CN110095754B - Walking light source locator and indoor horizontal walking light source positioning system - Google Patents

Abstract

The invention relates to a walking light source locator, which is fixed on the shoes worn by the positioning object, and comprises a hanging buckle, a pressure sensing switch and an LED light source emitter. The hook is used to fix the LED light source transmitter on the rear end of the shoe, and the pressure sensor switch is arranged under the heel; the emission direction of the LED light source is perpendicular to the ground, and the pressure sensor switch circuit is used to control the working state of the light source transmitter. The invention also relates to an indoor horizontal walking light source positioning system realized by using the positioning device, comprising an interlayer laid indoors and separated by a transparent floor, a walking light source positioner fixed on the sole of a positioning object, and a plurality of walking light source positioners arranged at the bottom of the interlayer. The multi-angle receiving sensing system.

Description

Walking light source locator and indoor horizontal walking light source positioning system

technical field

The invention relates to the technical field of visible light communication, in particular to an indoor horizontal walking light source positioning system based on LEDs.

Background technique

With the development and progress of LED light source technology, white LEDs with the advantages of high brightness, low power consumption and long life have gradually replaced fluorescent lamps and incandescent lamps. Due to the convenient modulation and rapid response of white light LED communication, it has obvious advantages compared with infrared, ultraviolet, radio frequency and other methods in terms of harmless radiation, confidentiality, stability, etc., and has become an emerging visible light communication (VLC) method. Indoor positioning field. The existing LED positioning methods can maintain the stability of the channel and have strong operability, but they lack a targeted model for the tracking and positioning sampling requirements of indoor walking targets, and the acquisition and processing of radio frequency signals under the condition of single light source and multiple receivers is less studied.

Specifically, in some clean workshops, traditional GPS positioning has the characteristics of wireless weak current signal shielding, positioning error, and position delay determination. These characteristics make users face many problems in terms of the large difference between the positioning data and the actual walking behavior, and the wrong determination of the state of the mobile device. And for the positioning object, the electromagnetic radiation generated by a variety of modern electrical equipment indoors brings great challenges to the normal operation of the positioning terminal. Since the electromagnetic radiation interference of electrical equipment and the action state of the positioning object will seriously affect the positioning efficiency, it is necessary to study how to make full use of the incident light to determine the behavior characteristics of the walking target, avoid or reduce the interference, avoid the walking positioning delay and the error method and measure, which has become a This is a big challenge in the design of the positioning system.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a walking light source locator and an indoor horizontal walking light source locating system using the locator. The invention can realize the continuous positioning of the multi-white light LED receiver to the horizontal walking process of the same transmitter. The technical solution is as follows:

A walking light source locator, which is fixed on a shoe worn by a positioning object, includes a hanging buckle, a pressure sensing switch and an LED light source emitter, wherein the hanging buckle is used to fix the LED light source emitter on the rear end of the shoe, and the pressure The sensor switch is arranged under the heel; the emission direction of the LED light source is perpendicular to the ground, and the pressure sensor switch circuit is used to control the working state of the light source transmitter, that is: when walking, the heel is stepped on by force, and the pressure sensor The switch controls the internal circuit of the light source transmitter to close, and the emitted light beam is vertically downward for positioning; when stepping, the pressure sensor switch has no pressure, and the internal circuit of the transmitter is disconnected, thereby determining the walking step position.

At the same time, the present invention is a very rough indoor horizontal walking light source positioning system realized by using the positioning device, the positioning object is a person, and the positioning system includes an interlayer laid indoors and separated by a transparent floor, a positioning object fixed on the sole of the object. A walking light source locator and a plurality of multi-angle receiving and sensing systems arranged at the bottom of the mezzanine. The multi-angle receiving and sensing system includes an optical signal receiver and a convergence center. Three or more sensors are arranged in the mezzanine separated by the indoor transparent floor. The optical signal receiver monitors the incident illuminance of the LED light source and transmits the monitoring data to the convergence center. A single receiver can only determine the horizontal position range of the walking positioning object on a horizontal circle on the upper surface of the transparent floor. , the width of the circle is determined by the preset illuminance error threshold, and the position of the positioning object at a certain time point is determined by the horizontal circle range of the superimposed part of the three receivers where the received incident light signal is the strongest.

Description of drawings

Fig. 1 is the system flow chart of the present invention

Figure 2 is a multi-receiver setup of the present invention

Fig. 3 is the positioning determination based on multiple receivers of the present invention

Fig. 4 is the white LED light source of the present invention and the positioning object assembly

Fig. 5 is the continuous monitoring of the present invention to obtain the walking speed and path, and the receiver switching for effective monitoring.

Detailed ways

Detailed reference is now provided for the practice of the present invention. The following embodiments will be described with reference to the drawings for the purpose of explaining the present invention.

In the method proposed by the present invention, based on the light beam transceiver system of the white LED, an indoor interlayer separated by a transparent floor is established. The center of the LED light source is irradiated vertically downward and the illumination angle range is fixed. According to the different incident angles and different photoelectric energy formed by the same LED light source on multiple receivers, the basic model of data acquisition is established, and the data collection is carried out at the convergence center connecting all the receivers. By comparative analysis, the change of the walking path of the linear positioning object is obtained, and its behavior state is determined. The white LED positioning method designed on the basis of the above model completely avoids the interference of the electromagnetic radiation of electrical equipment on the working condition of the positioning terminal in the room, and at the same time, it can quickly and accurately provide position information and improve the positioning efficiency.

Wherein, above the transparent floor is the walking area of the positioning object, a certain point on the upper surface of the transparent floor is the position where the light beam is emitted; the interlayer below the transparent floor is the receiving area. At the same time point, the LED white light irradiation direction is vertically downward, but the light beam transmitted to a certain receiver has the same transmission angle _θ1 in the walking area and the receiving area. The illuminance relationship between the light source and the receiver can be determined according to the formula (1) Find:

Received illuminance = vertical illuminance of light source × cosθ ₁ (1)

Since the vertical illuminance of the light source is fixed, the received illuminance value is directly related to the transmission angle θ ₁ . Assuming that the refraction angle of the light beam in a certain transparent material is θ ₂ unchanged, the refraction angle relationship θ _ratio = θ ₂ /θ ₁ can be established from the thickness of the transparent floor and the height of the interlayer space of the material. When received by a single receiver, if both θ ₁ and θ ₂ are ≤90°, the θ _ratio and the difference of the received light displacement formed at the bottom of the interlayer have a linear mapping relationship, so that the difference is known. Then, the horizontal coordinate range of the LED light source at this time is within the horizontal circle range with the horizontal coordinate of a single receiver as the center and the above difference distance as the radius. To sum up, the three receivers that receive the strongest illumination of the same LED light source take their respective positioning circles to intersect at the same point, and the coordinates of the LED light source can be jointly determined.

Fig. 1 has shown the four step development sequence of the present invention, respectively:

(1) Determine the monitoring area and receiver setting and testing: Install the receiver in the interlayer separated by a transparent floor in the clean room, and set up a multi-angle receiving and sensing system at the bottom of the interlayer. All optical signal receivers are wired to the convergence center for receiver testing.

(2) LED light source setting and testing: Set the light source according to step 2. Use any receiver to test the continuous stability of the illumination of each light source. Put the light source on each corner of the wall and test whether it can ensure that there are more than 3 receivers to collect the correct position data.

(3) Positioning object setting and light source installation: Based on (2), the light source transmitter is fixedly installed on the bottom of the shoes worn by the walking positioning object, and the center of the light source is installed vertically downward. The positioning object has a built-in sensor motherboard and battery module. Test Whether the walking behavior of the positioning object is normal, and whether the light source has no obvious vibration.

(4) Continuous walking positioning test of positioning object with light source: Based on (1), (2), (3), the position and trajectory of positioning object during speed change and direction change driving are tested by remote control, and compared with video and video accuracy. Test the self-switching situation of the positioning data source due to the change of the incident light intensity of each receiver when the positioning object is walking.

Figure 2 shows a multi-receiver setup. As the monitoring area, each wall angle is required to be [90°, 180°].

(1) Fig. 2(a) is a cross-sectional view of the lower side of the ceiling. The receivers (A, B, C, D, E) are evenly distributed in the room. It is required that after any transmitter is turned on, the optical signal generated when it walks on the horizontal point of the walking area (the upper surface of the transparent floor) can be effectively received by three or more receivers, and the positioning data will be generated at the convergence center. The edge position data collection can be done by doing the test at the wall E and the corner positions A, B, C, and D of the wall. For example, the position E of the transmitter is the most unfavorable edge position, and the LED beam emitted by it can still be effectively received by the receivers A, C, and D, and its position data is transmitted to the convergence center.

(2) Figure 2(b) is a cross-sectional view of the location of any receiver in the room. Install a mezzanine below the room, and the number of receivers (≥3) is determined by the working mode and monitoring requirements. It is required that each receiver is required to perform circuit and network wiring at the bottom of the mezzanine, and connect the AC power supply and the convergence center. In the receiving area, the receivers are arranged to meet the requirements of the corners of the walking area and the most unfavorable distance points on the walls. The monitoring position is within the range of the monitoring distance to ensure that there are no blind spots for monitoring.

Figure 3 is a multi-receiver based positioning decision. For any positioning object α equipped with an LED light source, at a certain point in time, receivers A, B, and C are the three receivers with the strongest incident illuminance, and the positioning data is comprehensively determined. At this time, take receivers A, B, and C to receive the incident light illuminance, and analyze the circle ranges αA, αB, and αC on the upper surface of the transparent floor. The intersection area of the three circles is the position of the positioning object α at this time point. The upper threshold of the circle width is preset to 0.01m.

Figure 4 is a white LED light source and positioning object assembly. The solid line in the figure is the power supply line, and the dashed line is the control line. The positioning object is a human or other animal with alternating two or four legs. A walking light source locator is designed, specifically: an LED light source emitter is installed on the bottom of the shoes worn by the positioning object. The transmitter consists of a hook, a pressure sensor switch, and a battery. The hanging buckle fixes the transmitter at the back end of the shoe, and the pressure sensor switch is set under the heel. As far as assembly is concerned, the battery is selected according to the principle that its power supply voltage and energy storage can meet the requirements of the pressure sensor switch and light source; the pressure sensor switch and the light source transmitter are in a parallel relationship in terms of energy consumption, and are connected in series with the main board and the battery. ; The main board only plays the role of power transmission and light source transmitter control connection, no power consumption. The pressure sensor switch is arranged at the bottom and is horizontal to the ground; the emission direction of the light source transmitter is perpendicular to the ground, and the relative position and setting direction of the two are fixed, thus ensuring that the beam emission direction is vertical to the ground. At the same time, the pressure sensor switch circuit is directly connected to the light source transmitter to control the working state of the light source transmitter, that is: when the shoe heel is stepped on by force, the pressure sensor switch controls the internal circuit of the light source transmitter to close, and the emitted light beam is Vertical downward, instant positioning is achieved; when stepping, the pressure sensor switch has no pressure, and the internal circuit of the transmitter is disconnected. From this, the walking step position can be determined.

Figure 5 shows the walking speed and path obtained by continuously monitoring the stepping position during the walking process of the positioning object, and the receiver switching for effective monitoring. When in position 1, the position information of the positioning object α is determined by receivers A, C, and D; after walking to position 2, the position information of the positioning object is determined by receivers A, B, and D.

Claims (1)

1. An indoor water parallel light source positioning system for positioning a human body comprises an interlayer which is laid indoors and is separated by a transparent floor, a walking light source positioner which is fixed at the sole of the positioned object, and a plurality of multi-angle receiving and sensing systems which are arranged at the bottom of the interlayer, wherein,

the walking light source positioner is fixed on a shoe worn by a positioning object and comprises a hanging buckle, a pressure sensing switch and an LED light source emitter, wherein the hanging buckle is used for fixing the LED light source emitter at the rear end of the shoe, and the pressure sensing switch is arranged below a heel; the emitting direction of LED light source is perpendicular with ground, and pressure sensing switch circuit is used for controlling LED light source transmitter operating condition, promptly: when walking and stepping, the heel part is stressed and stepped, the pressure sensing switch controls the internal circuit of the LED light source emitter to be closed, and the emitted light beam is vertically downward for positioning; when the user takes a step, the pressure sensing switch has no pressure, and the circuit in the emitter is disconnected, so that the walking and stepping positions are judged;

the multi-angle receiving and sensing system comprises an optical signal receiver and a convergence center, wherein more than 3 optical signal receivers are arranged in an interlayer separated by an indoor transparent floor, the incident light illumination of an LED light source is monitored, the obtained monitoring data are transmitted to the convergence center, wherein a single optical signal receiver can only judge the horizontal position range of a walking positioning object on a certain horizontal circle on the upper surface of the transparent floor, the circle width is determined by a preset illumination error threshold, and the position of the positioning object at a certain time point is determined by the horizontal circle range of the superposed part of the 3 optical signal receivers with the strongest received incident light signals.

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