: converting the intensities of optical signals, detected by a photodiode, of indoor LED anchor nodes and an LED reference point into distances, and carrying out the positioning of target equipment; carrying out the positioning of the target equipment; enabling a system to collect the sensor information of the target equipment; receiving the positioning information and sensor information of the target equipment, simulating a pedestrian track reckoning model, and determining the track of the target equipment; building an offline position database of the LED reference point; measuring the positioning information of the LED reference point, the target equipment and all LED anchor nodes in a system online environment, and finally determining the positioning tracking information of the target equipment. The visible light positioning method and system based on the particle filter algorithm and intelligent equipment improves the anti-sheltering capability of a tracking system, reduces the cost of the reference point, is high in tracking precision, is good in economic and social effects, and can be widely used in the field of indoor positioning and tracking.

The invention relates to an indoor visible light positioning and information push method based on frequency-shift keying, and belongs to the technical field of visible light communication. The method comprises the steps: modulating a signal comprising a data frame head, position information (ID) and data information through frequency-shift keying, and transmitting the signal through an LED; distinguishing different LEDs and the intensities of the LEDs at a receiving end through employing fast Fourier transform, obtaining the contents, transmitted by the LEDs, through inverse Fourier transform and a null point detection method, and obtaining the position information and the transmitted contents. The method is simple and practicable, is convenient to achieve, and can neglect the impact from background noises. Compared with a positioning method for transmitting the signal synchronously through the LEDs, the method reduces background redundancy, greatly improves the expansibility, and can eliminate the position error caused by background light.

The invention discloses an integrated location method based on unscented Kalman filtering and belongs to the technical field of indoor location and visible light location. The integrated location method comprises the following steps: 1, by using a system initialization unit, initializing a circulation count value, setting a working mode Boolean value and a maximum circulation count value, setting an integrated location initial coordinate value at a moment k=1, and setting an initial covariance; 2, by using an inertial navigation unit, acquiring inertial navigation movement parameters, and by using a visible light location unit, solving a visible light location coordinate; 3, by using a filtering and solving unit, setting equations and parameters of UKF (Unscented Kalman Filtering), and performing fusion filtering processing on inertial movement data and visible light location data of a carrier, so as to obtain a carrier position after filtering; 4, by using a position solving unit, calculating an integrated location coordinate of a moment k; 5, by the position solving unit, judging whether the circulation count value meets the maximum circulation count value or not, and determining whether the method is completed or not. By adopting the integrated location method, visible light location errors are effectively reduced, and the reliability, stability and practicability are relatively good.

The invention relates to a probe for pathological diagnosis of a tumor. The probe comprises a gold nano-cluster and an antibody to a tumor specific marker, wherein the gold nano-cluster and the antibody to the tumor specific marker are connected through a click chemistry manner, and a mol ratio of the gold nano-cluster to the antibody is 1:1 to 1: 100. The invention further provides a preparation method for the probe used for pathological diagnosis of the tumor and a kit including the probe. Since the gold nano-cluster has high peroxide mimic enzyme activity, the gold nano-cluster can catalyze reaction of a color developing agent and emit light in a visible light area, thereby realizing visible light positioning of tumor cells; since the gold nano-cluster has near infrared fluorescence characteristics, the gold nano-cluster emits fluorescent light under the action of exciting light, thereby realizing fluorescence localization of the tumor cells. Thus, the probe for pathological diagnosis of the tumor can realize dual positioning of the tumor cells, so the probe has high accuracy in pathological diagnosis of the tumor.

The invention relates to an indoor visible light asynchronous location method using a camera, belonging to the technical field of visible light communication. According to the technology core, a light emitting diode (LED) sends a signal asynchronously, and the indoor visible light is located by use of the camera of a smart terminal. Different frequencies of signals are applied to different LEDs, the camera of the smart terminal receives the signal sent by the LED and forms an image, and different LEDs are distinguished through algorithms, namely, a receiving end receives the signal sent by the LED and forms the image by use of the camera of the smart terminal, after the image is converted into a gray level image, fast Fourier transform is performed on gray level value data in the gray level image, LEDs sending signals of different frequencies are distinguished according to the magnitude spectrums of the Fourier transform, the positions of the LEDs are determined by use of an inlaid LED frequency-coordinate database of the smart terminal, the position of the smart terminal can be determined according to the position of the LED, so that the smart terminal realizes indoor location without extra modules.

The invention relates to the field of indoor positioning and specifically relates to a visible light positioning method and a visible light positioning system based on circular projection. According to the visible light positioning method, the pointing of the elliptical projection of a circular light-emitting plane at a receiving end is measured and then the horizontal position of the receiving end can be located; the method is capable of stably obtaining relatively high plane positioning accuracy by measuring the pointing of the projection; besides, as imaging detection and algorithm processing can be performed at the receiving end by use of portal devices such as a mobile phone, the hardware is extremely low in cost and convenient to carry; in short, the method has a great practical value.

The invention belongs to the field of light communication and particularly relates to a positioning and navigation system based on visible light communication. A visible light receiving and emitting array comprises a plurality of LED lamps arranged in a space and a plurality of first visible light receiving devices, the first visible light receiving devices are connected with a navigation server in a communication mode, visible light emitted by each LED lamp carries coded information, and visible light carrying service information is emitted by the navigation server through the LED lamps; the positioning and navigation module comprises a navigation device, a second visible light receiving device and a visible light emitting device, visible light carrying information and emitted by the LED lamps is received by the second visible light receiving device, light intensity of the received visible light is detected by the second visible light receiving device, the visible light carrying the information is emitted by the positioning and navigation module through the visible light emitting device, and after receiving the visible light, the first visible light receiving device sends the obtained information to the navigation server. According to the system, positioning, navigation and communication are achieved by the visible light, the accuracy is high, and when the system is in use, the system is healthy.

The invention belongs to the technical field of indoor positioning, and provides an anti-interference method based on light source array rotation characteristic in visible light positioning. The method employs a light source array for substituting a single light source, the light source array is distributed according to a clockwise or anticlockwise rule in a circulation mode according to ID of each spot light source; while receiving, an arrangement sequence of the spot light source in the light source array is monitored for screening the true and false of the light source. when a receiver is positioned, the light source array identified by a camera is verified; if the spot light source rotation order of the imaging light source array conforms to the condition while installing, the spot light source is the reliable light source, so that the rotation order can be substituted into a resolving process; if not, the spot light source is the fake light source formed by reflection, and the rotation order cannot be substituted into the resolving process. The method has the beneficial effect that compared with a traditional visible light positioning technology by taking the spot light source as a base, the method can effectively distinguish the real light source from the fake light source caused by reflection.

The invention provides a visible light positioning system and method based on timing sequence markers and relates to the field of LED optical communication and indoor positioning application. A sending terminal sends pseudorandom sequences having the same content through a plurality of LEDs according to different delays; a light detector of a receiving terminal detects multiple beams of signal light simultaneously, the signal light is converted into an electrical signal, self-correlation operation is conducted on the electrical signal and the pseudorandom sequences of the sending terminal, and timing sequences and correlated peak values corresponding to the signal light from the different LEDs are determined; the correlated peak values of signals from any three different LEDs and the coordinates of the corresponding LEDs are substituted into the equation that I(theta)=F(theta)*I0, simultaneous calculation is conducted, and the coordinates (x, y, z) of the light detector are obtained. Hardware of the sending terminal and the receiving terminal is simplified effectively, and meanwhile limitations on light source distribution are reduced.

The invention discloses an indoor visible light positioning method and apparatus. The indoor visible light positioning method comprises the following steps: collecting the image information of a target illumination light source and the spatial angle information of a receiving end in a preset space coordinate system, wherein the image information comprises the projection spot of the target illumination source; identifying the projection spot based on a preset algorithm, the sampling frequency of the receiving end, exposure parameters and a pixel size so as to obtain light source positioning parameters and spot positioning parameters; and carrying out calculation by using imaging positioning algorithms based on the spot positioning parameters, the light source positioning parameters, the spatial angle information and the focal length of the receiving end so as to obtain the absolute position of the receiving end in the preset space coordinate system. The method and apparatus of the invention can acquire the spot positioning parameters and the light source positioning parameters only through the spot of the image information of one illumination source during the positioning of the receiving end, so the absolute position of the receiving end in the preset space coordinate system is acquired in virtue of the spot positioning parameters and the light source positioning parameters.

The invention discloses a space-adjustable porous synchronous perforation method. The space-adjustable porous synchronous perforation method comprises the following steps of: step (1) mounting equipment, namely mounting a rack on a worktable, wherein the rack is provided with a plurality of perforating devices which are positioned at a horizontal sliding rail; each perforating device is provided with a visible light positioning transmitter; each visible light positioning transmitter implements projection on the worktable downwards vertically to form positioning points; step (2) adjusting the space between the perforating devices according to the spaces among pre-perforated holes; step (3) mounting cutters according to the specification and shape of the pre-perforated holes in the perforating devices; and step (4) clamping a to-be-perforated cloth material at a pressing device; vertically descending the perforating devices; perforating at preset positions; after perforation is ended, lifting the perforating devices, opening the clamping device, and taking away the perforated cloth material. According to the space-adjustable porous synchronous perforation method disclosed by the invention, the space between every two perforating devices is determined according to actual conditions, namely the perforation space is adjustable; a plurality of perforating devices descend simultaneously to implement perforation; the perforation quality is uniform and consistent; a plurality of holes can be formed at a time; and the perforation efficiency is greatly improved.

The invention discloses a CDMA coding method based on visible light indoor location. According to the method, multiple LEDs are arranged in a visible light indoor location system, intersymbol interference will be caused among the LEDs, and the location precision is seriously influenced. According to direct sequence code division multiple access modulation, signals which are overlapped both in a time domain and a frequency domain are separated by employing orthogonality of spread spectrum codes, further code division multiplexing can be realized, and the problem of intersymbol interference due to existence of multiple reference points in the VLC (Visible Light Communication) location system is solved. Compared with a traditional visible light communication location technology, the method has the advantages that the location precision is greatly improved, the system is simple, synchronous transmission is unnecessary, and the system performance is greatly improved. The method has wide application prospect.