CN116954275A - Height adjusting method and device for podium, terminal equipment and storage medium - Google Patents
Height adjusting method and device for podium, terminal equipment and storage medium Download PDFInfo
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- 241001310793 Podium Species 0.000 title claims description 96
- 238000004364 calculation method Methods 0.000 claims abstract description 54
- 230000008054 signal transmission Effects 0.000 claims abstract description 13
- 238000004590 computer program Methods 0.000 claims description 22
- 238000007781 pre-processing Methods 0.000 claims description 12
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B19/00—Reading-desks; Lecterns; Pulpits, i.e. free-standing
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B3/00—Folding or stowable tables
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- 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
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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Abstract
The invention discloses a height adjusting method, a device, a terminal device and a storage medium of a lecture table, which are used for acquiring real-time infrared data to be measured transmitted by an infrared sensor arranged at the top end of the lecture table, comparing the real-time infrared data to be measured in the real-time infrared data with a threshold value calculated based on background noise data and a threshold confidence calculation formula, and calculating the height data of the lecturer table according to the real-time infrared signal transmission time and the distance between the infrared sensor and the lecturer when the real-time infrared signal to be measured is larger than the preset threshold value, so that a PID controller substitutes the height data into the lecture table height adjustment calculation formula to calculate, obtain adjustment data, generating a height adjustment signal based on the adjustment data through the PID controller, transmitting the height adjustment signal to a motor driver, and controlling the motor after receiving the height adjustment signal, thereby completing the height adjustment of the lecture table.
Description
Technical Field
The present invention relates to the field of electronic digital data processing, and in particular, to a method and apparatus for adjusting a height of a podium, a terminal device, and a storage medium.
Background
The existing lecture table is usually used for manually adjusting the height of the lecture table or inputting height data and face data of a lecturer in advance, carrying out face recognition according to the face data of the lecturer, and adjusting the height of the lecture table based on the height data input in advance after the lecturer is identified. However, the existing control method for adjusting the height of the lecture table generally requires a user to manually operate the lecture table, and if the user does not input the height data of the lecturer in advance or wrongly records the height data of the lecture table, the height data or the manual adjustment is required to be re-input, so that the efficiency of adjusting the height of the lecture table is seriously affected.
Therefore, a high adjustment strategy of the podium is needed, so as to solve the problem of low height adjustment efficiency of the podium.
Disclosure of Invention
The embodiment of the invention provides a height adjusting method, a device, terminal equipment and a storage medium for a podium, so as to improve the efficiency of height adjustment of the podium.
In order to solve the above problems, an embodiment of the present invention provides a height adjusting method for a podium, which is applied to a podium, wherein the podium includes: the infrared sensor, the PID controller and the motor driver; the height adjusting method comprises the following steps:
acquiring real-time infrared data to be detected transmitted by the infrared sensor; wherein, the infrared sensor is arranged at the top end of the podium; the real-time infrared data to be measured comprises: the strength of the infrared signal to be measured in real time and the transmission time of the infrared signal to be measured in real time;
judging whether the real-time infrared signal strength to be detected is larger than a preset threshold value or not according to the real-time infrared signal strength to be detected and the preset threshold value; the threshold setting method comprises the following steps: substituting the background noise data acquired by the infrared sensor into a preset threshold confidence calculation formula to calculate the threshold; the spatial position corresponding to the background noise data collected by the infrared sensor is consistent with the spatial position corresponding to the real-time infrared data to be detected collected by the infrared sensor;
if yes, calculating the height data of the lecturer according to the real-time infrared signal transmission time to be detected and the distance between the infrared sensor and the lecturer; transmitting the height data to the PID controller, so that the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate, and obtaining adjustment data, so that the PID controller generates a height adjustment signal based on the adjustment data, and transmits the height adjustment signal to the motor driver; and the motor driver controls the motor according to the height adjustment signal to finish the height adjustment of the podium.
As an improvement of the above solution, after the acquiring the real-time infrared data to be measured transmitted by the infrared sensor, the method further includes: preprocessing operation is carried out on the infrared data to be detected in real time; the preprocessing operation includes: removing zero offset, filtering and denoising.
As an improvement of the above solution, the removing the zero point offset includes:
subtracting the zero offset from the real-time infrared signal strength to be measured corresponding to the real-time infrared data to be measured; the method for acquiring the zero offset comprises the following steps: acquiring a plurality of infrared signal values acquired by the infrared sensor under the condition of no object shielding; and calculating an average value corresponding to the infrared signal values, and taking the calculated average value as a zero offset.
As an improvement of the above solution, substituting the background noise data collected by the infrared sensor into a preset threshold confidence calculation formula, calculating the threshold includes:
receiving background noise data acquired by the infrared sensor;
substituting background noise data into a preset threshold confidence calculation formula to obtain a threshold; wherein the threshold confidence calculation formula includes:
wherein Threshold represents a Threshold value, x i Represents background noise data acquired at the ith time, n represents the sampling times, μ represents the average value, σ represents the standard deviation, CI upper Indicating the upper bound of the confidence interval,and (3) representing a standard normal distribution value corresponding to the alpha/2 quantile, wherein alpha is the confidence level set by the user.
As an improvement of the above solution, the substituting the height data into the podium adjustment height calculation formula by the PID controller to calculate, and obtaining the adjustment data includes:
after receiving the height data, the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate adjustment data; wherein, the podium adjustment height calculation formula includes:
H set ＝(h*Ratio)―H ori
wherein H is set For adjusting the data, H is height data, ratio is the adaptive height Ratio between the podium and the speaker, H ori Is the original height of the podium.
Correspondingly, an embodiment of the invention also provides a height adjusting device of the podium, which is applied to the podium, wherein the podium comprises: the infrared sensor, the PID controller and the motor driver; the height adjusting device includes: the system comprises a data acquisition module, a data judgment module and a height control module;
the data acquisition module is used for acquiring real-time infrared data to be detected transmitted by the infrared sensor; wherein, the infrared sensor is arranged at the top end of the podium; the real-time infrared data to be measured comprises: the strength of the infrared signal to be measured in real time and the transmission time of the infrared signal to be measured in real time;
the data judging module is used for judging whether the real-time infrared signal strength to be detected is larger than a preset threshold value or not according to the real-time infrared signal strength to be detected and the preset threshold value; the threshold setting method comprises the following steps: substituting the background noise data acquired by the infrared sensor into a preset threshold confidence calculation formula to calculate the threshold; the spatial position corresponding to the background noise data collected by the infrared sensor is consistent with the spatial position corresponding to the real-time infrared data to be detected collected by the infrared sensor;
the height control module is used for calculating the height data of the lecturer according to the real-time infrared signal transmission time to be detected and the distance between the infrared sensor and the lecturer if the infrared signal transmission time to be detected is positive; transmitting the height data to the PID controller, so that the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate, and obtaining adjustment data, so that the PID controller generates a height adjustment signal based on the adjustment data, and transmits the height adjustment signal to the motor driver; and the motor driver controls the motor according to the height adjustment signal to finish the height adjustment of the podium.
As an improvement of the above solution, substituting the background noise data collected by the infrared sensor into a preset threshold confidence calculation formula, calculating the threshold includes:
receiving background noise data acquired by the infrared sensor;
substituting background noise data into a preset threshold confidence calculation formula to obtain a threshold; wherein the threshold confidence calculation formula includes:
wherein Threshold represents a Threshold value, x i Representing background noise data of the ith acquisition, n represents the number of samples,mu represents average value, sigma represents standard deviation, CI upper Indicating the upper bound of the confidence interval,and (3) representing a standard normal distribution value corresponding to the alpha/2 quantile, wherein alpha is the confidence level set by the user.
As an improvement of the above solution, the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate, and obtains adjustment data, including:
after receiving the height data, the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate adjustment data; wherein, the podium adjustment height calculation formula includes:
H set ＝(h*Ratio)―H ori
wherein H is set For adjusting the data, H is height data, ratio is the adaptive height Ratio between the podium and the speaker, H ori Is the original height of the podium.
As an improvement of the above solution, after the acquiring the real-time infrared data to be measured transmitted by the infrared sensor, the method further includes: preprocessing operation is carried out on the infrared data to be detected in real time; the preprocessing operation includes: removing zero offset, filtering and denoising.
As an improvement of the above-described aspect, the removing the zero point offset amount includes:
subtracting the zero offset from the real-time infrared signal strength to be measured corresponding to the real-time infrared data to be measured; the method for acquiring the zero offset comprises the following steps: acquiring a plurality of infrared signal values acquired by the infrared sensor under the condition of no object shielding; and calculating an average value corresponding to the infrared signal values, and taking the calculated average value as a zero offset.
Correspondingly, an embodiment of the invention also provides a computer terminal device, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor realizes the height adjusting method of the lecture table according to the invention when executing the computer program.
Correspondingly, an embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program, wherein the computer program controls equipment where the computer readable storage medium is located to execute the height adjusting method of the podium according to the invention when running.
From the above, the invention has the following beneficial effects:
the invention provides a height adjusting method of a lecture table, which comprises the steps of acquiring real-time infrared data to be measured transmitted by an infrared sensor arranged at the top end of the lecture table, comparing the real-time infrared signal strength in the real-time infrared data to be measured with a threshold value calculated based on background noise data and a threshold confidence calculation formula, and calculating the height data of the lecture table according to the real-time infrared signal transmission time and the distance between the infrared sensor and the lecturer when the real-time infrared signal strength to be measured is larger than the preset threshold value, so that a PID controller substitutes the height data into the lecture table height adjustment calculation formula to calculate, obtain adjustment data, generating a height adjustment signal based on the adjustment data through the PID controller, transmitting the height adjustment signal to a motor driver, and controlling a motor after receiving the height adjustment signal, thereby completing the height adjustment of the lecture table. According to the invention, the threshold value is calculated based on the background noise data of the environment detected by the infrared sensor, so that the working environment of the lecture station when no person is lectured is well reflected through the threshold value, when a lecturer is boarding the lecture station and changes the real-time infrared data to be detected which can be collected by the infrared sensor, whether the lecture person is detected is determined through comparison with the threshold value, and the height of the lecture person is calculated based on the real-time infrared data to be detected after the lecture person is detected, so that the height of the lecture station is adjusted, the lecture station can be self-adaptively and intelligently adjusted, and the fault lifting of the lecture station can be avoided when the automatic lifting of the lecture station is completed.
Drawings
Fig. 1 is a schematic flow chart of a height adjusting method of a podium according to an embodiment of the invention;
fig. 2 is a schematic structural view of a height adjusting device of a podium according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of a height adjusting method of a podium according to an embodiment of the present invention, as shown in fig. 1, the embodiment includes steps 101 to 103, and the steps are specifically as follows:
the embodiment is applied to a podium, wherein, the podium includes: the infrared sensor, the PID controller and the motor driver;
the apparatus for executing the height adjustment method corresponding to the present embodiment may be a microcontroller.
In this embodiment, the serial port connecting the infrared sensor and the microcontroller: connecting a TX (transmit) pin of the infrared sensor to a RX (receive) pin of the microcontroller, and connecting the RX (receive) pin of the infrared sensor to the TX (transmit) pin of the microcontroller;
a serial port is configured at the microcontroller end: setting parameters such as baud rate, data bit, stop bit, parity bit and the like of a serial port according to the model of the microcontroller and the development environment of the microcontroller;
serial communication is realized in the code: related codes of serial port communication are written in codes of the microcontroller, and the related codes comprise operations of serial port initialization, data sending, data receiving and the like;
transmitting data at the infrared sensor end: code for transmitting the measurement data to the microcontroller through the serial port is written in the code of the infrared sensor.
Step 101: acquiring real-time infrared data to be detected transmitted by the infrared sensor; wherein, the infrared sensor is arranged at the top end of the podium; the real-time infrared data to be measured comprises: the infrared signal strength to be measured in real time and the infrared signal transmission time to be measured in real time.
In this embodiment, after the acquiring the real-time infrared data to be measured transmitted by the infrared sensor, the method further includes: preprocessing operation is carried out on the infrared data to be detected in real time; the preprocessing operation includes: removing zero offset, filtering and denoising.
In this embodiment, the removing the zero offset includes:
subtracting the zero offset from the real-time infrared signal strength to be measured corresponding to the real-time infrared data to be measured; the method for acquiring the zero offset comprises the following steps: acquiring a plurality of infrared signal values acquired by the infrared sensor under the condition of no object shielding; and calculating an average value corresponding to the infrared signal values, and taking the calculated average value as a zero offset.
In a specific embodiment, after receiving real-time infrared data to be detected of the infrared sensor, the microcontroller first performs certain preprocessing including filtering, denoising (i.e. removing interference signals) and the like; then subtracting the zero offset from the signal intensity of the infrared data to be measured in real time; for each data point, the pre-measured sensor zero offset is subtracted to eliminate the sensor zero offset. For each data point, it is determined whether it is less than a preset interference signal threshold, and if so, it is set to 0 to cancel the effect from the interference signal. The processed data points are added to the new list processed_data for subsequent use.
In a specific embodiment, code and algorithm examples for infrared sensor data preprocessing are provided:
assume that real-time infrared data to be measured has been transferred into an array named raw_data:
the offset is a zero offset of the infrared sensor, which is measured in advance, and the zero offset of the infrared sensor refers to a signal value output by the infrared sensor when a target object is not detected, and is usually a constant; GRthreshold is the interference signal threshold that sets, according to the height scope of people, we can set the interference signal threshold in the scope below 150cm and above 190cm (in practical application, the setting of threshold can be adjusted through experiments to find the best threshold).
In a specific embodiment, the zero point offset amount of the infrared sensor may be obtained by:
ensuring that the infrared sensor is not obscured by any object, in free space;
and collecting signal values output by the infrared sensor for a plurality of times, and taking an average value as a zero offset of the sensor.
In a specific embodiment, a code example corresponding to a method for calculating a zero offset is provided: the following zero calibration functions may be written:
the function is to collect the sensor for 100 times, and calculate the average value as zero offset; in particular, a zero calibration function may be added to the program, and when the function is called, the program performs zero calibration on the sensor and returns an offset value.
Step 102: judging whether the real-time infrared signal strength to be detected is larger than a preset threshold value or not according to the real-time infrared signal strength to be detected and the preset threshold value; the threshold setting method comprises the following steps: substituting the background noise data acquired by the infrared sensor into a preset threshold confidence calculation formula to calculate the threshold; the spatial position corresponding to the background noise data collected by the infrared sensor is consistent with the spatial position corresponding to the real-time infrared data to be detected collected by the infrared sensor.
In this embodiment, substituting the background noise data collected by the infrared sensor into a preset threshold confidence calculation formula, and calculating the threshold includes:
receiving background noise data acquired by the infrared sensor;
substituting background noise data into a preset threshold confidence calculation formula to obtain a threshold; wherein the threshold confidence calculation formula includes:
wherein Threshold represents a Threshold value, x i Represents background noise data acquired at the ith time, n represents the sampling times, μ represents the average value, σ represents the standard deviation, CI upper Indicating the upper bound of the confidence interval,and (3) representing a standard normal distribution value corresponding to the alpha/2 quantile, wherein alpha is the confidence level set by the user.
In a specific embodiment, the common confidence levels are 95% and 99%, for example, a 95% confidence interval, CI, of 95% confidence interval lower 10, CI upper 20, we have a 95% confidence that the true value should be between 10 and 20.
It will be appreciated that the number of components,
in practical use, the presence or absence of a person can be determined when the signal strength received by the sensor exceeds the upper limit of the interference signal threshold or is below the lower limit of the interference signal threshold.
In a specific embodiment, before the height adjustment is performed, the infrared sensor runs on the podium for a period of time in a free-running mode, and background noise data collected by the infrared sensor is recorded;
analyzing the background noise data, for example, calculating an average value and a standard deviation of the background noise;
setting a confidence level according to the average value and standard deviation of background noise, and comprehensively calculating to obtain a reasonable threshold value; (the threshold value may also be set by adding several standard deviations to the average value of the background noise, for example, may be set to the average value plus two standard deviations).
In a specific embodiment, if the signal intensity received by the infrared sensor is higher than a set threshold value, it may be determined that a person exists; and setting a proper buffer time, for example, triggering the output of the detection result after the sensor continuously detects that a person exists for a certain time, so as to reduce the influence of noise and transient interference, thereby avoiding the situation of false detection when a worker passes through a speech table and reducing unnecessary height adjustment operation.
In a specific embodiment, background noise data is collected by the infrared sensor periodically for a period of time, such as once an hour or day (which may be understood as a configurable function, i.e., collection frequency).
Step 103: if yes, calculating the height data of the lecturer according to the real-time infrared signal transmission time to be detected and the distance between the infrared sensor and the lecturer; transmitting the height data to the PID controller, so that the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate, and obtaining adjustment data, so that the PID controller generates a height adjustment signal based on the adjustment data, and transmits the height adjustment signal to the motor driver; and the motor driver controls the motor according to the height adjustment signal to finish the height adjustment of the podium.
In this embodiment, if not, the height adjustment of the podium is not performed.
In a specific embodiment, the head height is measured by an infrared sensor: an infrared sensor is mounted on the top of the lecture table and pointed to the position of the lecturer's head. When a presenter stands on the lecture table, the sensor emits an infrared signal and measures the time and intensity of the signal reflected back to the sensor; the head height of the lecturer can be obtained by calculating the distance between the sensor and the lecturer and based on the time of transmission and reflection of the infrared signal back to the sensor and the transmission speed of the infrared signal itself;
the specific method for measuring the distance of the infrared sensor comprises the following steps: the time of flight measures that the propagation speed of the infrared signal is equal to the speed of light (about 299,792 km per second), so the distance can be calculated by measuring the time difference between the emission and return of the infrared signal. Because the infrared signal is traveling back and forth, the actual distance should be half the calculated distance; assuming that the time difference between transmitting the infrared signal and receiving the reflected signal thereof is Δt, the infrared signal is actually
The distance of propagation d is half the product of the speed of light c and the time Δt, that is: d=c=Δt/2, where c is the speed of light, about 299,792 km/s, Δt is the time difference between the emission and return of the infrared signal, but the unit of measurement is meters, and multiplying by 100 yields the unit of cm.
In this embodiment, the PID controller substitutes the height data into a calculation formula of the adjusting height of the podium to calculate, and obtains the adjustment data, including:
after receiving the height data, the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate adjustment data; wherein, the podium adjustment height calculation formula includes:
H set ＝(h*Ratio)―H ori
wherein H is set For adjusting the data, H is height data, ratio is the adaptive height Ratio between the podium and the speaker, H ori Is the original height of the podium.
In a specific embodiment, if the height adjustable range of the lecture table is 90cm-130cm, the embodiment can calculate the height to be adjusted according to the height of the lecturer; the ratio used in this example is 60% (the ratio of the height of the adaptation of the different lectures to the lecturer is different due to the different design style and sound reception range), then:
a person with a height of 130cm needs to adjust the height to (130 cm x 0.6) -90cm = -12cm, i.e. the podium needs to adjust 12cm downwards.
A person with a height of 190cm needs to adjust the height (190 cm x 0.6) to 90 cm=54 cm, i.e. the podium needs to be adjusted upwards by 54cm.
In a specific embodiment, the motor driver adjusts the rotation speed and direction of the motor after receiving the height adjustment signal.
In a specific embodiment, the height adjustment control code of the PID controller is exemplified as follows:
in a specific embodiment, when the lecture is finished, the lecturer leaves the lecture table, the infrared sensor does not detect the presence of the person, the microcontroller stops sending data to the PID controller, and the lecture table height automatically adjusts the lecture table height back to the initial height.
In a specific embodiment, when the infrared sensor does not detect the presence of a person, the microcontroller may set a timer to automatically adjust the height of the podium back to the original height after the presenter leaves the podium for a period of time (e.g., 5 seconds), as exemplified by the following execution code:
time counter for setting
unsigned long timer =0; record time stamp
unsigned long interval =5000; defining the timer interval to be 5 seconds
Initial height//
int initial_height=100; it is assumed that the initial height is 100cm
Data of infrared sensor
int ir_data＝analogRead(ir_sensor)；
Executing code for the PID controller to adjust the height of the podium if the presence of a person is detected
If the presence of a person is not detected
if(ir_data<threshold){
Record current timestamp
timer＝millis()；
}
If the timer time interval has elapsed for 5 seconds
if(millis()-timer>interval){
Adjusting the height of the lecture table to the initial height
set_height(initial_height)；
}
Wherein a timer is provided at the beginning of the code for calculating the time, and a time interval of 5 seconds is defined. Next, an initial altitude initialization variable is defined. The code detects whether the presence of a person is detected through the infrared sensor, and if the person is present, the PID controller is executed to adjust the height of the podium. If no person is detected, the current time stamp is recorded and a timer program is executed, and if the timer time interval has elapsed for 5 seconds, the height of the podium is set to the initial height.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a height adjusting device of a podium according to an embodiment of the present invention, including: be applied to a podium, wherein, the podium includes: the infrared sensor, the PID controller and the motor driver; the height adjusting device includes: a data acquisition module 201, a data judgment module 202, and a height control module 203;
the data acquisition module 201 is configured to acquire real-time infrared data to be detected transmitted by the infrared sensor; wherein, the infrared sensor is arranged at the top end of the podium; the real-time infrared data to be measured comprises: the strength of the infrared signal to be measured in real time and the transmission time of the infrared signal to be measured in real time;
the data judging module 202 is configured to judge whether the real-time infrared signal strength to be detected is greater than a preset threshold according to the real-time infrared signal strength to be detected and the preset threshold; the threshold setting method comprises the following steps: substituting the background noise data acquired by the infrared sensor into a preset threshold confidence calculation formula to calculate the threshold; the spatial position corresponding to the background noise data collected by the infrared sensor is consistent with the spatial position corresponding to the real-time infrared data to be detected collected by the infrared sensor;
the height control module 203 is configured to calculate height data of a presenter according to a real-time to-be-detected infrared signal transmission time and a distance between the infrared sensor and the presenter if the detected infrared signal transmission time is positive; transmitting the height data to the PID controller, so that the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate, and obtaining adjustment data, so that the PID controller generates a height adjustment signal based on the adjustment data, and transmits the height adjustment signal to the motor driver; and the motor driver controls the motor according to the height adjustment signal to finish the height adjustment of the podium.
As an improvement of the above solution, substituting the background noise data collected by the infrared sensor into a preset threshold confidence calculation formula, calculating the threshold includes:
receiving background noise data acquired by the infrared sensor;
substituting background noise data into a preset threshold confidence calculation formula to obtain a threshold; wherein the threshold confidence calculation formula includes:
wherein Threshold represents a Threshold value, x i Represents background noise data acquired at the ith time, n represents the sampling times, μ represents the average value, σ represents the standard deviation, CI upper Indicating the upper bound of the confidence interval,and (3) representing a standard normal distribution value corresponding to the alpha/2 quantile, wherein alpha is the confidence level set by the user.
As an improvement of the above solution, the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate, and obtains adjustment data, including:
after receiving the height data, the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate adjustment data; wherein, the podium adjustment height calculation formula includes:
H set ＝(h*Ratio)―H ori
wherein H is set For adjusting the data, H is height data, ratio is the adaptive height Ratio between the podium and the speaker, H ori Is the original height of the podium.
As an improvement of the above solution, after the acquiring the real-time infrared data to be measured transmitted by the infrared sensor, the method further includes: preprocessing operation is carried out on the infrared data to be detected in real time; the preprocessing operation includes: removing zero offset, filtering and denoising.
As an improvement of the above-described aspect, the removing the zero point offset amount includes:
subtracting the zero offset from the real-time infrared signal strength to be measured corresponding to the real-time infrared data to be measured; the method for acquiring the zero offset comprises the following steps: acquiring a plurality of infrared signal values acquired by the infrared sensor under the condition of no object shielding; and calculating an average value corresponding to the infrared signal values, and taking the calculated average value as a zero offset.
According to the embodiment, the real-time infrared data to be measured transmitted by the infrared sensor arranged at the top end of the lecture table are obtained, the real-time infrared signal strength to be measured in the real-time infrared data to be measured is compared with the threshold value calculated based on the background noise data and the threshold confidence calculation formula, when the real-time infrared signal strength to be measured is larger than the preset threshold value, the height data of the lecturer is calculated according to the real-time infrared signal transmission time to be measured and the distance between the infrared sensor and the lecturer, so that the PID controller substitutes the height data into the lecture table adjustment height calculation formula to calculate, adjustment data are obtained, a height adjustment signal is generated based on the adjustment data through the PID controller, and the height adjustment signal is transmitted to the motor driver, so that the motor driver controls a motor after receiving the height adjustment signal, and the height adjustment of the lecture table is completed. It is one of the innovative points of the present invention to intelligently set the threshold value using the confidence interval concept in statistics. Conventional threshold setting methods are typically static, irrespective of variations in background noise. By carrying out statistical analysis on the background noise data and setting a reasonable threshold according to the analysis result, the invention can adapt to the background noise of different scenes and improve the detection accuracy and stability of the sensor.
Example two
Referring to fig. 3, fig. 3 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
A terminal device of this embodiment includes: a processor 301, a memory 302 and a computer program stored in said memory 302 and executable on said processor 301. The processor 301 implements the steps of the above-described height adjustment method of each podium in the embodiment, for example, all the steps of the height adjustment method of the podium shown in fig. 1, when executing the computer program. Alternatively, the processor may implement functions of each module in the above-described device embodiments when executing the computer program, for example: all modules of the height adjusting apparatus of the podium shown in fig. 2.
In addition, the embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program, wherein the computer program is used for controlling the equipment where the computer readable storage medium is located to execute the height adjusting method of the podium according to any embodiment.
It will be appreciated by those skilled in the art that the schematic diagram is merely an example of a terminal device and does not constitute a limitation of the terminal device, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the terminal device may further include an input-output device, a network access device, a bus, etc.
The processor 301 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 301 is a control center of the terminal device, and connects various parts of the entire terminal device using various interfaces and lines.
The memory 302 may be used to store the computer program and/or module, and the processor 301 may implement various functions of the terminal device by running or executing the computer program and/or module stored in the memory and invoking data stored in the memory 302. The memory 302 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
Wherein the terminal device integrated modules/units may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as stand alone products. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the invention, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (10)
1. A height adjustment method for a podium, applied to a podium, wherein the podium comprises: the infrared sensor, the PID controller and the motor driver; the height adjusting method comprises the following steps:
acquiring real-time infrared data to be detected transmitted by the infrared sensor; wherein, the infrared sensor is arranged at the top end of the podium; the real-time infrared data to be measured comprises: the strength of the infrared signal to be measured in real time and the transmission time of the infrared signal to be measured in real time;
judging whether the real-time infrared signal strength to be detected is larger than a preset threshold value or not according to the real-time infrared signal strength to be detected and the preset threshold value; the threshold setting method comprises the following steps: substituting the background noise data acquired by the infrared sensor into a preset threshold confidence calculation formula to calculate the threshold; the spatial position corresponding to the background noise data collected by the infrared sensor is consistent with the spatial position corresponding to the real-time infrared data to be detected collected by the infrared sensor;
if yes, calculating the height data of the lecturer according to the real-time infrared signal transmission time to be detected and the distance between the infrared sensor and the lecturer; transmitting the height data to the PID controller, so that the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate, and obtaining adjustment data, so that the PID controller generates a height adjustment signal based on the adjustment data, and transmits the height adjustment signal to the motor driver; and the motor driver controls the motor according to the height adjustment signal to finish the height adjustment of the podium.
2. The method for adjusting the height of a podium according to claim 1, further comprising, after said acquiring the real-time infrared data to be measured transmitted by said infrared sensor: preprocessing operation is carried out on the infrared data to be detected in real time; the preprocessing operation includes: removing zero offset, filtering and denoising.
3. The method for adjusting the height of a podium according to claim 2, wherein said removing the zero point offset amount comprises:
subtracting the zero offset from the real-time infrared signal strength to be measured corresponding to the real-time infrared data to be measured; the method for acquiring the zero offset comprises the following steps: acquiring a plurality of infrared signal values acquired by the infrared sensor under the condition of no object shielding; and calculating an average value corresponding to the infrared signal values, and taking the calculated average value as a zero offset.
4. The method for adjusting the height of a podium according to claim 1, wherein substituting the background noise data collected by the infrared sensor into a preset threshold confidence calculation formula to calculate the threshold value comprises:
receiving background noise data acquired by the infrared sensor;
substituting background noise data into a preset threshold confidence calculation formula to obtain a threshold; wherein the threshold confidence calculation formula includes:
wherein Threshold represents a Threshold value, x i Represents background noise data acquired at the ith time, n represents the sampling times, μ represents the average value, σ represents the standard deviation, CI upper Indicating the upper bound of the confidence interval,and (3) representing a standard normal distribution value corresponding to the alpha/2 quantile, wherein alpha is the confidence level set by the user.
5. The method for adjusting the height of a podium according to claim 1, wherein the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate, and obtains adjustment data, comprising:
after receiving the height data, the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate adjustment data; wherein, the podium adjustment height calculation formula includes:
H set ＝(h*Ratio)―H ori
wherein H is set For adjusting the data, H is height data, ratio is the adaptive height Ratio between the podium and the speaker, H ori Is the original height of the podium.
6. The utility model provides a height adjusting device of podium, its characterized in that is applied to a podium, wherein, the podium includes: the infrared sensor, the PID controller and the motor driver; the height adjusting device includes: the system comprises a data acquisition module, a data judgment module and a height control module;
the data acquisition module is used for acquiring real-time infrared data to be detected transmitted by the infrared sensor; wherein, the infrared sensor is arranged at the top end of the podium; the real-time infrared data to be measured comprises: the strength of the infrared signal to be measured in real time and the transmission time of the infrared signal to be measured in real time;
the data judging module is used for judging whether the real-time infrared signal strength to be detected is larger than a preset threshold value or not according to the real-time infrared signal strength to be detected and the preset threshold value; the threshold setting method comprises the following steps: substituting the background noise data acquired by the infrared sensor into a preset threshold confidence calculation formula to calculate the threshold; the spatial position corresponding to the background noise data collected by the infrared sensor is consistent with the spatial position corresponding to the real-time infrared data to be detected collected by the infrared sensor;
the height control module is used for calculating the height data of the lecturer according to the real-time infrared signal transmission time to be detected and the distance between the infrared sensor and the lecturer if the infrared signal transmission time to be detected is positive; transmitting the height data to the PID controller, so that the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate, and obtaining adjustment data, so that the PID controller generates a height adjustment signal based on the adjustment data, and transmits the height adjustment signal to the motor driver; and the motor driver controls the motor according to the height adjustment signal to finish the height adjustment of the podium.
7. The height adjustment device of the podium of claim 6, wherein said substituting the background noise data collected by the infrared sensor into a preset threshold confidence calculation formula, calculating the threshold value, comprises:
receiving background noise data acquired by the infrared sensor;
substituting background noise data into a preset threshold confidence calculation formula to obtain a threshold; wherein the threshold confidence calculation formula includes:
wherein Threshold represents a Threshold value, x i Represents background noise data acquired at the ith time, n represents the sampling times, μ represents the average value, σ represents the standard deviation, CI upper Indicating the upper bound of the confidence interval,and (3) representing a standard normal distribution value corresponding to the alpha/2 quantile, wherein alpha is the confidence level set by the user.
8. The apparatus according to claim 6, wherein the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate, and obtains adjustment data, comprising:
after receiving the height data, the PID controller substitutes the height data into a podium adjustment height calculation formula to calculate adjustment data; wherein, the podium adjustment height calculation formula includes:
H set ＝(h*Ratio)―H ori
wherein H is set For adjusting the data, H is height data, ratio is the adaptive height Ratio between the podium and the speaker, H ori Is the original height of the podium.
9. A computer terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing a method of height adjustment of a podium according to any one of claims 1 to 5 when the computer program is executed.
10. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform a height adjustment method of a podium according to any of claims 1-5.
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