阅读说明：本技术 一种用于可见光成像室内定位扩展发光单元id的方法 (A method of luminescence unit ID is extended for visual light imaging indoor positioning ) 是由 冯立辉 曲若彤 杨爱英 刘朔源 于 2019-09-03 设计创作，主要内容包括：本发明具体涉及一种用于可见光成像定位扩展发光单元ID的方法,属于可见光定位过程中ID识别及定位技术领域。包括：1)确定发光单元与CMOS传感器的工作距离；2)确定最佳曝光时间和ISO值；3)确定能正确识别的最小频率的依据和准则；4)确定能识别的最高频率；5)确定进行或运算的两方波间的最小频率间隔；6)对两不同频率方波进行或运算得到新方波再通过单片机调制发光单元按照或运算后的方波时序打开关闭；7)CMOS传感器拍摄照片,记录发光单元传输的信息；8)对照片进行图像处理解出该照片对应的ID；9)基于数据库得出对应发光单元的位置信息。本方法能为更多发光单元提供ID；ID识别及定位的准确率更高。(Present invention relates particularly to a kind of method for positioning extension luminescence unit ID for visual light imaging, belong to ID identification and field of locating technology in visible light position fixing process.It include: the operating distance for 1) determining luminescence unit and cmos sensor；2) optimum exposure time and ISO value are determined；3) foundation and criterion for the minimum frequency that determination can be identified correctly；4) highest frequency that can be identified is determined；5) minimum frequency space between two square waves of progress or operation is determined；6) to two different frequency square waves carry out or operation obtain new square wave again by single-chip microcontroller modulate luminescence unit according to or operation after square wave timing either on or off；7) cmos sensor shoots photo, the information of record luminescence unit transmission；8) image procossing is carried out to photo and solves the corresponding ID of the photo；9) location information of corresponding luminescence unit is obtained based on database.This method can provide ID for more multi-illuminating unit；The accuracy rate of ID identification and positioning is higher.)

1. a kind of method for visual light imaging indoor positioning extension luminescence unit ID, it is characterised in that: the visible light of support Imaging indoors positioning system includes single-chip microcontroller control terminal, luminescence unit, mobile terminal and database；

Wherein, single-chip microcontroller control terminal and luminescence unit are connected with each other；

Mobile terminal has cmos image sensor, including but not limited to mobile phone, robot and automatic Pilot trolley；

Database includes all ID and its location information for corresponding to luminescence unit；

Single-chip microcontroller control terminal modulates luminescence unit according to a certain waveform timing either on or off；Cmos image sensor is remembered in photo Record the information of luminescence unit transmission；

The method of the extension luminescence unit ID, includes the following steps:

Step 1 determines the operating distance of LED and cmos image sensor；

Step 2 determines time for exposure and the ISO value of optimal cmos image sensor；

Wherein, the time for exposure of optimal cmos image sensor, is denoted as t at the abbreviation time for exposure；

Step 3 determines the foundation and criterion that can correctly identify under conditions present；

Step 4 determines under conditions present, the highest frequency that can be identified；

Wherein, highest frequency is denoted as fmax；Fmax and time for exposure t meets t < 1/2fmax, and can be correctly to identify this frequency Rate is required；

Step 5 determines the minimum frequency space between progress or two square waves of operation；

Step 6, carries out two different frequency square waves or operation obtains the new square wave of a column, then is modulated and shone by single-chip microcontroller Unit according to or operation after square wave timing either on or off；

Step 7, cmos image sensor shoot photo, the information of record luminescence unit transmission in photo；

Step 8 carries out image procossing to the photo of step 7 shooting, solves the corresponding ID of luminescence unit of the photograph taking；

Wherein, image procossing specifically includes following sub-step:

Step 8.a) gray processing processing is carried out to step 7 shooting photo；

Step 8.b) step 8.a) gray processing treated picture is subjected to binary conversion treatment；

Step 8.c) picture after step 8.b) binary conversion treatment is carried out to close processing, obtain approximate circle region；

Step 8.d) calculate step 8.c) obtain the center of circle and the diameter in approximate circle region；

Step 8.e) only retain the information that approximate circle region includes；

Step 8.f) Fourier transformation is carried out to the information that step 8.e) retains, obtain Fourier spectrum figure；And it is based on Fourier The position at higher peak solves ID in spectrogram；

Wherein, higher peak is two in first three peak in Fourier spectrum figure；

Wherein, the ID solved, i.e. step 7 shoot the corresponding ID of luminescence unit in photo；

After solving ID, the location information of corresponding luminescence unit is obtained based on database for step 9.

2. a kind of method for visual light imaging indoor positioning extension luminescence unit ID according to claim 1, special Sign is: in step 2, being arranged different time for exposure and ISO value parameter makes bright dark fringe contrast in photo maximum, i.e., Time for exposure and ISO value when grey value difference maximum between bright fringes and dark fringe are that the visible light imaging indoors that rely on are fixed Optimum value in the system of position.

3. a kind of method for visual light imaging indoor positioning extension luminescence unit ID according to claim 1, special Sign is: in step 3, foundation and criterion are as follows: under Rolling shutter effect, LED modulating frequency is high, then LED open or close when Between it is short, it is narrow that corresponding striped is recorded in photo；Conversely, LED modulating frequency is low, the time that LED is opened or closed is long, remembers in photo Record that corresponding striped is wide, therefore width of fringe does not change with the change of operating distance；Therefore, under Rolling shutter effect, striped is wide Degree does not change with the change of operating distance, and the size of luminescence unit imaging reduces with the increase of operating distance, can make Observable striped quantity in photo is obtained to reduce.

4. a kind of method for visual light imaging indoor positioning extension luminescence unit ID according to claim 1, special Sign is: in step 3, the minimum frequency that can correctly identify refer to maximum functional apart from when, make in image at least 2 groups The corresponding frequency of bright dark fringe.

5. a kind of method for visual light imaging indoor positioning extension luminescence unit ID according to claim 1, special Sign is: in step 8.f), higher peak is two in first three peak in Fourier spectrum figure.

Technical field

Present invention relates particularly to a kind of methods for visual light imaging indoor positioning extension luminescence unit ID, belong to interior It can be seen that light-seeking and position identification technology field.

Background technique

People are growing for the demand of location-based service.American global positioning system (GPS) can satisfy people in room Outer location requirement.Due to blocking for building, satellite-signal can decay indoors, can not be accurately positioned indoors.Research department Interior positioning has very big value.Therefore a series of indoor locating systems based on different principle are such as based on WLAN (WLAN) location technology, location technology based on ultrasound, the location technology based on ultra wide band (UWB), based on infrared (IR) Location technology, the location technology based on bluetooth (Bluetooth) and the location technology based on inertial navigation are suggested.Light-emitting diodes (LED) is managed as the development and application of solid light source technology is more and more common.Compared with traditional light source, LED has energy utilization Rate is high, the advantages such as low in energy consumption, environmentally protective and long service life.In addition to this, LED also has the advantages that be modulated, because This has the ability of transmission information.Location technology based on visible light communication technology (VLC) is because can be real while positioning It now illuminates, does not need additional hardware, positioning accuracy high power consumption is low, and pollution-free, the advantages such as at low cost have obtained the concern of researcher.

Currently, the indoor positioning algorithms of existing many mature high-precision high robusts.LED ID is mainly that LED is modulated not Same frequency；Modulation single-frequency is only 20-30 LED and provides ID, is unsatisfactory for currently needing in overall situation such as parking lot positioning Differentiate the actual needs of a large amount of ID.LED modulates long codes as ID, ID can be provided for a large amount of LED, but this method identifies It is easy to happen mistake in cataloged procedure, and generates a bit-errors during the ID identified, positioning will mistake.

Summary of the invention

For in the prior art above-mentioned when for example parking lot positioning needs to differentiate a large amount of ID overall situation, need to provide a large amount of LEDID, the prior art, which identifies in cataloged procedure, is easy to happen mistake, as soon as and generation bit-errors, positioning during the ID of identification Meeting mistake proposes a kind of side for visual light imaging indoor positioning extension luminescence unit ID to make up this technological deficiency Method can provide ID for a large amount of LED, and recognition accuracy is high.

In a kind of visible light room that the method for visual light imaging indoor positioning extension luminescence unit ID is relied on of the present invention It includes single-chip microcontroller control terminal, luminescence unit, mobile terminal and database that positioning system, which is imaged,；

Wherein, single-chip microcontroller control terminal and luminescence unit are connected with each other；

Mobile terminal has cmos image sensor, including but not limited to mobile phone, robot and automatic Pilot trolley；

Database includes all ID and its location information for corresponding to luminescence unit；

Single-chip microcontroller control terminal modulates luminescence unit according to a certain waveform timing either on or off；Cmos image sensor is in photo The information of middle record luminescence unit transmission；

The method for visual light imaging indoor positioning extension luminescence unit ID, includes the following steps:

Step 1 determines the operating distance of LED and cmos image sensor；

Step 2 determines time for exposure and the ISO value of optimal cmos image sensor；

Wherein, being arranged different time for exposure and ISO value parameter makes bright dark fringe contrast in photo maximum, i.e. bright wisp Time for exposure and ISO value when grey value difference maximum between line and dark fringe are the visible light imaging indoors positioning system relied on Optimum value in system；

Wherein, the time for exposure of optimal cmos image sensor, is denoted as t at the abbreviation time for exposure；

Step 3 determines the foundation and criterion of the minimum frequency that can correctly identify under conditions present；

Wherein, foundation and criterion are as follows: under Rolling shutter effect, LED modulating frequency is high, then the time that LED is opened or closed It is short, it is narrow that corresponding striped is recorded in photo；Conversely, LED modulating frequency is low, the time that LED is opened or closed is long, records in photo Corresponding striped is wide, therefore width of fringe does not change with the change of operating distance；Therefore, under Rolling shutter effect, width of fringe Do not change with the change of operating distance, and the size of luminescence unit imaging reduces with the increase of operating distance, can make Observable striped quantity is reduced in photo；

Wherein, the minimum frequency that can correctly identify refer to maximum functional apart from when, make in image at least 2 groups it is bright dark The corresponding frequency of striped；

Step 4 determines under conditions present, the highest frequency that can be identified；

Wherein, highest frequency is denoted as fmax；Fmax and time for exposure t meet t < 1/2fmax, and can be correctly to identify This frequency is required；

Step 5 determines the minimum frequency space between progress or two square waves of operation；

Wherein, the minimum frequency space between two square waves is realized especially by following operation:

So that the position of main peak is close in the Fourier spectrum figure of two different frequency square waves has two peaks nothing adjacent to each other Method is distinguished.When two main peaks can just be identified, the differences of corresponding two frequencies of two main peaks be it is required most Small frequency interval；

Wherein, refer to the close square wave of two frequencies, Fourier spectrum figure when specific implementation cannot be distinguished in two peaks adjacent to each other The position of middle main peak is adjacent, when two peak positions are got too close to, cannot be distinguished；

The ID quantity being capable of providing can be calculated by identifiable minimum frequency, maximum frequency and frequency interval；

Step 6, carries out two different frequency square waves or operation obtains the new square wave of a column, then is modulated by single-chip microcontroller Luminescence unit according to or operation after square wave timing either on or off；

Step 7, cmos image sensor shoot photo, the information of record luminescence unit transmission in photo；

Step 8 carries out image procossing to the photo of step 7 shooting, solves the corresponding ID of the photo；

Wherein, image procossing specifically includes following sub-step:

Step 8.a) gray processing processing；

Step 8.b) binary conversion treatment；

Step 8.c) processing is closed, obtain similar round；

Step 8.d) calculate the center of circle and diameter；

Step 8.e) only retain the part comprising information；

Step 8.f) Fourier transformation is carried out, obtain Fourier spectrum figure；And based on higher peak in Fourier spectrum figure Position solve ID；

Wherein, higher peak is two in first three peak in Fourier spectrum figure；

After solving ID, the location information of corresponding luminescence unit is obtained based on database for step 9.

Beneficial effect

A kind of method for visual light imaging indoor positioning extension luminescence unit ID of the present invention, with existing luminescence unit ID Design method is compared, and is had the following beneficial effects:

1. this method can provide compared with common luminescence unit modulation single-frequency is as ID for more luminescence units ID, meet currently in large area occasion positioning need the needs of disposing a large amount of lamps and lanterns；

2. this method recognition accuracy is higher compared with long codes are as luminescence unit ID, correct localization is promoted.

Detailed description of the invention

Fig. 1 is a kind of visible light that the method for extending luminescence unit ID for visual light imaging indoor positioning is relied on of the present invention Indoor positioning the system composition block diagram is imaged；

Fig. 2 is that a kind of method and step six for extending luminescence unit ID for visual light imaging indoor positioning of the present invention is specific real Two different frequency square waves or the schematic diagram of operation when applying；

Fig. 3 is that a kind of method and step seven for extending luminescence unit ID for visual light imaging indoor positioning of the present invention modulates hair Light unit transmits the LED photo shot when the square wave after two square waves or operation.

Specific embodiment

It is a kind of to the present invention for visual light imaging indoor positioning extension luminescence unit ID's combined with specific embodiments below Method is described in detail, and is described with reference to embodiment of the present invention.