WO2019149190A1 - Optical signal-based positioning device, method, and system - Google Patents

Abstract

An optical signal-based positioning device (100), a method, and a system (10), pertaining to the technical field of photoelectric signals. The optical signal-based positioning device (100) comprises: an optical signal transmission module (110) and an optical signal processing module (120). The optical signal transmission module (110) and the optical signal processing module (120) are optically coupled. The optical signal transmission module (110) is configured to be mounted on an object under test, and to determine whether a moving speed of the object under test meets a pre-determined condition. If the moving speed meets the pre-determined condition, positioning light is emitted by a positioning light source (1131), and blinking light is emitted by at least two light sources (1132) (S100). The optical signal processing module (120) is configured to obtain positioning information of the object under test according to captured positioning light, and to determine a position change condition of the object under test according to at least two captured blinking light beams and the positioning information (S200). The invention realizes controlled power consumption by using the optical signal transmission module (110) to emit blinking light according to a moving speed, and achieves accurate mid-to-long range identification, positioning, and tracking of an object under test by using the optical signal processing module (120) to capture blinking light, transmitted by the optical signal transmission module (110), on the object under test.

Description

Optical signal positioning device, method and system

Cross-reference to related applications

The present application claims priority to Chinese Patent Application No. 2018100995056, entitled "Optical Signal Positioning Apparatus, Method and System", filed on Jan. 31, 2018, the entire contents of which is incorporated herein by reference. .

Technical field

The present disclosure relates to the field of optoelectronic signal technology, and in particular to an optical signal positioning apparatus, method and system.

Background technique

With the development and advancement of science and technology, the technology for positioning objects is widely used in society.

At present, the GPS-mounted object to be tested can be positioned by GPS (Global Positioning System, Global Positioning System). Although GPS can achieve long-distance positioning, the positioning is not accurate enough. In addition, RFID (Radio Frequency Identification) can be used to locate RFID-mounted objects to be tested. Although RFID has a high positioning accuracy, since RFID needs to be positioned by sensing, it can only be applied to close-range positioning, so its application range is greatly limited. Moreover, in the precise positioning, whether it is RFID or other technologies, its power consumption is high, and energy saving cannot be achieved.

Summary of the invention

In view of the above, it is an object of the present disclosure to provide an optical signal locating apparatus, method and system that are capable of at least partially improving the above problems.

The implementation of the present disclosure is as follows:

In a first aspect, the present disclosure provides an optical signal positioning apparatus, where the optical signal positioning apparatus includes: an optical signal transmitting module and an optical signal processing module, the optical signal transmitting module and the optical signal processing module are optically coupled, The optical signal transmitting module is configured to be mounted on the object to be tested. The optical signal sending module is configured to determine whether the moving speed of the object to be tested satisfies a preset condition. When yes, the positioning light source emits positioning light, and the at least two light sources emit the scintillating light. The optical signal processing module is configured to obtain positioning information of the object to be tested according to the collected positioning light, and determine a position change of the object to be tested according to the collected at least two pieces of scintillating light and the positioning information. Happening.

In a second aspect, the present disclosure provides an optical signal positioning method, where the method is applied to an optical signal positioning apparatus, where the optical signal positioning apparatus includes: an optical signal sending module and an optical signal processing module, and the optical signal sending module and the The optical signal processing module is optically coupled, and the optical signal transmitting module is configured to be mounted on the object to be tested. The method includes: determining, by the optical signal sending module, whether a moving speed of the object to be tested meets a preset condition, and when yes, transmitting the positioning light by the positioning light source, and emitting the flashing light by the at least two light sources; The optical signal processing module obtains the positioning information of the object to be tested according to the collected positioning light, and determines a position change of the object to be tested according to the collected at least two pieces of scintillation light and the positioning information.

In a third aspect, the present disclosure provides an optical signal positioning system, where the optical signal positioning system includes: an object to be tested and the optical signal positioning device, wherein the optical signal transmitting module in the optical signal positioning device is installed in the Said on the object.

DRAWINGS

In order to more clearly illustrate the present disclosure or the technical solutions in the prior art, the drawings to be used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present disclosure. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work. The above and other objects, features and advantages of the present invention will become more apparent from the claims. The same reference numerals are used throughout the drawings to refer to the same parts. The drawings are not intended to be scaled to scale in actual size, with emphasis on the gist of the present disclosure.

1 is a structural diagram of an optical signal positioning system provided by the present disclosure;

2 is a structural block diagram of an optical signal positioning apparatus provided by the present disclosure;

3 is a block diagram showing still another structural tube of the optical signal positioning device provided by the present disclosure;

4 is a schematic structural diagram of an optical signal transmitting unit and an optical signal receiving unit in an optical signal positioning apparatus provided by the present disclosure;

FIG. 5 is a first exemplary diagram showing at least two ways of scintillating light of an optical signal transmitting module in an optical signal positioning apparatus provided by the present disclosure; FIG.

6 is a second exemplary diagram showing at least two pieces of scintillation light of an optical signal transmitting module in an optical signal positioning apparatus provided by the present disclosure;

7 is a diagram showing an example of performing calibration error calibration by a calibration subunit in an optical signal positioning apparatus provided by the present disclosure;

FIG. 8 is a flowchart of a method for positioning an optical signal provided by the present disclosure;

FIG. 9 is a flowchart of step S100 in the optical signal positioning method provided by the present disclosure;

FIG. 10 is a flowchart showing step S200 in the optical signal positioning method provided by the present disclosure;

FIG. 11 shows still another flow chart of the optical signal localization method provided by the present disclosure.

Icon: 10-optical signal positioning system; 11-substance; 100-optical signal locating device; 110-optical signal transmitting module; 111-motion sensing unit; 112-optical signal encoding unit; 1122-first coding subunit; 113-optical signal transmission unit; 1131-positioning light source; 1132-light source; 120-optical signal processing module; 121-optical signal receiving unit; 1211-single-band coded signal acquisition sensor; Band positioning signal acquisition sensor; 122-optical signal processing unit; 1221-identification sub-unit; 1222-check sub-unit; 1223-calibration sub-unit; 1224-second coding sub-unit; 1225-second communication sub-unit.

Detailed ways

The technical solutions in the present disclosure will be clearly and completely described in the following with reference to the accompanying drawings in the present disclosure. It is obvious that the described embodiments are a part of the embodiments of the present invention. Instead of all the embodiments. The components of the present disclosure, which are generally described and illustrated in the figures herein, can be arranged and designed in a variety of different configurations.

The detailed description of the embodiments of the present disclosure, which is set forth in the claims All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure without departing from the inventive scope are the scope of the disclosure.

It should be noted that similar reference numerals and letters indicate similar items in the following figures, and therefore, once an item is defined in a drawing, it is not necessary to further define and explain it in the subsequent drawings. The terms "first", "second", etc. are used only to distinguish a description, and are not to be construed as indicating or implying a relative importance.

In the description of the present disclosure, it should also be noted that the terms "setting", "installing", "connecting", "connecting", and "connecting" should be understood broadly, unless specifically stated and defined, for example, It is a fixed connection, or it can be a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be internal communication between the two elements. The specific meanings of the above terms in the present disclosure can be understood in the specific circumstances by those skilled in the art.

1 and FIG. 2, FIG. 1 is a connection block diagram of an optical signal positioning system 10 provided by the present disclosure, and FIG. 2 is a connection diagram of an optical signal positioning apparatus 100 provided by the present disclosure. The optical signal positioning system 10 includes an object to be tested 11 and an optical signal positioning device 100. The optical signal positioning apparatus 100 includes an optical signal transmitting module 110 and an optical signal processing module 120, wherein the optical signal transmitting module 110 and the optical signal processing module 120 are optically coupled.

The object to be tested 11 may be an object that needs to be tracked, which may be, for example, a person, an animal, a drone, or the like. The optical signal transmitting module 110 in the optical signal positioning device 100 can be mounted on the object to be tested 11. When the optical signal transmitting module 110 in the optical signal positioning device 100 transmits the positioning light and the at least two flashing lights, the optical signal processing module 120 in the optical signal positioning device 100 respectively collects the positioning light and the at least two The road flashes light, and determines the position change of the object to be tested 11 according to the collected positioning light and the at least two paths of scintillation light, thereby achieving accurate tracking and precise positioning of the object to be tested 11 over a long distance.

In this embodiment, the optical signal sending module 110 may include a positioning light source and at least two light sources. In this case, the optical signal transmitting module 110 is configured to determine whether the moving speed of the object to be tested 11 satisfies a preset condition. When YES, the positioning light is emitted by the positioning light source, and the scintillating light is emitted by the at least two light sources.

The optical signal processing module 120 is configured to obtain positioning information of the object to be tested 11 according to the collected positioning light, and determine a position change of the object to be tested 11 according to the collected at least two pieces of scintillation light and positioning information.

Referring to FIG. 3, the optical signal transmitting module 110 may include: a motion sensing unit 111, an optical signal encoding unit 112, and an optical signal transmitting unit 113. The motion sensing unit 111 and the optical signal encoding unit 112 are both connected to the optical signal transmitting unit 113, and the optical signal transmitting unit 113 and the optical signal processing module 120 are optically coupled.

The motion sensing unit 111 is configured to determine whether the moving speed meets a preset condition, and when yes, generate a trigger signal to the optical signal transmitting unit 113.

Specifically, in the embodiment, the motion sensing unit 111 may be an integrated circuit chip. For example, the motion sensing unit 111 may be a processing chip integrated with a three-axis acceleration sensor, but is not limited to the embodiment. With the movement of the object to be tested 11, the motion sensing unit 111 can accordingly sample the current moving speed of the object to be tested 11, and can determine whether the moving speed of the sampling meets the preset condition. The manner in which the motion sensing unit 111 determines whether the moving speed meets the preset condition may be: determining whether the moving speed is greater than or equal to a preset preset speed value. When it is determined that the moving speed is greater than or equal to the preset speed value, it may be determined that the preset condition is met, the motion sensing unit 111 may generate a trigger signal according to the preset control program, and continuously output the trigger signal to the optical signal sending unit. 113. When it is determined that the moving speed is less than the preset speed value, it may be determined that the preset condition is not satisfied, and the motion sensing unit 111 may generate a stop trigger signal according to the preset control program, and continuously output the stop trigger signal to the optical signal. The transmitting unit 113 stops generating and stopping the output of the stop trigger signal until the trigger signal is generated again.

It can be understood that continuously outputting the trigger signal can be realized by continuously applying a high level to the optical signal transmitting unit 113; accordingly, continuously outputting the stop trigger signal can be continuously applied to the optical signal transmitting unit 113 by a low power Flat to achieve. Conversely, the trigger signal can also be low, and accordingly, the stop trigger signal can also be high.

As shown in FIG. 3, the optical signal encoding unit 112 is configured to generate optical signal data based on the tag information of the object 11 to be detected obtained from the optical signal processing module 120, and transmit the optical signal data to the optical signal transmitting unit 113.

Specifically, the optical signal encoding unit 112 includes a first communication subunit 1121 and a first encoding subunit 1122. The first communication sub-unit 1121 is connected to the optical signal processing module 120 through a wireless data network, and the first coding sub-unit 1122 is electrically connected to the first communication sub-unit 1121 and the optical signal processing module 120, respectively.

The first communication subunit 1121 can be an integrated circuit chip that has the ability to receive and process signals. In this embodiment, the first communication sub-unit 1121 can acquire the label information, the optical signal transmission rule, and the optical signal coding rule of the object 11 to be detected by the optical signal processing module 120, and then the label information, the optical signal transmission rule, and the optical signal. The encoding rules are all sent to the first encoding sub-unit 1122. In addition, the first communication sub-unit 1121 can also acquire the control instruction sent by the optical signal processing module 120, and after obtaining the control instruction, forward the control instruction to the first coding sub-unit 1122.

The first encoding subunit 1122 can be an integrated circuit chip that also has the ability to receive and process signals. In this embodiment, after acquiring the tag information, the optical signal transmission rule, and the optical signal coding rule, the first coding sub-unit 1122 stores the tag information, the optical signal transmission rule, and the optical signal coding rule. When the first encoding subunit 1122 acquires the control instruction forwarded by the first communication subunit 1121, the first encoding subunit 1122 parses the control instruction to perform a control operation based on the control instruction. Specifically, the control operation may include, but is not limited to, if the first coding sub-unit 1122 determines that the control instruction indicates to perform optical signal transmission by parsing, the first coding sub-unit 1122 invokes the stored optical signal transmission rule and optical signal coding. The rule encodes and generates optical signal data corresponding to the stored tag information, and transmits the optical signal data to the optical signal transmitting unit 113; and/or, if the first encoding subunit 1122 determines, by analyzing, the control instruction to perform light In the signal check, the first encoding subunit 1122 calls the stored optical signal transmission rule and the optical signal encoding rule to encode and generate the optical signal calibration data, and transmits the optical signal calibration data to the optical signal transmitting unit 113.

Referring to FIG. 4, the optical signal transmitting unit 113 may be a circuit integrated with a plurality of circuits. To facilitate the transmission of the scintillation light and the positioning light, the optical signal transmitting unit 113 includes a positioning light source 1131 and at least two light sources 1132. The number of light sources 1132 can be selected according to actual implementation, for example, 3 or 4 are selected.

In the working state, after the optical signal transmitting unit 113 acquires the optical signal data or the optical signal calibration data, the optical signal data or the optical signal calibration data may be stored. When the optical signal transmitting unit 113 obtains the trigger signal, first, the processing circuit of the optical signal transmitting unit 113 can control the positioning light source 1131 to continuously transmit the positioning light of one continuous state. In this embodiment, the positioning light source 1131 can be a single-band transmitting head, that is, the positioning light source 1131 transmits a positioning light of a specific wavelength band. The positioning light may be a band of visible light or a band other than visible light. To facilitate understanding of the present disclosure, the present embodiment is exemplified by visible light, but is not limited to the embodiment.

While transmitting the positioning light, the processing circuit of the optical signal transmitting unit 113 may parse the optical signal data or the optical signal calibration data to control the at least two according to the optical signal data or the analysis result of the optical signal calibration data. The light source 1132 respectively transmits a corresponding one-way scintillation light, thereby emitting at least two pieces of scintillation light. In this embodiment, each light source 1132 can be a single-band transmitting head, that is, each light source 1132 can transmit a band of scintillating light, and the at least two light sources 1132 send different bands of scintillating light, and each The wavelength band of the scintillation light transmitted by the light source 1132 and the wavelength band of the positioning light transmitted by the positioning light source 1131 are also different.

Moreover, each light source 1132 emits a flash of light and synchronizes with other light sources 1132 to maintain a period of flicker retention period and frequency. In other words, the at least two light sources 1132 emit scintillation light at the same period and frequency. The blinking light sent by each light source 1132 may be a visible light band or a different wavelength band than visible light. To facilitate understanding of the present disclosure, the present embodiment is exemplified by visible light, but is not intended to be used in this embodiment. The definition of the example. In addition, when the optical signal transmitting unit 113 obtains the stop trigger signal, the optical signal transmitting unit 113 stops transmitting at least two pieces of blinking light regardless of whether the optical signal transmitting unit 113 is transmitting at least two pieces of blinking light.

It should be noted that, in this embodiment, the optical signal sending module 110 acquires the label information, the optical signal sending rule, and the optical signal encoding rule before the optical signal positioning apparatus 100 operates normally. When the optical signal positioning apparatus 100 operates normally, it is not necessary to acquire the label information, the optical signal transmission rule, and the optical signal coding rule. Until any one of the label information, the optical signal transmission rule, and the optical signal coding rule needs to be updated, the optical signal sending module 110 acquires the label information, the optical signal transmission rule, and the optical signal coding rule again, thereby completing the update of the original stored data.

Referring to FIG. 3, FIG. 4 and FIG. 5, FIG. 5 shows an exemplary diagram of at least two pieces of scintillation light emitted by the optical signal transmitting module 110 in this embodiment. The optical signal transmitting module 110 has three light sources 1132 as an example. The three light sources 1132 are an A light source 1132, a B light source 1132, and a C light source 1132, respectively. Among them, the A light source 1132 emits blue light, the B light source 1132 emits green light, and the C light source 1132 emits red light. As an optional manner, the tag information of the object to be tested 11 may have a certain data format, and the data format of the tag information may include, for example, a start bit, a data bit, and a check bit. The optical signal transmitting module 110 transmits at least two pieces of scintillating light according to the optical signal data, and each of the scintillating lights should correspond to the data format of the tag information. For example, when the identifier of the start bit in the tag information is S, the data bit is 5621, and the identifier of the check digit is C. In this way, the number of codes that can be expressed by the tag information is (2 ^m -2) ⁿ , where m is the number of data, that is, the number of paths of the included scintillation light, and also the number of bands; n is the number of data bits.

Each of the light sources 1132 emits a blinking light corresponding to an optical signal data by continuously turning on or off. The bright light may be 1 and the extinguished corresponding to 0, but is not limited. In the scenario shown in FIG. 5, it is assumed that the combination is performed in the order of CBA, and each data bit in the tag information is expressed in hexadecimal. After starting to transmit, the A light source 1132, the B light source 1132, and the C light source 1132 are all synchronized. To indicate that the start bit is S. After that, the A light source 1132 is turned on, the B light source 1132 is off, and the C light source 1132 is bright, that is, the signal value of the A light source 1132 is 1, the signal value of the B light source 1132 is 0, and the signal value of the C light source 1132 is 1, and the three are combined. 101, which is represented by hexadecimal, is 5, and the value of the corresponding data bit in the tag information is 5. After that, the A light source 1132 is off, the B light source 1132 is bright, and the C light source 1132 is bright, that is, the signal value of the A light source 1132 is 0, the signal value of the B light, 1132 is 1, and the signal value of the C light source 1132 is 1, the combination of the three When it is 011, the value of the corresponding data bit in the tag information is 6. After that, the A light source 1132 is off, the B light source 1132 is on, and the C light source 1132 is off, that is, the signal value of the A light source 1132 is 0, the signal value of the B light source 1132 is 1, and the signal value of the C light source 1132 is 0. 010, expressed as 2 in hexadecimal, the value of the corresponding data bit in the tag information is 2. After that, the A light source 1132 is turned on, the B light source 1132 is off, and the C light source 1132 is off, that is, the signal value of the A light source 1132 is 1, the signal value of the B light source 1132 is 0, and the signal value of the C light source 1132 is 0. 100, expressed as 4 in hexadecimal, the value of the corresponding data bit in the tag information is 1. Finally, the A light source 1132 is off, the B light source 1132 is on, and the C light source 1132 is off to indicate that the check bit is C. After the data transmission of the check digit is completed, the optical signal transmitting module 110 completes the transmission of at least two flashing lights of the current time.

It should be noted that, in order to facilitate the identification, location, and determination of each flashing light by the optical signal processing module 120, at least two flashing lights in the optical signal transmitting module 110 are sent to the data bits in the tag information, that is, the current signal. When corresponding to the data bits in the tag information, at least two of the light sources 1132 cannot be fully illuminated or extinguished. In addition, it should be noted that the data bits in the tag information may also be other hexadecimal data, which may be determined according to the number of the light sources 1132.

Referring to FIG. 3, FIG. 4 and FIG. 6, FIG. 6 shows still another example of at least two pieces of scintillation light transmitted by the optical signal transmitting module 110 in this embodiment. For example, the optical signal transmitting module 110 has three light sources 1132, which are an A light source 1132, a B light source 1132, and a C light source 1132, respectively. Among them, the A light source 1132 emits blue light, the B light source 1132 emits green light, and the C light source 1132 emits red light. As a way, the optical signal calibration data may also have a certain data format. The data format of the optical signal calibration data may include, for example, a calibration data header and check code data of each light source 1132. It can be understood that the verification at this time refers to the calibration of the threshold of each light source 1132. When the optical signal transmitting module 110 transmits at least two corresponding blinking lights according to the optical signal calibration data, each of the scintillating lights should also correspond to the data format of the optical signal calibration data. For example, after the verification transmission is started, the A light source 1132, the B light source 1132, and the C light source 1132 are both turned on and off synchronously to indicate the calibration data header. Thereafter, the A light source 1132 is sequentially turned off, and the B light source 1132 and the C light source 1132 are sequentially turned on and off sequentially to indicate the check code data of the A light source 1132. Thereafter, the B light source 1132 is sequentially turned off, and the A light source 1132 and the C light source 1132 are sequentially turned on and off sequentially to indicate the check code data of the B light source 1132. Finally, the C light source 1132 is sequentially turned off, and the A light source 1132 and the B light source 1132 are sequentially turned on and off to indicate the check code data of the C light source 1132. After the transmission of the check code data of the C light source 1132 is completed, the optical signal transmitting module 110 completes the transmission of at least two flashes of light this time.

Referring to FIG. 3 and FIG. 4 again, the optical signal processing module 120 may include an optical signal receiving unit 121 and an optical signal processing unit 122. The optical signal receiving unit 121 is optically coupled to the optical signal transmitting module 110, the optical signal receiving unit 121 is coupled to the optical signal processing unit 122, and the optical signal processing unit 122 is coupled to the optical signal transmitting module 110 via a wireless data network.

The optical signal receiving unit 121 is configured to obtain positioning information according to the collected positioning light, and obtain a sampling light flashing sequence of each of the at least two flashing lights sampled, and obtain a sampling light of each of the obtained scintillating lights. Both timing and positioning information is sent to optical signal processing unit 122.

In this embodiment, the optical signal receiving unit 121 may include: a single-band positioning signal acquisition sensor 1212 and at least two single-band encoded signal acquisition sensors 1211 that are in one-to-one correspondence with the at least two light sources. The single-band coded signal acquisition sensor 1211 and the light source 1132 are the same in number, and each single-band coded signal acquisition sensor 1211 collects the same band as one light source 1132. In other words, the band acquired by each single-band coded signal acquisition sensor 1211 is the same as the band of the light source 1132 corresponding to the single-band coded signal acquisition sensor 1211.

The optical signal receiving unit 121 may be a circuit in which a plurality of circuits are integrated. Each of the single-segment coded signal acquisition sensors 1211 in the optical signal receiving unit 121 correspondingly collects one way of blinking light transmitted by one light source 1132. In other words, in the optical signal receiving unit 121, each of the single-band encoded signal acquisition sensors 1211 is configured to collect a flash of light transmitted by the light source 1132 corresponding to the single-band encoded signal acquisition sensor 1211. For example, the single-band encoded signal acquisition sensor 1211 collects green light, and the single-band encoded signal acquisition sensor 1211 is configured to acquire the scintillation light emitted by the light source 1132 that emits green light. After each single-band acquisition sensor 1211 collects a corresponding one-way flashing light, the processing circuit in the optical signal receiving unit 121 can generate a corresponding sampling light-flashing sequence based on the scintillation light collected by each single-band acquisition sensor 1211. It can be understood that one flashing light is continuously blinking for the corresponding light source 1132, so multiple frames can be included in the sampling light flash timing. The optical signal receiving unit 121 sends each sampling light flash timing to the optical signal processing unit 122 after acquiring the corresponding sampling light flash timing according to the scintillation light collected by each single-band acquisition sensor 1121.

The single-band positioning signal acquisition sensor 1212 collects the same wavelength band as the positioning light source 1131. Therefore, the single-band positioning signal acquisition sensor 1212 in the optical signal receiving unit 121 can collect the positioning light continuously transmitted by the positioning light source 1131. Specifically, the single-band positioning signal acquisition sensor 1212 may include a camera group having a narrow-band high-transmission filter having the same wavelength as the positioning light. Optionally, the single-band positioning signal acquisition sensor 1212 may include two of the camera groups, and the two camera groups may be an A camera and a B camera, respectively.

When the positioning light source 1131 continuously emits the normally-on positioning light, the single-band positioning signal acquisition sensor 1212 can calculate the positioning information of the positioning light source 1131 according to the positioning light collected by the A camera and the B camera according to the binocular positioning principle. The positioning information is a location where the positioning light source 1131 transmits the positioning light at each sampling moment. Thereafter, the optical signal receiving unit 121 transmits the positioning information to the optical signal processing unit 122.

It should be noted that, in order to ensure the accuracy of sampling and increase the sampling rate, the sampling rate of each single-band encoded signal acquisition sensor 1211 is an integer multiple of the frequency of the scintillation light. In this embodiment, the integer multiple is preferably doubled.

It can be understood that the band acquired by the single-band positioning signal acquisition sensor 1212 is the same as the band of the positioning light source 1131. Thus, the single-band positioning signal acquisition sensor 1212 can first avoid interference of other band signals; secondly, the single-band positioning signal acquisition sensor 1212 is provided. Strong continuous positioning ability; and the constant positioning of the light signal can provide reliable continuous positioning, so that the positioning of the object to be tested 11 is not affected by the scintillation light failure. In particular, the uncertainty of positioning when the respective scintillating lights are in the all black state is avoided. In addition, the position determination of the object to be tested 11 is performed based on the positioning light source 1131, so that the positioning is more accurate.

The optical signal processing unit 122 is configured to obtain the label information of the object to be tested 11 according to each sampling light flash timing, and determine whether the label information is correct. When yes, obtain the position change of the object to be tested 11 according to the positioning information.

In this embodiment, the optical signal processing unit 122 includes an identification subunit 1221, a parity subunit 1222, a calibration subunit 1223, a second encoding subunit 1224, and a second communication subunit 1225. Specifically, the identification sub-unit 1221 is electrically connected to the optical signal receiving unit 121, and the verification sub-unit 1222 and the calibration sub-unit 1223 are electrically connected to the identification sub-unit 1221, respectively. The second coding sub-unit 1224 and the second communication sub-unit 1225 are respectively connected. The second communication subunit 1225 is electrically connected to the first communication subunit 1121 via a wireless data network.

The identification sub-unit 1221 can be an integrated circuit chip that has processing and computing capabilities for the signals.

In an embodiment, since the position between the identification sub-unit 1221 and each of the light sources 1132 is very close, in order to know whether each of the light sources 1132 emits blinking light, specifically whether it is on or off, the identification sub-unit 1221 passes When each of the light sources 1132 is sent with one flashing light and combined with the sampling light flashing timing of each light source 1132, the light-off state of each light source 1132 when a corresponding one-way flashing light is emitted can be accurately reversed, the light source 1132 The light-off state is the light signal state data when the corresponding one-way flashing light is emitted. Further, the identification sub-unit 1221 acquires the optical signal status data corresponding to each of the light sources 1132, and the identification sub-unit 1221 combines the at least two optical signal status data to obtain the label information of the object 11 to be reversed.

For example, when the A light source 1132 emits a blue flashing light, the light-off state of the A-light source 1132 is 110010. At the same time, the light-off state of the B light source 1132 when the red flashing light is emitted is in turn: bright, off, bright, and off, the optical signal state data corresponding to the acquired B light source 1132 is 101101. At the same time, the light-off state of the C light source 1132 when transmitting a green flashing light is: brightly on and off, the optical signal state data corresponding to the acquired C light source 1132 is 111000. Further, according to the optical signal state data of the A light source 1132, which is 110010, the optical signal state data of the B light source 1132 is 101101, and the optical signal state data of the C light source 1132 is 111000, the identification subunit 1221 can be based on A, The optical signal status data of the three light sources 1132 of B and C is used to obtain the tag information. Specifically, the signal values at the same time in the optical signal state data of the A light source 1132, the B light source 1132, and the C light source 1132 may be combined to form a value of one bit of the tag information in the order of CBA, thereby acquiring the tag information having the value of S5621C. .

It should be noted that, due to the timing of each single-band encoded signal acquisition sensor 1211 in the optical signal receiving unit 121 when sampling each of the flashing lights, the timing of the other single-band encoded signal acquisition sensor 1211 may be different. . Therefore, for each optical signal state data obtained when phase synchronization is acquired, it can be directly combined. For each optical signal state data collected by the phase-synchronized acquisition device, it is necessary to sequentially combine the phase closest to the optical signal state data in order, and finally obtain the tag information by combining.

In this embodiment, the identification sub-unit 1221 may further send the acquired label information to the verification sub-unit 1222 for calibration, and obtain the verification result information returned by the verification sub-unit 1222 after the transmission. The identification sub-unit 1221 parses the verification result information to determine whether the verification result is correct. When the identification sub-unit 1221 determines that the verification result is incorrect, it indicates that the scintillation light is interfered during the transmission, or the scintillation light has an error in the transmission, and the identification sub-unit 1221 then discards the label information acquired this time ( That is: discard), in order to re-acquire the next tag information. When the identification sub-unit 1221 determines that the verification result is correct, the label information of the object to be tested 11 is correct, and the identification sub-unit 1221 can acquire the position change of the object to be tested 11 during the blinking light emission period according to the acquired positioning information. Happening.

Furthermore, the identification sub-unit 1221 can also determine whether each of the optical signal status data includes a calibration data header by analyzing the label information. If not, the optical signal status data is not calibrated. If so, the optical signal status data is determined to be optical signal calibration data, and the optical signal status data to be calibrated in the optical signal calibration data is sent to the calibration sub-unit 1223, and the calibration sub-unit 1223 is informed to perform threshold calibration. In addition, if the identification sub-unit 1221 acquires the sampling error calibration instruction sent by the external device, or determines that the sampling error calibration needs to be performed according to its own preset control program, the identification sub-unit 1221 according to the sampling error calibration instruction or the preset control program, At least one optical signal status data in the tag information that needs to be subjected to sampling error calibration is sent to the calibration sub-unit 1223, and the calibration sub-unit 1223 is informed to perform sampling error calibration.

In actual operation, the threshold calibration or the sampling error calibration may be performed at any time according to the use requirement. The execution conditions of the threshold calibration or the sampling error calibration in this embodiment are not limited.

The parity sub-unit 1222 can be an integrated circuit chip that has processing and computing capabilities for the signals. In this embodiment, the verification subunit 1222 can verify the correctness of the label information according to the optical signal status data in the label information.

As a way, each optical signal state data includes multi-bit data, and the value of each bit of data is 1 or 0. The syndrome unit 1222 first acquires the total number of 1s in all the optical signal state data (ie, the value is 1). The number of bits of data, or the total number of 0s (ie, the number of bits of data with a value of 0). This embodiment may be described as an example of obtaining the number of bits of data having a value of 1, but is not limited thereto. In this embodiment, the optical signal status data of each light source 1132 includes a check data, and the check data of each light source 1132 is combined in a preset order to obtain the data of the check bits of the label information.

In addition, the check sub-unit 1222 is provided with a preset value of the check bit in the tag information. The preset value may be: when the number of bits of the data having the value of 1 is an odd number, the preset value is that the check data of each light source 1132 is combined according to the preset order, the first bit is 1, and the other bits are 0, that is, 100...0; when the number of bits of data with a value of 1 is even, the preset value is that the check data of each light source 1132 is combined according to the preset order, and the second bit is 1, The other bits are 0, ie: 010...0. In the above case, when the parity sub-unit 1222 first acquires all the optical signal state data, when the number of bits of the data having the value of 1 is an odd number, the verification data corresponding to each of the light sources 1132 is sequentially acquired. If the obtained check data is combined in the preset order and the value is the same as the preset value 100...0, the check subunit 1222 generates the correct check result information to the identification subunit 1221, and vice versa. Then, verification result information of the verification error is generated to the identification sub-unit 1221. Further, if the parity sub-unit 1222 first acquires the number of bits of the data having the value of 1 in all the optical signal state data as an even number, the parity data corresponding to each of the light sources 1132 is sequentially acquired. If the obtained verification data is the same as the preset value 010...0, the verification sub-unit 1222 generates the verification result information to the identification sub-unit 1221. Then, the verification result information of the verification error is generated to the identification subunit 1221.

For example, the verification subunit 1222 acquires all the optical signal state data in the tag information in order: 110010 of the A light source 1132, 101101 of the B light source 1132, and 111000 of the C light source 1132. The syndrome unit 1222 acquires an even number of the total number of 1s in all the optical signal state data. The verification sub-unit 1222 obtains the verification data of each light source 1132, which is: 010, which is the same as the preset value, and further, the verification sub-unit 1222 generates the verification result information of the correct verification to the identification sub-unit 1221.

The calibration sub-unit 1223 can be an integrated circuit chip that has processing and computing capabilities for the signals. In this embodiment, in order to ensure the accuracy of the optical signal processing module 120 when collecting each of the scintillation lights, the calibration sub-unit 1223 may perform threshold calibration or sampling error calibration on each of the samples when collecting each of the scintillation lights.

Specifically, when the calibration sub-unit 1223 acquires the need to perform threshold calibration, the calibration sub-unit 1223 accordingly acquires at least one optical signal calibration data required for threshold calibration. The calibration sub-unit 1223 acquires calibration data after the calibration data header in each of the optical signal calibration data. Each calibration data is data generated when the light source 1132 corresponding to the optical signal calibration data performs a "light out" operation, that is, each calibration data is "01". The calibration sub-unit 1223 obtains the highest value generated when each calibration data is at "0", and the highest value is used as a threshold value for identifying when the light source 1132 is off, and when the light source 1132 is off, the maximum value can be Identified. Thereafter, the calibration sub-unit 1223 obtains the lowest value generated when each calibration data is at "1", and the lowest value is used as a threshold value when the light source 1132 is bright, and when the light source 1132 is brighter than the lowest value, Can be identified. According to the above operation, the calibration sub-unit 1223 can perform threshold calibration on each of the optical signal calibration data in sequence.

For example, the optical signal calibration data is that the A light source 1132 is turned on and off, that is, 1010011010, wherein 1010 is a calibration data header. The calibration sub-unit 1223 acquires the 01 data after the calibration data header in the optical signal calibration data, since 0 indicates that the A light source 1132 has been extinguished for a period of time, and 1 indicates that the A light source 1132 is illuminated for a period of time. The calibration sub-unit 1223 obtains the highest value of the signal strength in the duration of the A light source 11321121, which is the threshold value when it is 0. Thereafter, the calibration sub-unit 1223 retrieves the lowest value of the signal strength of the A light source 1132 during the bright duration, which is the threshold value of 1. In addition, to ensure an accurate version of the threshold calibration, each light source 1132 flashes in a bright state, and the other light sources 1132 are in a state of being off to calibrate the lowest threshold when the light source 1132 is lit. Conversely, when the light source 1132 is blinking and is in the off state, the other light sources 1132 are all in a bright state to calibrate the highest threshold when the light source 1132 is off.

Referring to FIG. 3 and FIG. 7, FIG. 7 shows an exemplary diagram of the calibration sub-unit 1223 performing sampling error calibration in this embodiment. When the calibration sub-unit 1223 acquires the need to perform the sampling error calibration, the calibration sub-unit 1223 accordingly acquires at least one optical signal state data required for the sampling error calibration.

In this embodiment, since each of the single-band coded signal acquisition sensors 1211 is collected, each of the light sources 1132 and each of the single-band coded signal acquisition sensors 1211 are operated for a long time, and a cumulative deviation is generated, so that each single is generated. The band coded signal acquisition sensor 1211 has a phase difference between the scintillation light generated by the band source and the corresponding light source 1132. Moreover, since the sampling frequency of the single-band encoded signal acquisition sensor 1211 is twice that of the scintillation light, after the phase difference is generated, the single-band encoded signal acquisition sensor 1211 will display the first frame 1 when the blinking light is "lighted out". For "full light", the first frame 2 is "weakly bright" and the second frame 2 is "completely off". Among them, the first frame 2 is "weakly bright", which is the uncertain data due to the phase difference.

The calibration sub-unit 1223 collects data of “0” corresponding to “all-off” in the analysis optical signal state data when performing sampling error calibration. When the calibration sub-unit 1223 acquires the data of the first one of the optical signal state data as "0", the calibration sub-unit 1223 takes the "0" of the frame as the valid data, and will not include the uncertain data after the frame. One frame is thrown away, and one frame after the next frame that is discarded is taken as valid data, and a loop is formed. It can be understood that, if the number of frames of the uncertain data is discarded, the acquisition of the uncertain data in the state data of the optical signal is avoided, and the sampling error of the state data of each optical signal collected by the optical signal processing unit 122 can be implemented in the above manner. calibration.

It should be noted that, in this embodiment, the data of “0” is used as the valid data, and the data of “1” can be effectively avoided as the effective data. Because the light source 1132 is far away, the optical signal strength is weak, resulting in sampling. The error calibration is not accurate.

In addition, in the optical signal processing module 120 of the embodiment, the optical signal processing module 120 starts to perform sampling when receiving the start bit in the tag information according to the preset control program. If the data corresponding to the start bit is not received, it will not be processed. When the light source 1132 collected by the optical signal processing module 120 is fixed in position, but the label information obtained according to the light source 1132 is incorrect, it is determined that the light source 1132 is a background, for example, a sun, an LED light, or the like.

The second encoding sub-unit 1224 can be an integrated circuit chip that has processing and computing capabilities for the signals. The second encoding sub-unit 1224 may set label information, an optical signal transmission rule, and an optical signal encoding rule according to a preset control program or an instruction transmitted by an external device. The tag information, the optical signal transmission rule, and the optical signal coding rule are transmitted to the second communication sub-unit 1225.

The second communication sub-unit 1225 can be an integrated circuit chip that has the ability to receive and transmit signals. After acquiring the tag information, the optical signal sending rule, and the optical signal encoding rule, the second communication subunit 1225 sends the tag information, the optical signal sending rule, and the optical signal encoding rule to the first through the wireless network. Communication subunit 1121.

When the optical signal positioning apparatus 100 of the present embodiment performs sampling, if a 6-color color mode or a 3-bit data bit mode is used, about 230,000 kinds of tag information can be expressed. If you use 6-color, 4-bit data mode, you can express about 14 million kinds of tag information. If you use 6-color, 6-bit data mode, you can express about 50 billion kinds of tag information. If the 6-bit data bit and the 8-bit data bit pattern, it can express about 100 billion kinds of tag information. Further, the 4-bit code plus the start and check bits are 6 bits in total, and 12 cycles are sampled, and when the sampling rate is 120 frames/second, the optical signal positioning device 100 recognizes the speed as 0.1 second. When the optical signal positioning apparatus 100 adopts a resolution of 1280*720 and a sampling rate of 120 frames/second, when the object to be tested 11 in the space of 12.8 m*7.2 m is subjected to positioning tracking, the recognition accuracy of the object 11 can be Up to 0.01m. If the optical signal positioning device 100 adopts a sampling rate of 120 frames/second, and the distance between the plurality of analytes 11 is at least 1 meter. When the optical signal positioning device 100 tracks the object to be tested 11, the speed of the object to be tested 11 can be up to 30 m/s.

Please refer to FIG. 8 , which is a schematic flowchart of an optical signal positioning method provided by the present disclosure. The method is applied to an optical signal positioning apparatus, and the method includes:

Step S100: The optical signal sending module determines whether the moving speed of the object to be tested satisfies a preset condition. When yes, the positioning light source emits positioning light, and the at least two light sources emit the blinking light.

Step S200: The optical signal processing module obtains positioning information of the object to be tested according to the collected positioning light, and determines a position change of the object to be tested according to the collected at least two pieces of scintillating light and the positioning information. Happening.

Referring to Figure 9, a schematic diagram of a sub-step of step S100 is shown. The step S100 may include:

Step S110: The optical signal sending module determines whether the moving speed meets a preset condition, and when yes, generates a trigger signal.

Step S120: The optical signal sending module generates optical signal data according to the label information of the object to be tested obtained from the optical signal processing module.

Step S130: The optical signal sending module sends positioning light through the positioning light source according to the generated trigger signal, and controls at least two light sources to start emitting blinking light according to the optical signal data.

Referring to FIG. 10, a schematic diagram of a sub-step of step S200 is shown. Wherein, step S200 includes:

Step S210: The optical signal processing module obtains the positioning information according to the collected positioning light, and obtains a sampling light flashing sequence of each of the at least two flashing lights sampled.

Step S220: The optical signal processing module obtains label information of the object to be tested according to each sampling light flash timing, and determines whether the label information is correct. When yes, the object to be tested is obtained according to the positioning information. The position changes.

Please refer to FIG. 11 , which is still another schematic flowchart of the optical signal positioning method provided by the present disclosure. The method may further include:

Step S101: The optical signal processing module determines whether each calibration data header can be obtained correspondingly according to each sampling light flash timing.

Step S102: When YES, the optical signal processing module performs threshold calibration on each of the obtained sampled light flash timings, or the optical signal processing module performs sampling error calibration on each of the obtained sampled light flash timings.

It should be noted that, as those skilled in the art can clearly understand, for the convenience and brevity of the description, the specific working process of the foregoing method can refer to the corresponding process in the foregoing embodiments of the system, device and unit. This will not be repeated here.

In summary, the present disclosure provides an optical signal positioning apparatus, method and system. The optical signal positioning device comprises: an optical signal sending module and an optical signal processing module, the optical signal sending module and the optical signal processing module are optically coupled, and the optical signal transmitting module is configured to be mounted on the object to be tested. The optical signal sending module is configured to determine whether the moving speed of the object to be tested meets a preset condition, and when yes, emit the positioning light by the positioning light source, and emit the flashing light through the at least two light sources. The optical signal processing module is configured to obtain positioning information of the object to be tested according to the collected positioning light, and determine a position change of the object to be tested according to the collected at least two pieces of blinking light and the positioning information.

When the optical signal sending module first determines that the moving speed of the object to be tested satisfies the preset condition, the optical signal transmitting module transmits the positioning light through the positioning light source and emits the scintillating light through the at least two light sources. Furthermore, the optical signal processing module can obtain the positioning information of the object to be tested according to the collected positioning light, and then determine the position change of the object to be tested according to the corresponding collection of at least two pieces of scintillation light and positioning information. Therefore, when the moving speed meets the preset condition, the optical signal transmitting module transmits the flickering light through the at least two light sources, thereby realizing the control of the power consumption and achieving the energy saving effect; and collecting the object to be tested through the optical signal processing module. The scintillation light sent by the glazing signal transmitting module realizes the identification, positioning and tracking of the object to be tested. Due to the accuracy of the long-distance transmission of the optical signal, the object can be accurately positioned and accurately tracked at a medium and long distance.

The above is only a preferred embodiment of the present disclosure, and is not intended to limit the disclosure, and various changes and modifications may be made to the present disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and scope of the present disclosure are intended to be included within the scope of the present disclosure.

Industrial applicability

The optical signal positioning device, method and system provided by the present disclosure have high positioning accuracy, and can reduce interference of other signals and enhance continuous positioning capability.

Claims (15)

An optical signal positioning device, comprising: an optical signal sending module and an optical signal processing module, wherein the optical signal sending module and the optical signal processing module are optically coupled, and the optical signal sending module Configured to be mounted on the object to be tested; The optical signal sending module is configured to determine whether the moving speed of the object to be tested meets a preset condition, and when yes, emit the positioning light by the positioning light source, and emit the flashing light through the at least two light sources; The optical signal processing module is configured to obtain positioning information of the object to be tested according to the collected positioning light, and determine a position change of the object to be tested according to the collected at least two pieces of scintillating light and the positioning information. Happening. The optical signal positioning apparatus according to claim 1, wherein the optical signal transmitting module comprises: a motion sensing unit, an optical signal encoding unit, and an optical signal transmitting unit, wherein the motion sensing unit and the optical signal encoding unit respectively Connected to the optical signal transmitting unit, the optical signal transmitting unit and the optical signal processing module are optically coupled; The motion sensing unit is configured to determine whether the moving speed meets a preset condition, and when yes, generate a trigger signal and send the signal to the optical signal sending unit; The optical signal encoding unit is configured to generate optical signal data according to label information of the object to be tested obtained from the optical signal processing module, and send the optical signal data to the optical signal sending unit; The optical signal sending unit is configured to, when the trigger signal is obtained, control the positioning light source to emit positioning light, and control at least two light sources to start emitting blinking light according to the optical signal data. The optical signal positioning device according to claim 2, wherein the motion sensing unit generates a trigger signal and sends the signal to the optical signal transmitting unit in the following manner: The signal of the first level is continuously output to the optical signal transmitting unit. The optical signal positioning apparatus according to claim 3, wherein the motion sensing unit is further configured to continuously output a signal of the second level to the the moving speed when the moving speed does not satisfy the preset condition An optical signal transmitting unit; wherein one of the first level and the second level is a high level and the other is a low level. The optical signal locating device according to any one of claims 2 to 4, wherein the optical signal encoding unit is configured to: receive and store the label information and the optical signal sent by the optical signal processing module. a rule, an optical signal encoding rule; when receiving the control command sent by the optical signal processing module, parsing the control command; if the obtained parsing result indicates that the optical signal is sent, the stored optical signal is sent And the optical signal encoding rule to encode the stored tag information to obtain optical signal data corresponding to the tag information; and send the optical signal data to the optical signal transmitting unit. The optical signal positioning apparatus according to any one of claims 2 to 4, wherein each of the positioning light source and the at least two light sources is a single-band transmitting head. The optical signal positioning device according to claim 6, wherein the optical signals transmitted by the respective light sources in the optical signal positioning device are different in wavelength bands, and the at least two light sources transmit light at the same frequency. signal. The optical signal processing apparatus according to claim 6, wherein the optical signal processing module comprises: an optical signal receiving unit and an optical signal processing unit, wherein the optical signal receiving unit is optically coupled to the optical signal transmitting module, The optical signal receiving unit is connected to the optical signal processing unit; The optical signal receiving unit is configured to obtain the positioning information according to the collected positioning light, and obtain a sampling light flashing sequence of each of the at least two flashing lights sampled, and each path to be obtained The sampling light flash timing of the flashing light and the positioning information are both sent to the optical signal processing unit; The optical signal processing unit is configured to obtain label information of the object to be tested according to each sampling light flash timing, and determine whether the label information is correct. When yes, obtain the to-be-test according to the positioning information. The position of the object changes. The optical signal locating device according to claim 8, wherein the optical signal processing unit is configured to: obtain and transmit the scintillation light according to the sampling light flash timing of the scintillating light for each of the scintillating lights. The light signal state data corresponding to the light source; the optical signal state data corresponding to the at least two light sources are combined in a preset order to obtain the tag information. The optical signal positioning apparatus according to claim 9, wherein the optical signal receiving unit comprises: a single-band positioning signal acquisition sensor, and at least two single-band encoded signals in one-to-one correspondence with the at least two light sources Acquisition sensor; The single-band positioning signal acquisition sensor is configured to collect the positioning light, and obtain positioning information of the object to be tested according to the positioning light, and send the positioning information to the optical signal processing unit; The single-band encoded signal acquisition sensor is configured to obtain a sampling light-flashing sequence of each of the at least two flashing lights sampled, and send each sampling light-flashing timing to the optical signal processing unit. An optical signal positioning method is characterized in that the method is applied to an optical signal positioning device, and the optical signal positioning device comprises: an optical signal sending module and an optical signal processing module, the optical signal transmitting module and the optical signal processing The module is optically coupled, and the optical signal transmitting module is configured to be mounted on the object to be tested; the method includes: The optical signal sending module determines whether the moving speed of the object to be tested satisfies a preset condition, and when yes, emits positioning light by the positioning light source, and emits the scintillating light through the at least two light sources; The optical signal processing module obtains positioning information of the object to be tested according to the collected positioning light, and determines a position change of the object to be tested according to the collected at least two pieces of scintillation light and the positioning information. The optical signal positioning method according to claim 11, wherein the optical signal transmitting module determines whether the moving speed of the object to be tested satisfies a preset condition, and when yes, transmits the positioning light by the positioning light source, and The flashing light is emitted by at least two light sources, including: The optical signal sending module determines whether the moving speed meets a preset condition, and when yes, generates a trigger signal; The optical signal sending module generates optical signal data according to the label information of the object to be tested obtained from the optical signal processing module. The optical signal transmitting module transmits positioning light through the positioning light source according to the generated trigger signal, and controls at least two light sources to start emitting blinking light according to the optical signal data. The optical signal positioning method according to claim 12, wherein the optical signal processing module obtains the positioning information of the object to be tested according to the collected positioning light, and according to the collected at least two ways of scintillating light and Determining the location information to determine a change in location of the object to be tested, the method comprising: The optical signal processing module obtains the positioning information according to the collected positioning light, and obtains a sampling light flashing sequence of each of the at least two flashing lights sampled; The optical signal processing module obtains label information of the object to be tested according to each sampling light flash timing, and determines whether the label information is correct. When yes, obtains a position change of the object to be tested according to the positioning information. Happening. The optical signal localization method according to claim 13, wherein the method further comprises: The optical signal processing module determines whether each calibration data header can be obtained correspondingly according to each sampling light flash timing; In the case of YES, the optical signal processing module performs threshold calibration on each of the obtained sampled light flash timings, or performs sampling error calibration on each of the obtained sampled light flash timings. An optical signal positioning system, comprising: the object to be tested and the optical signal positioning device according to any one of claims 1 to 10, wherein the optical signal in the optical signal positioning device A transmitting module is mounted on the object to be tested.

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