CN111588180A - Lecture equipment positioning control system and method - Google Patents

Abstract

The invention relates to the technical field of teaching systems, in particular to a lecture equipment positioning control system and a method, aiming at solving the problems of low efficiency and high cost caused by the fact that lecture equipment needs to be returned to the original position manually or a table and a chair are controlled to be shifted through a guide rail in the prior art, and the technical key points are that the lecture equipment positioning control system comprises the following steps: recording position coordinates of all the homing points according to course arrangement of students and teachers; calculating the position coordinates of the current positions of all tables and chairs to be restored, and further distributing corresponding restoring points; and controlling the motor arranged on the desk or the chair to move to the corresponding homing point according to the position coordinate of the current position and the position coordinate of the homing point until the motor reaches the homing point.

Description

Lecture equipment positioning control system and method

Technical Field

The invention relates to the technical field of teaching systems, in particular to a lecture equipment positioning control system and method.

Background

With the advancement of science and technology, we have entered an information age of rapid development, and multimedia and communication technologies with computer technology as a core are widely used in various fields. In the field of education as well, information-oriented classrooms have become widespread throughout the country with the updating of technology and the down-regulation of equipment prices.

Depending on the course arrangement of students and teachers, there are different classroom requirements at different time periods, which raises a problem that manual returning of the lecture equipment (the lecture equipment includes but is not limited to a desk, a chair, a microphone, a projector) to the original position is required.

The existing solution is: taking a chair as an example, the chair is installed on the ground, the ground is provided with a guide rail, and the chair is directly moved to an initial position through the guide rail when the chair needs to be restored.

However, the method has low flexibility of homing, and each chair can only be fixedly returned to a preset initial position; but also requires floor redesign, i.e. laying of the guide rails on the floor.

Disclosure of Invention

Therefore, the technical problem to be solved by the present invention is to overcome the defects of low efficiency and high cost caused by the need of manually returning the lecture equipment to the original position or controlling the table and chair to move through the guide rail in the prior art, thereby providing a lecture equipment positioning control system and method.

The technical purpose of the invention is realized by the following technical scheme:

a lecture equipment positioning control system is characterized by comprising lecture equipment and a processor for positioning and orderly arranging the lecture equipment;

the lecture apparatus includes a table, a chair, and at least one position locator for positioning;

the table and the chair are respectively provided with a motor for driving wheels and a positioning device matched with the position positioner;

the processor records position coordinates of all homing points in advance according to the course arrangement of students and teachers, and can calculate the position coordinates of the current positions of all tables and chairs according to the position localizer and the positioning equipment so as to allocate corresponding homing points;

and the processor is also used for controlling the motor arranged on the desk and the chair to move to the corresponding homing point according to the position coordinate of the current position and the position coordinate of the homing point after the distribution is finished until the homing point is reached.

Optionally, an angle sensor is further mounted on the table or the chair;

the angle sensor is used for calculating and controlling the angle which the wheels need to rotate when the table and the chair move to the return point;

the angle sensor is also used for judging and controlling that the front of the chair is over against the desk after the chair reaches the homing point.

Optionally, the processor further comprises an assignment module;

the distribution module is used for calculating the distances between all the tables, the chairs and the homing points and distributing the table and the chair closest to each homing point in sequence.

The invention also provides a lecture equipment positioning control method, which comprises the following steps:

recording position coordinates of all the homing points according to course arrangement of students and teachers;

calculating the position coordinates of the current positions of all tables and chairs to be restored, and further distributing corresponding restoring points;

and controlling the motor arranged on the desk or the chair to move to the corresponding homing point according to the position coordinate of the current position and the position coordinate of the homing point until the motor reaches the homing point.

Optionally, the step of calculating the position coordinates of the current positions of all the tables and chairs to be parked and then allocating the corresponding parking points includes:

sequencing the homing points, and sequentially calculating the distance between each homing point and each unassigned desk and chair according to the sequencing sequence;

each homing point will be assigned to the unassigned table, chair that is closest to it until the last homing point is assigned.

Optionally, the step of controlling the motor mounted on the table or the chair to move to the corresponding homing point according to the position coordinate of the current position and the position coordinate of the homing point until the homing point is reached includes:

after the distribution is finished, the tables and the chairs are sequentially controlled to move to the corresponding homing points according to the sequencing sequence of the homing points.

Optionally, the step of assigning each homing point to the nearest unassigned table or chair until the last homing point is assigned further comprises:

when the previous homing point is distributed, immediately controlling the corresponding table and chair to move to the corresponding homing point;

and simultaneously or after finishing, performing the distribution calculation of the desk and the chair of the next homing point.

Optionally, the homing modes of the table and the chair comprise a one-to-one correspondence mode and a nearest principle mode;

in the one-to-one corresponding mode, each homing point is uniquely corresponding to each desk and chair, and during homing operation, homing is performed in a one-to-one corresponding mode;

in the mode of the closest principle, when each homing point and each desk and chair perform homing operation each time, the position coordinates of the current positions of all the desks and chairs to be parked need to be recalculated, and the corresponding homing point is allocated according to the closest principle, so as to control homing.

The invention has the beneficial effects that: the invention cancels the guide rail and adopts the motor to control the desk and the chair to return, thereby not needing to redesign the ground; the position coordinates of all homing points are recorded in advance, so that when homing is needed, the position coordinates of the current positions of all tables and chairs to be homed can be calculated, corresponding homing points are distributed in a mode of being more suitable for the current situation, and then homing is controlled, and the homing control flexibility is high; moreover, when the table and the chair are damaged, the replacement and the maintenance are much convenient.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural view of a lecture device positioning control system according to embodiment 1 of the present invention;

fig. 2 is a schematic view of a part of the configuration of a lecture device positioning control system according to embodiment 1 of the present invention;

fig. 3 is a flowchart illustrating a lecture device positioning control method according to embodiment 2 of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1:

a lecture apparatus positioning control system, as shown in fig. 1, the system comprising: the system comprises teaching equipment and a processor for positioning and orderly arranging the teaching equipment;

the lecture apparatus includes, but is not limited to, a table, a chair, and at least one position locator for positioning, and in this embodiment of the present invention, the chair is exemplified;

a motor for driving the wheels and a positioning device matched with the position positioner are arranged on the chair;

the processor records position coordinates of all the homing points in advance according to the course arrangement of students and teachers, can calculate the position coordinates of the current positions of all chairs to be homed according to the position localizer and the positioning equipment, and further allocates corresponding homing points;

and the processor is also used for controlling the chair to move to the corresponding homing point through a motor arranged on the chair according to the position coordinate of the current position and the position coordinate of the homing point after the distribution is finished until the chair reaches the homing point.

The invention has the beneficial effects that: the invention cancels the guide rail and adopts the motor to control the chair to return, thereby not needing to redesign the ground; the position coordinates of all homing points are recorded in advance, so that when the homing is needed, the position coordinates of the current positions of all chairs to be homed can be calculated through a position positioner, positioning equipment and the like, the corresponding homing points are distributed in a mode of being more adaptive to the current situation, and then the homing is controlled, and the homing control flexibility is high; moreover, when a chair is damaged, it is much more convenient to replace the chair.

In the preferred embodiment, the chair is further provided with an angle sensor;

the angle sensor is used for calculating and controlling the angle of the wheel to be rotated when the chair moves to the return point; the angle sensor is also used for judging and controlling that the front surface of the chair is opposite to the desk after the chair reaches the homing point. The angle sensor not only can help positioning, but also can judge whether the front of the chair is right opposite to the desk after returning through the angle sensor, so that the situation that the chair is only returned and the placing mode is not returned is avoided.

Preferably, in this embodiment, the processor further includes an allocation module;

the distribution module is used for calculating the distances between all the chairs to be distributed and the homing points and distributing the chairs closest to the homing points in sequence. Each homing point is matched with the chair closest to the homing point as much as possible, and the control of the nearest homing distance is simplest; secondly, obstacles between the matched homing point and the chair can be reduced as much as possible, so that the homing is smoother, and the possibility of mutual collision in the homing of the chair is reduced.

In addition, the drawings are only schematic and do not fully reflect the connection relationship of the system of the present invention, for example, the angle sensor and the distribution module are not shown in the drawings, but the present invention does relate to the same; there may actually be a communication link between the positioning device and the position locator, but this is not shown.

As shown in fig. 2, in the hardware configuration, the processor includes at least one personal computer and at least one programmable logic controller corresponding to the personal computer, each position locator is connected to the personal computer and the programmable logic controller, and each positioning device is connected to the programmable logic controller. In the present embodiment, the description will be given by taking two personal computers and two programmable logic controllers as an example, but it is needless to say that only the personal computers and the programmable logic controllers are emphasized to be in one-to-one correspondence, and the specific number is determined according to the actual scale and is not limited. The programmable logic controller is internally provided with a database, the personal computer is provided with a visual operation interface, and the personal computer is in communication connection with the programmable logic controller, so that an operator can control and operate the programmable logic controller through the personal computer, at the same time, the data synchronization between the personal computer and the programmable logic controller is realized, however, in the embodiment, the database of the programmable logic controller has small storage data volume, so that the stack algorithm is adopted to temporarily store data, and the personal computer adopts hard disk storage, the storage data volume is larger, the programmable logic controller receives new preset information and then synchronizes to the personal computer for storage so as to prevent data loss and realize the repeated coverage of data, that is, if new data comes, the latest data will overwrite the old data to realize the iteration of the data. The calibration data of each position locator is established in the database of the programmable logic controller, and the position locators at all positions in the system are subjected to parameter adjustment according to the calibration data of the position locators in the database to be calibrated, so that the position locators are calibrated on line, the position locators do not need to be disassembled to be calibrated, the time is saved, and the labor cost is reduced. The normal working parameters and/or the working life information of each part in the digital analytic system are stored in the database of the programmable logic controller, whether the part needs to be replaced or maintained can be judged according to the normal working parameters and/or the working life information of each part, if yes, the alarm unit is controlled to give a local warning, the function of prejudging the working state of each part is achieved, workers are reminded of replacing or maintaining in advance, faults are prevented, and the working efficiency is improved.

As shown in fig. 2, in order to improve the stability of the system, in the present embodiment, the processor and the position locator perform mutual check of the working states through the interaction of handshake signals, a signal is provided to the position locator every time the processor is started, the position locator feeds back a signal to the processor, the feedback signal includes ID information of each position locator, the processor compares and judges the fed back signal with corresponding ID information in the database, and when there is a problem with the position locator, or when a certain symptom needs to be processed but the normal operation is not temporarily affected, and the change of the sensor is within an error range, indication information of rejection, warning, or normal activation is made. In order to prevent information loss, in the present embodiment, the personal computer and the programmable logic controller perform mutual check of the operating state by interaction of the heartbeat signal. The method comprises the steps that when the programmable logic controller and the personal computer cannot receive signals of the other party within preset time, the personal computer or the programmable logic controller is judged to be down, under the condition that one of the personal computer or the programmable logic controller is down, the system stops running, the personal computer or the programmable logic controller in the down state is waited to restart, or the system continues running, but data are directly stored in the personal computer or the programmable logic controller which normally works, and after the down party is restarted, the data are transmitted to the down party. Wherein the preset time for judging whether the personal computer or the programmable logic controller is normal is not more than 1 minute.

As shown in fig. 2, the positioning system for lecture equipment disclosed in this embodiment further includes at least one redundant network switch, the redundant network switches communicate with each other and communicate with a remote server, and each set of the personal computer and the plc respectively corresponds to one of the redundant network switches and respectively communicates with the redundant network switches. Through the setting of the redundant network switch and the remote server, the redundancy control of the local workstation and the remote workstation is realized, namely, the remote parameter modification, the remote online calibration and the remote fault warning are realized. In addition, the remote server can also realize the cloud storage of information, is convenient for later-stage debugging and realizes the information sharing of each supplier and the factory.

Example 2:

a lecture apparatus positioning control method, as shown in fig. 3, includes the following steps:

s1, recording the position coordinates of all the homing points according to the course arrangement of students and teachers;

s2, calculating the position coordinates of the current positions of all the tables and chairs to be restored, and further distributing corresponding restoring points;

and S3, controlling the motor arranged on the desk or the chair to move to the corresponding homing point according to the position coordinate of the current position and the position coordinate of the homing point until the homing point is reached.

The invention has the beneficial effects that: the invention cancels the guide rail and adopts the motor to control the desk and the chair to return, thereby not needing to redesign the ground; the position coordinates of all the homing points are recorded in advance, so that when the homing is needed, the position coordinates of the current positions of all the chairs to be parked can be calculated, the corresponding homing points are distributed in a mode of being more suitable for the current situation, the homing is controlled, and the homing control flexibility is high; moreover, when the table and the chair are damaged, the replacement and the maintenance are much convenient. In the motor-driven homing process, the current positions of the desk and the chair are continuously updated, so that the chair can be controlled to be parked through the motor, the chair cannot be distributed again, and the situation of disordered distribution is avoided.

Preferably, in this embodiment, the step of calculating the position coordinates of the current positions of all the tables and chairs to be parked and further allocating the corresponding parking points includes:

sorting the homing points, and sequentially calculating the distance between each homing point and each unassigned chair according to the sorting sequence;

each homing point is allocated to an unallocated desk and chair which is closest to the homing point until the last homing point is allocated;

after distribution is finished, the motor arranged on the chair is used for controlling the table and the chair to move to the corresponding homing points according to the position coordinates of the current position and the position coordinates of the homing points until the homing points are reached. Each homing point is matched with the table and the chair which are closest to each other as far as possible, and the control of the shortest homing distance is simplest; secondly, the barriers between the matched homing points and the table and the chair can be reduced as much as possible, so that the homing is smoother, and the possibility of mutual collision in the homing of the table and the chair is reduced. The sorting of the homing points can be performed clockwise or anticlockwise one by one around a desk, and can also be performed through sorting by jumping one at a time; other suitable means are also possible. If there is no precedence order, some chairs may be the objects with two or three homing points closest to each other, but according to the precedence order, the chairs that have been allocated are not considered in the subsequent calculation and allocation, so as to avoid repeated allocation.

Preferably, in this embodiment, the step of controlling the table and the chair to move to the corresponding homing points through the motors installed on the chair according to the position coordinates of the current position and the position coordinates of the homing points until the homing points are reached includes:

after the distribution is finished, the tables and the chairs are sequentially controlled to move to the corresponding homing points according to the sequencing sequence of the homing points. After distribution is finished, the tables and the chairs are controlled to return at the same time or in sequence.

Preferably, in this embodiment, each homing point is to be assigned to an unassigned table or chair that is closest to the homing point until the last homing point is assigned, and the following steps are further included:

when the previous homing point is distributed, immediately controlling the corresponding table and chair to move to the corresponding homing point;

and simultaneously or after finishing, performing the distribution calculation of the desk and the chair of the next homing point. The control homing is carried out while the allocation is carried out, so that the time required by the control homing can be saved to the greatest extent; and because the time for controlling the homing is staggered, the possibility that the desk and the chair collide with each other in the homing process can be greatly reduced.

In the preferred embodiment, the table and the chair are provided with positioning equipment, and the surrounding environment of the table and the chair is provided with a position positioner matched with the positioning equipment;

the location coordinates of the homing point and the current location are calculated and determined by the positioning device and the location locator. In the environment where the desk and the chair are located, such as a conference room, a position locator is arranged at a proper position of a wall and the like, and positioning is carried out by matching with positioning equipment arranged on the desk and the chair, which is an important basis for calculating and determining the position coordinates of the homing position and the current position coordinates of the chair. In this embodiment of the present invention, a chair is taken as an example to describe, and XYZ three-axis spatial coordinates are established, where a plane where the chair is located is provided with an X axis and a Y axis, a vertical direction where the position locator is located is taken as a Z axis, a line connecting the chair and a zero point is an included angle between the line and the X axis, that is, an azimuth angle, and a line connecting the chair and the position locator is an elevation angle, and the included angle between the line and the Z axis is an elevation angle, and the azimuth angle and the elevation angle are important references for calculating and determining the position coordinates of the chair.

In the preferred embodiment, the table and the chair are also provided with angle sensors;

the angle sensor is used for calculating and controlling the angle which the wheels need to rotate when the table and the chair move to the return point; the angle sensor is also used for judging and controlling that the front of the chair is over against the desk after the desk and the chair reach the homing point. The angle sensor not only can help positioning, but also can judge whether the front of the chair is right opposite to the desk after returning through the angle sensor, so that the situation that the chair is only returned and the placing mode is not returned is avoided. The angle sensor can also be matched with a motor to carry out homing control, so that the homing control is more accurate, and the problem of disordered control is avoided; when the chair is positioned, the position positioner, the positioning equipment and the angle controller are combined, so that the elevation angle, the azimuth angle and the like of the wheels of the chair relative to a conference room can be better calculated in real time, the current position of the chair can be better calculated, and the motor can be helped to better drive the chair to the corresponding homing point. When the motor controls the chair to move to the homing point, the angle sensor plays a role, and after the angle sensor determines the angle difference between the current position of the chair and the final position of the chair, the angle sensor informs the motor to control the chair to move to the homing point by a certain angle until the chair reaches the homing point.

In this embodiment, the homing modes of the table and the chair preferably include a one-to-one correspondence mode and a closest distance principle mode;

in the one-to-one corresponding mode, each homing point is uniquely corresponding to each desk and chair, and during homing operation, homing is performed in a one-to-one corresponding mode;

in the mode of the closest principle, each homing point and each desk and chair need to recalculate the position coordinates of the current position of all chairs to be parked during each homing operation, and the corresponding homing point is allocated according to the closest principle, so as to control the homing. The homing modes of the desk and the chair can be two, one-to-one corresponding modes are more suitable, when the number of the moved desk and the moved chair is small, the time and the resources are wasted by completely recalculating the position coordinates, distributing and the like, and at the moment, the homing of the desk and the chair to the pre-corresponding homing point is undoubtedly better; when the number of the tables and the chairs to be moved is large, the tables and the chairs can be recalculated and distributed, and the homing work of the tables and the chairs can be better arranged. The distance nearest principle may be that, with a certain homing point as a reference, the distances between all tables and chairs and the homing point are calculated, and then the chair with the nearest distance is selected to correspond to the homing point.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (8)

1. A lecture equipment positioning control system is characterized by comprising lecture equipment and a processor for positioning and orderly arranging the lecture equipment;

the lecture apparatus includes a table, a chair, and at least one position locator for positioning;

the table and the chair are respectively provided with a motor for driving wheels and a positioning device matched with the position positioner;

the processor records position coordinates of all homing points in advance according to the course arrangement of students and teachers, and can calculate the position coordinates of the current positions of all tables and chairs according to the position localizer and the positioning equipment so as to allocate corresponding homing points;

and the processor is also used for controlling the motor arranged on the desk and the chair to move to the corresponding homing point according to the position coordinate of the current position and the position coordinate of the homing point after the distribution is finished until the homing point is reached.

2. A lecture device positioning control system according to claim 1, wherein an angle sensor is further mounted on the table or chair;

the angle sensor is used for calculating and controlling the angle which the wheels need to rotate when the table and the chair move to the return point;

the angle sensor is also used for judging and controlling that the front of the chair is over against the desk after the chair reaches the homing point.

3. A lecture device positioning control system according to claim 2, wherein the processor further comprises an assignment module;

the distribution module is used for calculating the distances between all the tables, the chairs and the homing points and distributing the table and the chair closest to each homing point in sequence.

4. A lecture device positioning control method, based on the lecture device positioning control system according to any one of claims 1 to 3, comprising the steps of:

recording position coordinates of all the homing points according to course arrangement of students and teachers;

calculating the position coordinates of the current positions of all tables and chairs to be restored, and further distributing corresponding restoring points;

and controlling the motor arranged on the desk or the chair to move to the corresponding homing point according to the position coordinate of the current position and the position coordinate of the homing point until the motor reaches the homing point.

5. The lecture device positioning control method according to claim 4, wherein the step of calculating the position coordinates of the current positions of all tables and chairs to be returned and assigning corresponding return points comprises:

sequencing the homing points, and sequentially calculating the distance between each homing point and each unassigned desk and chair according to the sequencing sequence;

each homing point will be assigned to the unassigned table, chair that is closest to it until the last homing point is assigned.

6. The lecture device positioning control method according to claim 5, wherein the step of moving the lecture device to the corresponding homing point by a motor installed on a table or a chair until the homing point is reached, based on the position coordinates of the current position and the position coordinates of the homing point, comprises:

after the distribution is finished, the tables and the chairs are sequentially controlled to move to the corresponding homing points according to the sequencing sequence of the homing points.

7. The lecture device positioning control method according to claim 5, wherein the step of assigning each homing point to the nearest unassigned table, chair until the last homing point is assigned further comprises:

when the previous homing point is distributed, immediately controlling the corresponding table and chair to move to the corresponding homing point;

and simultaneously or after finishing, performing the distribution calculation of the desk and the chair of the next homing point.

8. The lecture device positioning control method according to claim 4, wherein the homing modes of the table and the chair include a one-to-one correspondence mode and a closest distance principle mode;

in the one-to-one corresponding mode, each homing point is uniquely corresponding to each desk and chair, and during homing operation, homing is performed in a one-to-one corresponding mode;

in the mode of the closest principle, when each homing point and each desk and chair perform homing operation each time, the position coordinates of the current positions of all the desks and chairs to be parked need to be recalculated, and the corresponding homing point is allocated according to the closest principle, so as to control homing.

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