Visible light communication method, device, equipment and system

The embodiment of the invention provides a visible light communication method, device, equipment and system, and the method comprises the steps that first equipment obtains a shot image, and the shot image is obtained by shooting a light-emitting device in second equipment; the first device determines first position information of the second device based on the shot image; and the first device determines a first angle for transmitting a visible light signal to the second device based on the first position information. 本申请实施例提供可见光通信方法、装置、设备及系统，该方法包括：第一设备获得拍摄图像，所述拍摄图像通过对第二设备中的可发光装置进行拍摄得到；所述第一设备基于所述拍摄图像，确定所述第二设备的第一位置信息；所述第一设备基于所述第一位置信息，确定向所述第二设备发射可见光信号的第一角度。