CN111142578A - Light tracking control method of Internet of things intelligent skating shoes - Google Patents
Light tracking control method of Internet of things intelligent skating shoes Download PDFInfo
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- CN111142578A CN111142578A CN201911417621.9A CN201911417621A CN111142578A CN 111142578 A CN111142578 A CN 111142578A CN 201911417621 A CN201911417621 A CN 201911417621A CN 111142578 A CN111142578 A CN 111142578A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The invention discloses a light following control method of an internet of things intelligent roller skate, which comprises the following steps: acquiring ID information of the skating shoes; according to the ID information, the intelligent follow spot lamp is matched and associated with the skating shoes; acquiring a pressure value and a moving speed value; collecting distance SLiCollecting the distance SRi(ii) a Acquiring the coordinate position of an auxiliary distance sensor in the skating rink; according to the distance SLiDistance SRiThe method comprises the steps of establishing a parameter to be identified β, a first matrix P and a first vector Q by a first coordinate of a point A where a left foot of a roller skate is located, a second coordinate of a point B where a right foot of the roller skate is located and a coordinate position of an auxiliary distance sensor on an ice rink, solving a real-time actual coordinate of a point O where a user wearing the roller skate is located in the ice rink, controlling an intelligent follow spot lamp to project first projection illumination to the user according to the real-time actual coordinate of the point O, achieving intelligent control over the follow spot lamp, and achieving illumination projection of the follow spot lampThe intellectualization of the irradiation and the operation improves the accuracy of the illumination projection and the operation of the follow spot lamp.
Description
Technical Field
The invention relates to the technical field of indoor skating intelligent follow spot lamps, in particular to a follow spot control method of an internet of things intelligent skating shoe.
Background
The spotlight is a high-power spotlight and consists of a convex lens and a light source. The light column is mainly used for highlighting actors or other special effects under the condition that the stage is dark all around, or supplementing light to the actors. The follow spot lamp is arranged in the indoor skating rink, so that a good environment atmosphere can be created, and the whole atmosphere can be effectively driven.
In the prior art, the follow spot lamp is characterized in that the follow spot lamp needs to be manually operated and moves along with the movement of an actor; in an indoor skating rink, the speed of a skater is generally high, and the skater cannot be timely and accurately lighted and projected by manually operating the follow spot lamp.
Disclosure of Invention
In view of the defects in the prior art, the technical problem to be solved by the invention is to provide a light following control method of an internet-of-things intelligent roller skate, and the method aims to realize intelligent control of a light following lamp, realize intellectualization of lighting projection and control of the light following lamp and improve accuracy of lighting projection and control of the light following lamp.
In order to achieve the purpose, the invention provides a light following control method of an internet of things intelligent roller skate, which comprises the following steps:
s1, acquiring a bar code or a two-dimensional code collected by an infrared scanning device, and identifying ID information of the skating shoes matched with the bar code or the two-dimensional code; the infrared scanning equipment is arranged at an entrance of the skating rink; the skating shoes are provided with a pressure sensor, a left foot distance sensor, a right foot distance sensor and a speed sensor; the pressure sensor is used for identifying whether a user stands on the skating shoes or not;
step S2, selecting an intelligent follow spot lamp in an idle state, and associating the intelligent follow spot lamp with the skating shoe in a pairing manner according to the ID information;
step S3, acquiring a pressure value G acquired by the pressure sensor, and acquiring a moving speed value V acquired by the speed sensor; in response to the pressure value G being greater than a preset pressure value GTHAnd the moving velocity value V is greater than a first preset velocity value VTHStarting the intelligent follow spot lamp;
step S4, collecting the distance S between the left foot distance sensor and each auxiliary distance sensorLiAnd collecting the distance S between the right foot distance sensor and each auxiliary distance sensorRi(ii) a Acquiring the coordinate position (x) of each auxiliary distance sensor in the skating rinki,yi) (ii) a The number of the auxiliary distance sensors is 4, i is a positive integer, and i is more than or equal to 1 and less than or equal to 4;
step S5, according to the distance SLiThe distance SRiPoint A of the left foot of the roller skateFirst coordinate a (x)L,yL) A point B of the right foot of the roller skates and a second coordinate B (x)R,yR) And the coordinate position (x) of the auxiliary distance sensor in the rinki,yi) Constructing a parameter to be identified β, a first matrix P and a first vector Q, and solving a real-time actual coordinate O (u,) v of a point O where a user wearing the skating shoe is located in the skating field, wherein the parameter to be identified
The first matrix
The first vector
The parameter to be identified β satisfies β ═ PTP)-1PTQ, the
The above-mentioned
Step S6, controlling the intelligent follow spot lamp to project first projection illumination to the user according to real-time actual coordinates O (u, v) of a point O where the user wearing the skating shoe is located in the skating shoe; the first projected illumination moves as the user moves.
In the technical scheme, an intelligent follow spot lamp is selected according to the obtained ID information of the skating shoes, and the intelligent follow spot lamp is matched and associated with the skating shoes according to the ID information; the real-time actual coordinates O (u, v) of a point O where a user wearing the skating shoe is located in the skating rink are solved, so that the position of the user in the skating rink is determined, first projection illumination is projected to the user through the intelligent follow spot lamp, the identification and illumination projection of the user in the skating rink are achieved, and based on the first projection illumination, intelligent control over the intelligent follow spot lamp is achieved,the intellectualization of the illumination projection and the operation of the follow spot lamp is realized; in this technical scheme, through construction
And
so that the user wearing the skating shoe can estimate the real-time real coordinate O (u, v) of the point O in the skating field
The user can be positioned, the positioning accuracy of the user is improved, and the lighting projection and control accuracy of the follow spot lamp is further improved.
In a specific embodiment, the skating rink is a rectangular rink, guardrails are arranged around the rectangular rink, and 4 auxiliary distance sensors are respectively arranged at four corners of the skating rink.
In a specific embodiment, the method further comprises:
a first angle sensor and a second angle sensor are respectively arranged on the left foot and the right foot of the roller skates, and a first travel angle phi of the travel direction of the left foot and the right foot of the roller skates is respectively measured by the first angle sensor and the second angle sensor1And a second angle of travel phi2；
According to the first travel angle phi1And said second angle of travel phi1Solving an equivalent advancing angle epsilon of the advancing direction of the user; wherein the equivalent angle of travel ε satisfies:
in a specific embodiment, the step S6 specifically includes:
step S61, obtaining the projection direction of the follow spot lamp according to the real-time actual coordinate O (u, v) and the position of the follow spot lamp, wherein the projection direction comprises an azimuth angle α and a pitch angle theta, the azimuth angle α is equal to epsilon, a connecting line between the point O and the follow spot lamp is a first connecting line, a vertical line passing through the follow spot lamp and the ground is a first vertical line, and an included angle between the first connecting line and the first vertical line is the pitch angle theta;
and S62, controlling the intelligent follow spot lamp to project the first projection lighting to the user according to the projection direction.
In a specific embodiment, the pattern of the first projection illumination is circular or elliptical.
In one embodiment, the intelligent follow spot can change different colors.
In a specific embodiment, the method further comprises:
collecting a first vertical distance R between the left foot distance sensor and the guardrail around the rectangular fieldLjAnd acquiring a second vertical distance R between the right foot distance sensor and the guardrail around the rectangular fieldRj(ii) a Wherein j is a positive integer and is more than or equal to 1 and less than or equal to 4;
in response to the first vertical distance RLjLess than a distance threshold RTHOr the second perpendicular distance RRjLess than a distance threshold RTHAnd outputting an alarm.
In a specific embodiment, the method further comprises:
according to the moving velocity value V and the equivalent travel angle epsilon, solving a first component V of the moving velocity value V1(ii) a Wherein the first component V1Satisfy V1＝Vcosε；
According to said first component V1The first vertical distance RLjAnd the second perpendicular distance RRjSolving a danger speed judgment value M; wherein the dangerous speed judgment value M satisfies:
namely, it is
In response to the speed of dangerThe judgment value M is larger than the preset dangerous speed judgment value MTHAnd outputting an alarm.
The invention has the beneficial effects that: according to the method, the intelligent follow spot lamp is selected through the obtained ID information of the skating shoes, and the intelligent follow spot lamp is matched and associated with the skating shoes according to the ID information; the real-time actual coordinates O (u, v) of a point O where a user wearing the skating shoe is located in the skating rink are solved, so that the position of the user in the skating rink is determined, first projection illumination is projected to the user through the intelligent follow spot, the identification and illumination projection of the user in the skating rink are achieved, based on the first projection illumination, intelligent control over the intelligent follow spot is achieved, and intelligentization of the projection and the operation of the follow spot illumination is achieved; in this technical scheme, through construction
And
so that the user wearing the skating shoe can estimate the real-time real coordinate O (u, v) of the point O in the skating field
The user can be positioned, the positioning accuracy of the user is improved, and the lighting projection and control accuracy of the follow spot lamp is further improved.
Drawings
Fig. 1 is a flow chart of a light tracking control method of an internet of things intelligent roller skate according to an embodiment of the present invention;
fig. 2 is a system block diagram of an indoor skating intelligent follow spot control system based on the internet of things in an embodiment of the invention;
FIG. 3 is a diagram illustrating a positional relationship between each of the auxiliary distance sensors and the left and right foot distance sensors according to an embodiment of the present invention;
FIG. 4 is a graph illustrating a relationship between a moving velocity value and a first component according to an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
as shown in fig. 1 to 4, in a first embodiment of the present invention, a light tracking control method for an internet of things intelligent roller skate is provided, the method includes the following steps:
s1, acquiring a bar code or a two-dimensional code collected by an infrared scanning device, and identifying ID information of the skating shoes matched with the bar code or the two-dimensional code; the infrared scanning equipment is arranged at an entrance of the skating rink; the skating shoes are provided with a pressure sensor, a left foot distance sensor, a right foot distance sensor and a speed sensor; the pressure sensor is used for identifying whether a user stands on the skating shoes or not;
step S2, selecting an intelligent follow spot lamp in an idle state, and associating the intelligent follow spot lamp with the skating shoe in a pairing manner according to the ID information;
step S3, acquiring a pressure value G acquired by the pressure sensor, and acquiring a moving speed value V acquired by the speed sensor; in response to the pressure value G being greater than a preset pressure value GTHAnd the moving velocity value V is greater than a first preset velocity value VTHStarting the intelligent follow spot lamp;
step S4, collecting the distance S between the left foot distance sensor and each auxiliary distance sensorLiAnd collecting the distance S between the right foot distance sensor and each auxiliary distance sensorRi(ii) a Acquiring the coordinate position (x) of each auxiliary distance sensor in the skating rinki,yi) (ii) a The number of the auxiliary distance sensors is 4, i is a positive integer, and i is more than or equal to 1 and less than or equal to 4;
step S5, according to the distance SLiThe distance SRiA first coordinate A (x) of a point A where the left foot of the roller skate is locatedL,yL) A point B of the right foot of the roller skates and a second coordinate B (x)R,yR) And the coordinate position (x) of the auxiliary distance sensor in the rinki,yi) Constructing a parameter to be identified β, a first matrix P and a first vector Q, and solving a real-time actual coordinate O (u,) v of a point O where a user wearing the skating shoe is located in the skating field, wherein the parameter to be identified
The first matrix
The first vector
The parameter to be identified β satisfies β ═ PTP)-1PTQ, the
The above-mentioned
Step S6, controlling the intelligent follow spot lamp to project first projection illumination to the user according to real-time actual coordinates O (u, v) of a point O where the user wearing the skating shoe is located in the skating shoe; the first projected illumination moves as the user moves.
In this embodiment, the place in rink is the rectangle place, be provided with the guardrail around the rectangle place, 4 supplementary distance sensing sets up respectively four corners in rink.
In this embodiment, the method further includes:
a first angle sensor and a second angle sensor are respectively arranged on the left foot and the right foot of the roller skates, and a first travel angle phi of the travel direction of the left foot and the right foot of the roller skates is respectively measured by the first angle sensor and the second angle sensor1And a second angle of travel phi2；
According to the first travel angle phi1And said second angle of travel phi1Solving for the equivalent travel angle ε of the user travel direction(ii) a Wherein the equivalent angle of travel ε satisfies:
in this embodiment, the step S6 specifically includes:
step S61, obtaining the projection direction of the follow spot lamp according to the real-time actual coordinate O (u, v) and the position of the follow spot lamp, wherein the projection direction comprises an azimuth angle α and a pitch angle theta, the azimuth angle α is equal to epsilon, a connecting line between the point O and the follow spot lamp is a first connecting line, a vertical line passing through the follow spot lamp and the ground is a first vertical line, and an included angle between the first connecting line and the first vertical line is the pitch angle theta;
and S62, controlling the intelligent follow spot lamp to project the first projection lighting to the user according to the projection direction.
In this embodiment, the pattern of the first projection illumination is circular or elliptical.
In this embodiment, the intelligent follow spot lamp can change various colors.
In this embodiment, the method further includes:
collecting a first vertical distance R between the left foot distance sensor and the guardrail around the rectangular fieldLjAnd acquiring a second vertical distance R between the right foot distance sensor and the guardrail around the rectangular fieldRj(ii) a Wherein j is a positive integer and is more than or equal to 1 and less than or equal to 4;
in response to the first vertical distance RLjLess than a distance threshold RTHOr the second perpendicular distance RRjLess than a distance threshold RTHAnd outputting an alarm.
In this embodiment, the method further includes:
according to the moving velocity value V and the equivalent travel angle epsilon, solving a first component V of the moving velocity value V1(ii) a Wherein the first component V1Satisfy V1＝Vcosε；
According to said first component V1The above-mentionedFirst vertical distance RLjAnd the second perpendicular distance RRjSolving a danger speed judgment value M; wherein the dangerous speed judgment value M satisfies:
namely, it is
Responding to the fact that the dangerous speed judgment value M is larger than a preset dangerous speed judgment value MTHAnd outputting an alarm.
The following is a derivation of the correlation formula in this example:
as shown in fig. 3, the coordinate point of each of the auxiliary distance sensors in the skating rink is C (x)1,y1)、D(x2,y2)、E(x3,y3)、F(x4,y4)；
Coordinate position (x) of the auxiliary distance sensor in the rinki,yi) A first coordinate A (x) of a point A where the left foot of the skating shoe is positionedL,yL) A point B of the right foot of the roller skates and a second coordinate B (x)R,yR) The distance SLiThe distance SRiThe following relationship is satisfied:
coordinate position (x) of the auxiliary distance sensor in the rinki,yi) And the real-time actual coordinates O (u, v) satisfy the following relation:
will be described in
The above-mentioned
Substituting to obtain:
and (3) simultaneous resolution to obtain:
the real-time actual coordinates O (x, y) and the coordinates C (x)1,y1) The coordinates D (x)2,y2) The coordinates E (x)3,y3) The coordinates F (x)4,y4) The following relationship is satisfied:
after simplification, the method can be obtained:
namely:
order to
The estimate of β satisfies:
the real-time actual coordinates O (u, v) can be solved.
As shown in fig. 1 to 4, in a second embodiment of the present invention, an intelligent spotlight control system for indoor skating based on the internet of things is provided, the system includes:
the intelligent follow spot control system comprises infrared scanning equipment, a roller skate, an intelligent follow spot lamp, a pressure sensor, a speed sensor, a left foot distance sensor, a right foot distance sensor, an auxiliary distance sensor, a first angle sensor, a second angle sensor, a scanning identification module 100, a data transmission module 200, an intelligent follow spot lamp selection and starting end 300 and an intelligent follow spot lamp control end 400; the scanning and identifying module 100 collects a bar code or a two-dimensional code through the infrared scanning device, and the bar code or the two-dimensional code collected by the scanning and identifying module 100 is transmitted to the intelligent follow spot lamp selecting and starting end 300 through the data transmission module 200;
the intelligent follow spot lamp selecting and starting end 300 comprises:
an ID information obtaining module 301, configured to obtain the barcode or the two-dimensional code collected by the infrared scanning device, and identify ID information of the skating shoe matched with the barcode or the two-dimensional code; the infrared scanning equipment is arranged at an entrance of the skating rink; the skating shoe is provided with the pressure sensor, the left foot distance sensor, the right foot distance sensor and the speed sensor; the pressure sensor is used for identifying whether a user stands on the skating shoes or not;
the pairing module 302 is used for selecting the intelligent follow spot lamp in an idle state and associating the intelligent follow spot lamp with the skating shoe in a pairing manner according to the ID information;
a pressure value and speed value obtaining module 303, configured to obtain a pressure value G acquired by the pressure sensor, and obtain a moving speed value V acquired by the speed sensor;
an intelligent follow spot lamp starting module 304, configured to respond to that the pressure value G is greater than a preset pressure value GTHAnd the moving velocity value V is greater than a first preset velocity value VTHStarting the intelligent follow spot lamp;
the intelligent follow spot lamp control terminal 400 includes:
a data acquisition module 410 for acquiring the distance S between the left foot distance sensor and each of the auxiliary distance sensorsLiAnd collecting the distance between the right foot distance sensor and each auxiliary distance sensorS distance ofRi(ii) a Acquiring the coordinate position (x) of each auxiliary distance sensor in the skating rinki,yi) (ii) a The number of the auxiliary distance sensors is 4, i is a positive integer, and i is more than or equal to 1 and less than or equal to 4;
a real-time actual coordinate solving module 420 for solving the real-time actual coordinate according to the distance SLiThe distance SRiA first coordinate A (x) of a point A where the left foot of the roller skate is locatedL,yL) A point B of the right foot of the roller skates and a second coordinate B (x)R,yR) And the coordinate position (x) of the auxiliary distance sensor in the rinki,yi) Constructing a parameter to be identified β, a first matrix P and a first vector Q, and solving a real-time actual coordinate O (u, v) of a point O where a user wearing the skating shoe is located in the skating field, wherein the parameter to be identified
The first matrix
The first vector
The parameter to be identified β satisfies β ═ PTP)-1PTQ, the
The above-mentioned
A control module 430, configured to control the intelligent follow spot lamp to project a first projection illumination to the user according to real-time actual coordinates O (u, v) of a point O in the skating rink where the user wearing the skating shoe is; the first projected illumination moves as the user moves.
In this embodiment, the place in rink is the rectangle place, be provided with the guardrail around the rectangle place, 4 supplementary distance sensing sets up respectively four corners in rink.
In this embodiment, the intelligent follow spot lamp control end 400 further includes an equivalent traveling angle solving module 440, where the equivalent traveling angle solving module 440 includes:
a first and second travel angle obtaining unit 441 for obtaining a first travel angle phi of the left and right foot travel directions of the skating shoe through the first and second angle sensors, respectively1And a second angle of travel phi2(ii) a The first angle sensor and the second angle sensor are respectively arranged on the left foot and the right foot of the skating shoe;
an equivalent traveling angle solving unit 442 for solving the equivalent traveling angle according to the first traveling angle phi1And said second angle of travel phi1Solving an equivalent advancing angle epsilon of the advancing direction of the user; wherein the equivalent angle of travel ε satisfies:
in this embodiment, the control module 430 specifically includes:
the projection direction obtaining unit 431 is used for obtaining the projection direction of the follow spot lamp according to the real-time actual coordinate O (u, v) and the position of the follow spot lamp, wherein the projection direction comprises an azimuth angle α and a pitch angle theta, the azimuth angle α is epsilon, a connecting line between the point O and the follow spot lamp is a first connecting line, a perpendicular line passing through the follow spot lamp and the ground is a first perpendicular line, and an included angle between the first connecting line and the first perpendicular line is the pitch angle theta;
and the projection lighting unit 432 is configured to control the intelligent follow spot lamp to project the first projection lighting to the user according to the projection direction.
In this embodiment, the pattern of the first projection illumination is circular or elliptical.
In this embodiment, the intelligent follow spot lamp can change various colors.
In this embodiment, the system further includes an alarm module 500, where the alarm module 500 includes:
a first vertical distance and second vertical distance collecting unit 501 for collecting the first vertical distance R between the left foot distance sensor and the guardrail around the rectangular fieldLjAnd acquiring a second vertical distance R between the right foot distance sensor and the guardrail around the rectangular fieldRj(ii) a Wherein j is a positive integer and is more than or equal to 1 and less than or equal to 4;
an alarm unit 502 for responding to the first vertical distance RLjLess than a distance threshold RTHOr the second perpendicular distance RRjLess than a distance threshold RTHAnd outputting an alarm.
In this embodiment, the alarm module 500 further includes:
a first component solving unit 503, configured to solve a first component V of the moving velocity value V according to the moving velocity value V and the equivalent traveling angle ∈1(ii) a Wherein the first component V1Satisfy V1＝Vcosε；
A dangerous velocity judgment value solving unit 504 for solving the dangerous velocity judgment value according to the first component V1The first vertical distance RLjAnd the second perpendicular distance RRjSolving a danger speed judgment value M; wherein the dangerous speed judgment value M satisfies:
namely, it is
Responding to the fact that the dangerous speed judgment value M is larger than a preset dangerous speed judgment value MTHThe alarm unit 502 outputs an alarm.
The following is a derivation of the correlation formula in this example:
as shown in fig. 3, the coordinate point of each of the auxiliary distance sensors in the skating rink is C (x)1,y1)、D(x2,y2)、E(x3,y3)、F(x4,y4)；
Coordinate position (x) of the auxiliary distance sensor in the rinki,yi) A first coordinate A (x) of a point A where the left foot of the skating shoe is positionedL,yL) A point B of the right foot of the roller skates and a second coordinate B (x)R,yR) The distance SLiThe distance SRiThe following relationship is satisfied:
coordinate position (x) of the auxiliary distance sensor in the rinki,yi) And the real-time actual coordinates O (u, v) satisfy the following relation:
will be described in
The above-mentioned
Substituting to obtain:
and (3) simultaneous resolution to obtain:
the real-time actual coordinates O (x, y) and the coordinates C (x)1,y1) The coordinates D (x)2,y2) The coordinates E (x)3,y3) The coordinates F (x)4,y4) The following relationship is satisfied:
after simplification, the method can be obtained:
namely:
order to
The estimate of β satisfies:
the real-time actual coordinates O (u, v) can be solved.
Specific embodiments of the present invention have been described above in detail. It is to be understood that the specific embodiments of the present invention are not exclusive and that modifications and variations may be made by one of ordinary skill in the art in light of the spirit of the present invention, within the scope of the appended claims. Therefore, technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the embodiments of the present invention should be within the scope of protection defined by the claims.
Claims (8)
1. A light following control method of an Internet of things intelligent roller skate is characterized by comprising the following steps:
s1, acquiring a bar code or a two-dimensional code collected by an infrared scanning device, and identifying ID information of the skating shoes matched with the bar code or the two-dimensional code; the infrared scanning equipment is arranged at an entrance of the skating rink; the skating shoes are provided with a pressure sensor, a left foot distance sensor, a right foot distance sensor and a speed sensor; the pressure sensor is used for identifying whether a user stands on the skating shoes or not;
step S2, selecting an intelligent follow spot lamp in an idle state, and associating the intelligent follow spot lamp with the skating shoe in a pairing manner according to the ID information;
step S3, acquiring a pressure value G acquired by the pressure sensor, and acquiring a moving speed value V acquired by the speed sensor; in response to the pressure value G being greater than a preset pressure value GTHAnd the moving velocity value V is greater than a first preset velocity value VTHStarting the intelligent follow spot lamp;
step S4, collecting the distance S between the left foot distance sensor and each auxiliary distance sensorLiAnd collecting the distance S between the right foot distance sensor and each auxiliary distance sensorRi(ii) a Acquiring the coordinate position (x) of each auxiliary distance sensor in the skating rinki,yi) (ii) a The number of the auxiliary distance sensors is 4, i is a positive integer, and i is more than or equal to 1 and less than or equal to 4;
step S5, according to the distance SLiThe distance SRiA first coordinate A (x) of a point A where the left foot of the roller skate is locatedL,yL) A point B of the right foot of the roller skates and a second coordinate B (x)R,yR) And the coordinate position (x) of the auxiliary distance sensor in the rinki,yi) Constructing a parameter to be identified β, a first matrix P and a first vector Q, and solving real-time actual coordinates of a point O where a user wearing the skating shoe is located in the skating field
Wherein, the parameter to be identified
The first matrix
The first vector
The parameter to be identified β satisfies
The above-mentioned
The above-mentioned
Step S6, controlling the intelligent follow spot lamp to project first projection illumination to the user according to real-time actual coordinates O (u, v) of a point O where the user wearing the skating shoe is located in the skating shoe; the first projected illumination moves as the user moves.
2. The light tracking control method of the internet of things intelligent roller skates according to claim 1, wherein the skating rink is a rectangular skating rink, guardrails are arranged around the rectangular skating rink, and 4 auxiliary distance sensors are respectively arranged at four corners of the skating rink.
3. The light following control method of the internet of things intelligent roller skates as claimed in claim 1, wherein the method further comprises:
a first angle sensor and a second angle sensor are respectively arranged on the left foot and the right foot of the roller skates, and a first travel angle phi of the travel direction of the left foot and the right foot of the roller skates is respectively measured by the first angle sensor and the second angle sensor1And a second angle of travel phi2；
According to the first travel angle phi1And said second angle of travel phi1Solving an equivalent advancing angle epsilon of the advancing direction of the user; wherein the equivalent angle of travel ε satisfies:
4. the light following control method of the internet of things intelligent roller skates as claimed in claim 1, wherein the step S6 specifically includes:
step S61, obtaining the projection direction of the follow spot lamp according to the real-time actual coordinate O (u, v) and the position of the follow spot lamp, wherein the projection direction comprises an azimuth angle α and a pitch angle theta, the azimuth angle α is equal to epsilon, a connecting line between the point O and the follow spot lamp is a first connecting line, a vertical line passing through the follow spot lamp and the ground is a first vertical line, and an included angle between the first connecting line and the first vertical line is the pitch angle theta;
and S62, controlling the intelligent follow spot lamp to project the first projection lighting to the user according to the projection direction.
5. The light following control method of the internet of things intelligent roller skates according to claim 1, wherein the pattern of the first projection lighting is circular or elliptical.
6. The light following control method of the internet of things intelligent roller skates as claimed in claim 1, wherein the intelligent light following lamp can change various colors.
7. The light following control method of the internet of things intelligent roller skates as claimed in claim 1, wherein the method further comprises:
collecting a first vertical distance R between the left foot distance sensor and the guardrail around the rectangular fieldLjAnd acquiring a second vertical distance R between the right foot distance sensor and the guardrail around the rectangular fieldRj(ii) a Wherein j is a positive integer and is more than or equal to 1 and less than or equal to 4;
in response to the first vertical distance RLjLess than a distance threshold RTHOr the second perpendicular distance RRjLess than a distance threshold RTHAnd outputting an alarm.
8. The light following control method of the internet of things intelligent roller skates as claimed in claim 7, wherein the method further comprises:
according to the moving velocity value V and the equivalent travel angle epsilon, solving a first component V of the moving velocity value V1(ii) a Wherein the first component V1Satisfy V1＝Vcosε；
According to said first component V1The first vertical distance RLjAnd the second perpendicular distance RRjSolving a danger speed judgment value M; wherein the dangerous speed judgment value M satisfies:
namely, it is
Responding to the fact that the dangerous speed judgment value M is larger than a preset dangerous speed judgment value MTHAnd outputting an alarm.
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| CN201911417621.9A CN111142578B (en) | 2019-12-31 | 2019-12-31 | Light tracking control method of intelligent skating shoes of Internet of things |
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| CN201911417621.9A Active CN111142578B (en) | 2019-12-31 | 2019-12-31 | Light tracking control method of intelligent skating shoes of Internet of things |
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