CN111443345A - Object positioning method, device and storage medium - Google Patents
Object positioning method, device and storage medium Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention discloses an object positioning method, an object positioning device and a storage medium. Wherein, the method comprises the following steps: simultaneously sending p periods of signals through n infrared emitting diodes in the infrared emitter, wherein the n infrared emitting diodes send k same-direction signals and n-k reverse signals in each period, n and p are integers larger than 2, and k is an integer larger than or equal to 1; receiving a signal sent by an infrared transmitter through an infrared receiver to obtain a received signal; and positioning the object in the signal transmission path according to the signal sent by the infrared transmitter and the signal received by the infrared receiver. The invention solves the technical problem that the signal-to-noise ratio of signals received by an infrared receiving diode is low when an object is identified by adopting an infrared geminate transistor mode in the related technology.
Description
Technical Field
The invention relates to the field of data processing, in particular to an object positioning method, an object positioning device and a storage medium.
Background
In the related art, when an object is identified by infrared rays, an infrared pair tube method is often used. Namely, one end is an infrared emitting diode, and the other end is an infrared receiving diode. Fig. 1 is a schematic diagram of an infrared ray transmission manner when an object is identified in the related art, fig. 2 is a schematic diagram of a signal for identifying the object by using an infrared pair tube manner in the related art, and as shown in fig. 2, four infrared emitting diodes are selected to emit infrared rays, and one infrared receiving diode receives the signal, wherein the four infrared emitting diodes emit periodic signals according to time sequence, the infrared receiving diode receives the signal, and the received signal is used for positioning the object. When the object is identified in this way, the signal-to-Noise Ratio (SNR) of the signal received by the infrared receiving diode is relatively low.
Therefore, in the related art, when the object is identified by using the infrared pair transistor, there is a problem that the signal-to-noise ratio of the signal received by the infrared receiving diode is low.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides an object positioning method, an object positioning device and a storage medium, which at least solve the technical problem that the signal-to-noise ratio of signals received by an infrared receiving diode is low when an object is identified by adopting an infrared geminate transistor mode in the related art.
According to an aspect of an embodiment of the present invention, there is provided an object positioning method including: simultaneously sending p periods of signals through n infrared emitting diodes in the infrared emitter, wherein the n infrared emitting diodes send k same-direction signals and n-k reverse signals in each period, n and p are integers larger than 2, and k is an integer larger than or equal to 1; receiving the signal sent by the infrared transmitter through an infrared receiver to obtain a received signal; and positioning the object in the signal transmission path according to the signal sent by the infrared transmitter and the signal received by the infrared receiver.
Optionally, the positioning the object in the signal transmission path according to the signal sent by the infrared transmitter and the signal received by the infrared receiver includes: representing the signals sent by the infrared transmitter by adopting a first digital matrix; characterizing the signal received by the infrared receiver by a second digital matrix; determining a third digital matrix of a transmission path according to the first digital matrix and the second digital matrix; and positioning the object in the signal transmission path according to the third digital matrix.
Optionally, n and p both have a value of 4, and k has a value of 1.
Optionally, the first digital matrix is a 4 × 4 matrix, 4 rows represent 4 cycles, 4 columns represent 4 ir emitting diodes, the same-direction signal in the first digital matrix is represented by 1, and the reverse-direction signal is represented by-1, and the second digital matrix is a 4 × 1 matrix, 4 rows represent 4 cycles, 1 column represents 1 ir receiver, and the value in the second digital matrix represents the signal received by the ir receiver, which represents the difference between the signal received in one cycle and the signal received in the second half cycle and the signal received in the first half cycle.
Optionally, determining a third digital matrix of the transmission path by using the first digital matrix and the second digital matrix includes: and determining a third digital matrix of the transmission path by adopting a matrix operation mode according to the first digital matrix and the second digital matrix, wherein in the matrix operation process, a noise parameter is added in the second digital matrix.
Optionally, the values of n, p, k are determined according to the m-sequence.
Optionally, characterizing the signal sent by the infrared emitter with a first digital matrix includes: the first number matrix is (2)x-1) × Y matrix, (2)x-1) line characterization (2)x-1) cycles, Y columns characterizing Y infrared emitting diodes, in said first digital matrix the co-directional signal being denoted by 1, the counter-directional signal being denoted by-1, X being the number of levels of the m-sequence, (2)x-1) ≧ Y, the first column of the first number matrix being an m-sequence and the latter column being a preceding column shifted by 1 bit.
Optionally, X and Y both take a value of 4.
According to another aspect of the present invention, there is provided an object positioning device including: the infrared emitter is used for simultaneously sending p periods of signals through n infrared emitting diodes, wherein the n infrared emitting diodes send k same-direction signals and n-k reverse signals in each period, n and p are integers larger than 2, and k is an integer larger than or equal to 1; the infrared receiver is used for receiving the signal sent by the infrared transmitter to obtain a received signal; and the locator is used for locating the object in the signal transmission path according to the signal sent by the infrared transmitter and the signal received by the infrared receiver.
According to still another aspect of the present invention, there is provided a storage medium including a stored program, wherein when the program is executed, a device on which the storage medium is located is controlled to execute any one of the above object positioning methods.
In the embodiment of the invention, n infrared emitting diodes in an infrared emitter are adopted to simultaneously send p periodic signals, and the n infrared emitting diodes send k homodromous signals and n-k reverse signals in each period, and the n infrared emitting diodes send different signals in one period, so that the aim of driving code modulation through multiple channels (the n infrared emitting diodes) is fulfilled, thereby realizing the technical effects of averaging noise and improving SNR by utilizing the characteristic that the noise has positive and negative amplitudes, and further solving the technical problem of low signal-to-noise ratio of signals received by an infrared receiving diode when an object is identified by adopting an infrared geminate transistor mode in the related technology.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic view of an infrared ray transmission manner in recognizing an object in the related art;
FIG. 2 is a signal diagram illustrating the recognition of an object by infrared pair tubes in the related art;
FIG. 3 is a flow chart of a method of object location according to an embodiment of the invention;
FIG. 4 is a schematic diagram illustrating an infrared transmission manner in the object positioning method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an infrared transmitting signal in the object locating method according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of a modulated signal adding a set of waveforms provided in accordance with an embodiment of the present invention;
fig. 7 is a block diagram of an object positioning apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided a method embodiment of an object-locating method, it should be noted that the steps illustrated in the flowchart of the figure may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 3 is a flow chart of an object locating method according to an embodiment of the present invention, as shown in fig. 3, the method comprising the steps of:
step S302, simultaneously sending p periods of signals through n infrared emitting diodes in an infrared emitter, wherein the n infrared emitting diodes send k same-direction signals and n-k reverse signals in each period, n and p are integers larger than 2, and k is an integer larger than or equal to 1;
step S304, receiving the signal sent by the infrared transmitter through the infrared receiver to obtain a received signal;
and S306, positioning the object in the signal transmission path according to the signal sent by the infrared transmitter and the signal received by the infrared receiver.
Through the steps, n infrared emitting diodes in the infrared emitter are adopted to simultaneously send p periodic signals, and the n infrared emitting diodes send k homodromous signals and n-k reverse signals in each period, different signals are sent in one period through the n infrared emitting diodes, the purpose of driving code modulation through multiple channels (the n infrared emitting diodes) is achieved, the characteristic that noise has positive and negative amplitudes is utilized, the noise is averaged, the technical effect of SNR is improved, and the technical problem that in the related technology, when an object is identified in an infrared geminate transistor mode, the signal to noise ratio of the received signals of the infrared receiving diodes is low is solved.
Alternatively, the positioning of the object in the signal transmission path may be implemented in various ways, for example, in a matrix operation manner, according to the signal sent by the infrared transmitter and the signal received by the infrared receiver, for example, in the following manners: representing signals sent by the infrared transmitter by adopting a first digital matrix; representing the signals received by the infrared receiver by adopting a second digital matrix; determining a third digital matrix of the transmission path according to the first digital matrix and the second digital matrix; and positioning the object in the signal transmission path according to the third digital matrix.
It should be noted that the values of n, p, and k may be determined in various manners, for example, may be determined by directly specifying numerical values, for example, directly specifying n, p are all 4, and k is 1. The following describes the scheme of the embodiment by taking the example of designating n, p as 4 and k as 1.
Fig. 4 is a schematic diagram of an infrared transmission manner in the object positioning method according to an embodiment of the present invention, as shown in fig. 4, four infrared emitting diodes simultaneously emit infrared rays, and one infrared receiving diode receives signals. Fig. 5 is a schematic diagram of infrared transmission signals in the object locating method according to the embodiment of the invention, as shown in fig. 5, in the infrared transmitter, 4 infrared emitting diodes are used to simultaneously transmit 4 periods of signals, each period having 3 signals in the same direction and 1 signal in the opposite direction. The concrete implementation is as follows:
with 4-way digital circuit, before T1 period
TX4 outputs high level, and TX1 TX3 outputs low level. After period T1
TX4 outputs a low level, TX 1-TX 3 outputs a high level, the phases of TX4 and TX 1-TX 3 are opposite in a T1 period, the phases of TX 1-TX 3 in the T1 period are defined as +1, and the phase of TX4 is defined as-1. Similarly, the phase of TX3 during T2 cycle is opposite to that of the others, the phase of TX2 during T3 cycle is opposite to that of the others, and the phase of TX1 during T4 cycle is opposite to that of the others. Meanwhile, each TX signal has 4 periods, in which the phase of one period is opposite to that of the other periods. This constitutes a matrix of modulated signals. Then, 4 infrared emitting diodes are respectively controlled by TX 1-TX 4. When TX is at high level, the infrared lamp transmits signals, and when TX is at low level, the infrared lamp is turned off and does not transmit signals.
These 4 periodic signals can be represented by a matrix V, where the signals in the same direction are represented by 1 and the signals in the opposite direction are represented by-1.
It should be noted that the modulated signal matrix is characterized as follows:
(1)4 TX control signals respectively controlling 4 infrared emitting diodes;
(2) only 1 TX signal is in phase opposition to the other TX signals in each cycle;
(3) each TX signal has 4 cycles, only one cycle having a phase opposite to the other cycles;
(4) the high level controls the infrared lamp to transmit signals, and the low level controls the infrared lamp to stop transmitting signals.
Alternatively, one or more sets of matrices of in-phase signals may be inserted on the basis of the modulation signal matrix of fig. 5. Fig. 6 is a schematic diagram of a modulated signal provided by an embodiment of the present invention with a set of waveforms added, and a set of same phase signals is inserted on the basis of fig. 5, as shown in fig. 6. Signals with the same phase are inserted into the basis of the graph 5, and the noise is averaged by utilizing the characteristic that the noise has positive and negative amplitudes, so that the SNR is improved.
The infrared emitter transmission has 4 transmission signal, and the infrared ray has 4 transmission path, and every transmission path exists and does not have shelters from, partly shelters from, shelters from degree such as blocking entirely, can judge the position of object through sheltering from the degree. The degree of occlusion can be expressed by a range of values from 0 to 1. The no-occlusion is 1, which means that the signal has been transmitted completely; the full occlusion is 0, indicating no signal transmission has passed. The digital matrix of the infrared transmission path may be denoted by C.
The infrared receiver receives an infrared signal at each transmission cycle, which signal represents the difference between the signal received in the second half of the cycle and the signal received in the first half of the cycle. For example, if the infrared reception signal of the second half period in the period T1 is 3 and the infrared reception signal of the first half period is 1, the difference between them is 2. The digital matrix of infrared reception may be denoted by S.
Therefore, the signal transmitted by the infrared transmitter is represented by the first digital matrix, namely the 4 × 4 matrix, 4 rows represent 4 periods, 4 columns represent 4 infrared emitting diodes, the same-direction signal is represented by 1, and the reverse-direction signal is represented by-1 in the first digital matrix, and the signal received by the infrared receiver is represented by the second digital matrix, namely the 4 × 1 matrix, 4 rows represent 4 periods, 1 column represents 1 infrared receiver, and the value in the second digital matrix represents the signal received by the infrared receiver, wherein the signal represents the difference between the signal received in one period and the signal received in the second half period and the signal received in the first half period.
Optionally, determining the third digital matrix of the transmission path using the first digital matrix and the second digital matrix includes: and determining a third digital matrix of the transmission path by adopting a matrix operation mode according to the first digital matrix and the second digital matrix, wherein in the matrix operation process, a noise parameter is added in the second digital matrix.
Based on the matrix representation, one can derive such a formula:
VxC＝S
then
VxC＝S
VTxV＝w
VTxVxC＝VTxS
Obtaining position information of the object:
matrix VTIs the transpose of the matrix V and w is a constant.
Assume that the infrared reception signal S is:
then:
i.e. the 2 nd transmit channel TX2 is blocked.
The above TX transmit signal V is a modulated signal. The reception signal S is a reception measured signal. The positioning signal C is the calculated signal.
Adding noise in the measured matrix S:
obtaining:
matrix VTIs the transpose of the matrix V, w is a constant, and C is an unknown value.
Setting:
then
Noise is added to the measured matrix S:
obtaining:
from the above calculation, the driving coding modulation of the TX channel is used to average the noise by using the positive and negative amplitude characteristics of the noise, thereby improving the SNR.
In the related art, V ═ 1, S ═ VxC, resulting in C ═ S;
in the present embodiment, S + Noise is C1+ Noise, and C1+ + Noise is obtained, where C1 denotes C in the related art.
From the above analysis, it can be seen that the related art does not deal with any noise.
Compared with the scheme in the related technology, the noise is averaged, and the SNR is improved.
In addition, as seen from fig. 2 and 5, the time for transmitting 4 sets of TX signals in the related art is the same as the present embodiment. That is, in the same time, the modulated infrared signal is emitted, and the noise is averaged by using the characteristic that the noise has positive and negative amplitudes, so that the SNR is improved.
The values of n, p, and k can also be determined according to the m-sequence, and the values of n, p, and k are described below according to the m-sequence.
(1) And modulating the existing m sequences, wherein an m sequence matrix is formed as follows, namely a TX driving code matrix formed by the m sequences, and x is the stage number of the m sequences.
(2) Taking the 4-level m-sequence as an example, the length of the 4-level m-sequence is 24-1 ═ 15. The 15 TX channel driving code matrices composed of the 4-level m-sequence are as follows:
the analytic code matrix composed of the 4-level m sequences corresponding to the 15 TX channel driving code matrices composed of the 4-level m sequences is as follows:
15 TX channel driving code matrixes V formed by 4 levels of m sequences, and a corresponding analytic code matrix formed by 4 levels of m sequences consists of V0 TIt is shown that the s-th column of the matrix is obtained by shifting the next row of the s-1 column, and the matrix obtained by the shifting can beThe method is easy to realize by a hardware shift register, and the overall calculation speed of the system is improved. On the basis of the formula:
VxC＝S
V0 TxV＝w
V0 TxVxC＝VTxS formula ①
Obtaining:
noise is added to the measured matrix S:
obtaining:
matrix V0 TIs the transpose of the matrix V and changes-1 in the matrix to 0, w being a constant.
Let the number of channels of TX be 4: the corresponding matrix V is as follows:
setting:
then
Obtaining:
from the above calculation, the driving codes of 4 TX channels obtained from the m-sequence are used to average the noise by using the positive and negative amplitude characteristics of the noise, thereby improving the SNR. It can be seen that the same 4 TX channels, in this way, average out the noise more, resulting in a higher SNR.
Thus, characterizing the signal transmitted by the infrared transmitter using the first digital matrix may include: the first number matrix is (2)x-1) × Y matrix, (2)x-1) line characterization (2)x-1) cycles, Y columns characterizing Y infrared emitting diodes, in a first digital matrix the co-directional signal being denoted by 1, the counter-directional signal being denoted by-1, X being the number of levels of the m-sequence, (2)x-1) ≧ Y, the first column of the first number matrix is an m-sequence and the latter column is shifted by 1 bit for the former column.
Specifically, when the m-sequence code is expanded to Y channels, Y columns of a matrix V are selected as driving codes, the s-th column of the matrix is obtained by shifting the next row of s-1 columns, and the requirement of 2 is metxY is-1. gtoreq.Y. The Y-channel TX driving code matrix is as follows:
when the number of the channels is 4, the values of X and Y are 4.
Therefore, the larger the order of Y, the more noise can be averaged, and a higher SNR can be obtained.
The m-sequence modulation signal is generated as follows: like the 4 TX modulation signals, a digital circuit is sampled, and the +1 in the matrix outputs square wave signals with the same phase, and the-1 outputs square wave signals with opposite phases. When TX is at high level, the infrared lamp transmits signals, and when TX is at low level, the infrared lamp is turned off and does not transmit signals.
The m-sequence modulation signal matrix specifically comprises the following characteristics:
(1) the 1 st column of the modulation signal matrix is formed by m sequences; column 2 consists of column 1 cyclic shifts; column 3 has column 2 cyclic shifts and so on.
(2) In the matrix, "+ 1" outputs square wave signals of the same phase, and "-1" outputs square wave signals of opposite phase.
(3) The high level controls the infrared lamp to transmit signals, and the low level controls the infrared lamp to stop transmitting signals.
(4) On the basis of the modulation signal matrix of fig. 5, a matrix of 1 or more sets of in-phase signals may be inserted.
In an embodiment of the present invention, an object positioning apparatus is further provided, and fig. 7 is a block diagram of a structure of an object positioning apparatus according to an embodiment of the present invention, as shown in fig. 7, the object positioning apparatus 700 includes: an infrared transmitter 702, an infrared receiver 704, and a locator 706, which are described below.
An infrared transmitter 702, configured to transmit p periods of signals simultaneously through n infrared emitting diodes, where the n infrared emitting diodes transmit k same-direction signals and n-k reverse signals in each period, n and p are integers greater than 2, and k is an integer greater than or equal to 1; an infrared receiver 704, connected to the infrared transmitter 702, for receiving the signal sent by the infrared transmitter to obtain a received signal; and a locator 706 connected to the infrared transmitter 702 and the infrared receiver 704 for locating the object in the signal transmission path according to the signal transmitted by the infrared transmitter and the signal received by the infrared receiver.
Optionally, the infrared transmitter 702 is further configured to characterize a signal sent by the infrared transmitter with a first digital matrix; the infrared receiver 704 is further used for representing the signals received by the infrared receiver by adopting a second digital matrix; the locator 706 is further used for determining a third digital matrix of the transmission path according to the first digital matrix and the second digital matrix; and positioning the object in the signal transmission path according to the third digital matrix.
Optionally, n and p both have a value of 4, and k has a value of 1.
Optionally, the ir transmitter 702 is further configured to characterize signals transmitted by the ir transmitter with a first digital matrix, where the first digital matrix is a 4 × 4 matrix, 4 rows represent 4 cycles, and 4 columns represent 4 ir emitting diodes, where the co-directional signal is represented by 1 and the reverse directional signal is represented by-1, and the ir receiver 704 is further configured to characterize signals received by the ir receiver with a second digital matrix, where the second digital matrix is a 4 × 1 matrix, 4 rows represent 4 cycles, and 1 column represents 1 ir receiver, where the value in the second digital matrix represents the difference between the signals received by the ir receiver in one cycle, the second half cycle and the first half cycle.
Optionally, the locator 706 is further configured to determine a third digital matrix of the transmission path by using a matrix operation manner according to the first digital matrix and the second digital matrix, wherein a noise parameter is added to the second digital matrix during the matrix operation.
Optionally, the values of n, p, k are determined according to the m-sequence.
Optionally, the infrared emitter 702 is further configured to characterize the signal sent by the infrared emitter with a first digital matrix by: the first number matrix is (2)x-1) × Y matrix, (2)x-1) line characterization (2)x-1) cycles, Y columns characterizing Y infrared emitting diodes, in a first digital matrix the co-directional signal being denoted by 1, the counter-directional signal being denoted by-1, X being the number of levels of the m-sequence, (2)x-1) ≧ Y, the first column of the first number matrix is an m-sequence and the latter column is shifted by 1 bit for the former column.
Optionally, X and Y both take a value of 4.
According to a further aspect of the present invention, there is provided a storage medium comprising a stored program, wherein the program, when executed, controls an apparatus on which the storage medium is located to perform any one of the above object locating methods.
Optionally, in this embodiment, the storage medium may be configured to store program codes executed by the object positioning method provided in the foregoing embodiment.
Optionally, in this embodiment, the storage medium may be located in any one of computer terminals in a computer terminal group in a computer network, or in any one of mobile terminals in a mobile terminal group.
Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps: simultaneously sending p periods of signals through n infrared emitting diodes in the infrared emitter, wherein the n infrared emitting diodes send k same-direction signals and n-k reverse signals in each period, n and p are integers larger than 2, and k is an integer larger than or equal to 1; receiving a signal sent by an infrared transmitter through an infrared receiver to obtain a received signal; and positioning the object in the signal transmission path according to the signal sent by the infrared transmitter and the signal received by the infrared receiver.
Optionally, in this embodiment, the storage medium is further configured to store program code for performing the following steps: locating an object in the signal transmission path based on the signal transmitted by the infrared transmitter and the signal received by the infrared receiver comprises: representing signals sent by the infrared transmitter by adopting a first digital matrix; representing the signals received by the infrared receiver by adopting a second digital matrix; determining a third digital matrix of the transmission path according to the first digital matrix and the second digital matrix; and positioning the object in the signal transmission path according to the third digital matrix.
Optionally, in this embodiment, the storage medium is further configured to store program code for performing the following steps: the values of n and p are both 4, and the value of k is 1.
Optionally, in this embodiment, the storage medium is further configured to store program code for performing the steps of characterizing signals transmitted by the infrared transmitter using a first digital matrix comprising a 4 × 4 matrix with 4 rows for 4 cycles and 4 columns for 4 infrared emitting diodes, in the first digital matrix, a co-directional signal is represented by 1 and a counter-directional signal is represented by-1, and characterizing signals received by the infrared receiver using a second digital matrix comprising a 4 × 1 matrix with 4 rows for 4 cycles and 1 column for 1 infrared receiver, and in the second digital matrix, values representing signals received by the infrared receivers in one cycle and a difference between signals received in the second half cycle and signals received in the first half cycle.
Optionally, in this embodiment, the storage medium is further configured to store program code for performing the following steps: determining a third digital matrix of the transmission path using the first digital matrix and the second digital matrix includes: and determining a third digital matrix of the transmission path by adopting a matrix operation mode according to the first digital matrix and the second digital matrix, wherein in the matrix operation process, a noise parameter is added in the second digital matrix.
Optionally, in this embodiment, the storage medium is further configured to store program code for performing the following steps: the values of n, p and k are determined according to the m sequence.
Optionally, in this embodiment, the storage medium is further configured to store program code for performing the following steps: the method for characterizing the signals sent by the infrared transmitter by adopting the first digital matrix comprises the following steps: the first number matrix is (2)x-1) × Y matrix, (2)x-1) line characterization (2)x-1) cycles, Y columns characterizing Y infrared emitting diodes, in a first digital matrix the co-directional signal being denoted by 1, the counter-directional signal being denoted by-1, X being the number of levels of the m-sequence, (2)x-1) ≧ Y, the first column of the first number matrix is an m-sequence and the latter column is shifted by 1 bit for the former column.
Optionally, in this embodiment, the storage medium is further configured to store program code for performing the following steps: the values of X and Y are both 4.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method of locating an object, comprising:
simultaneously sending p periods of signals through n infrared emitting diodes in the infrared emitter, wherein the n infrared emitting diodes send k same-direction signals and n-k reverse signals in each period, n and p are integers larger than 2, and k is an integer larger than or equal to 1;
receiving the signal sent by the infrared transmitter through an infrared receiver to obtain a received signal;
and positioning the object in the signal transmission path according to the signal sent by the infrared transmitter and the signal received by the infrared receiver.
2. The method of claim 1, wherein locating the object in the signal transmission path based on the signal transmitted by the infrared transmitter and the signal received by the infrared receiver comprises:
representing the signals sent by the infrared transmitter by adopting a first digital matrix;
characterizing the signal received by the infrared receiver by a second digital matrix;
determining a third digital matrix of a transmission path according to the first digital matrix and the second digital matrix;
and positioning the object in the signal transmission path according to the third digital matrix.
3. The method of claim 2, wherein n and p are both 4 and k is 1.
4. The method of claim 3,
the first digital matrix is a 4 × 4 matrix, 4 rows represent 4 periods, 4 columns represent 4 infrared emitting diodes, and in the first digital matrix, a same-direction signal is represented by 1 and a reverse-direction signal is represented by-1;
the second digital matrix is used for representing the signals received by the infrared receivers and comprises a 4 × 1 matrix, 4 rows represent 4 periods, 1 column represents 1 infrared receiver, the value in the second digital matrix represents the signal received by the infrared receiver, and the signal represents the difference value between the signal received in the second half period and the signal received in the first half period in one period.
5. The method of claim 4, wherein determining a third digital matrix for a transmission path using the first digital matrix and the second digital matrix comprises:
and determining a third digital matrix of the transmission path by adopting a matrix operation mode according to the first digital matrix and the second digital matrix, wherein in the matrix operation process, a noise parameter is added in the second digital matrix.
6. The method of claim 2, wherein the values of n, p, k are determined according to the m-sequence.
7. The method of claim 6,
the method for characterizing the signals sent by the infrared transmitters by adopting a first digital matrix comprises the following steps: the first number matrix is (2)x-1) × Y matrix, (2)x-1) line characterization (2)x-1) cycles, Y columns characterizing Y infrared emitting diodes, in said first digital matrix the co-directional signal being denoted by 1, the counter-directional signal being denoted by-1, X being the number of levels of the m-sequence, (2)x-1) ≧ Y, the first column of the first number matrix being an m-sequence and the latter column being a preceding column shifted by 1 bit.
8. The method of claim 7, wherein X and Y are both 4.
9. An object positioning device, comprising:
the infrared emitter is used for simultaneously sending p periods of signals through n infrared emitting diodes, wherein the n infrared emitting diodes send k same-direction signals and n-k reverse signals in each period, n and p are integers larger than 2, and k is an integer larger than or equal to 1;
the infrared receiver is used for receiving the signal sent by the infrared transmitter to obtain a received signal;
and the locator is used for locating the object in the signal transmission path according to the signal sent by the infrared transmitter and the signal received by the infrared receiver.
10. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program, when executed, controls an apparatus in which the storage medium is located to perform the object positioning method according to any one of claims 1 to 8.
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