Mobile control method of intelligent platform and intelligent platform

Abstract

The invention provides a movement control method of an intelligent platform and the intelligent platform, and relates to the field of automatic control, and the method comprises the steps: inputting a face image to a preset face recognition model, and obtaining the information of a target person; under the condition that the target personnel information is non-insider information, the distance between the non-insider and the intelligent platform is determined, and the non-insider with the minimum distance is determined as the target personnel; the target distance between the target person and the intelligent platform is determined according to the camera focal length, the first distance, the second distance and the target distance between the first camera and the second camera, and the actual height is determined according to the target distance, the first distance, the camera focal length, the target distance and the height between the second camera and the ground; the actual height of the intelligent platform is adjusted according to the actual height. According to the invention, under the condition of a plurality of speakers, the target person can be accurately determined by flexibly utilizing the selection tendentiousness of the internal person or the non-internal person and matching the distance between the speaker and the platform.

Description

Technical Field

[0001] The present invention relates to the field of automatic control, and in particular to a mobile control method of an intelligent podium and the intelligent podium. Background Art

[0002] Most existing podiums focus on meeting the basic needs of lectures and teaching, and the height, position, and functions of the podium are fixed and limited. Although they can meet the most basic lecture needs, there are also many problems, such as inconsistent requirements for the height of the podium but cannot be effectively adjusted; on some stages, the appearance of the podium may be just a link, and the traditional podium and some multimedia podiums are fixed and difficult to move, which is not friendly to the scene layout and process smoothness.

[0003] Related technologies have attempted to successfully integrate artificial intelligence technology and semi-automation technology into podium products, but they still have obvious limitations in height adjustment, azimuth movement, etc., and are not widely used. For example, when there are multiple identification targets on the podium, it is impossible to determine which target task to use to adjust the height of the podium. For another example, when the speaker on the podium moves, the podium cannot follow the movement. At this time, the microphone or manuscript placed on the podium will limit the movement range of the speaker and reduce the speaker's speaking experience.

[0004] However, there is currently no technical solution that can solve the above technical problems, and there is no mobile control method and intelligent podium. Summary of the invention

[0005] The present invention provides a mobile control method of an intelligent podium and an intelligent podium, which solves the recognition confusion problem when there are multiple faces on the podium, and can move and adjust the intelligent podium according to the height of the target person.

[0006] In a first aspect, the present invention provides a method for controlling movement of an intelligent podium, comprising: Identify a facial image facing the direction of the smart podium, input the facial image into a preset face recognition model, and obtain target person information output by the preset face recognition model, wherein the target person information is internal person information and / or non-internal person information; In the case where it is determined that the target person information is non-inside person information, determining the distance between each non-inside person and the smart podium, and determining the non-inside person with the shortest distance as the target person; The target distance between the target person and the smart podium is determined according to the focal length of the camera, the first distance, the second distance, and the target distance between the first camera and the second camera. The actual height of the target person is determined according to the target distance, the first distance, the focal length of the camera, the target distance, and the height of the second camera from the ground. The first distance is determined according to the distance from the top of the target person's head to the first camera and the optical center of the first camera in the vertical direction. The second distance is determined according to the distance from the top of the target person's head to the second camera and the optical center of the second camera in the vertical direction. The first camera and the second camera are arranged in the vertical direction of the smart podium. According to the actual height of the target person, adjust the actual height of the smart podium; The preset face recognition model is determined after training based on different sample face images and face labels corresponding to each sample face image, and the face labels include internal staff labels and non-internal staff labels.

[0007] According to the mobile control method of the smart podium provided by the present invention, after obtaining the target person information output by the preset face recognition model, the method further includes: When it is determined that the target person information includes the insider information and the non-insider information, and when it is determined that there is more than one insider information, the distance between each insider and the smart platform is determined, and the insider with the shortest distance is determined as the target person; When it is determined that the target person information includes the insider information and the non-insider information, and when it is determined that the insider information is one, determining the insider as the target person; According to the target person, the actual height of the target person is determined from a preset height database; the preset height database is constructed based on the corresponding relationship between all internal personnel and the height of each internal person.

[0008] According to the mobile control method of the smart podium provided by the present invention, the target distance between the target person and the smart podium is determined according to the focal length of the camera, the first distance and the second distance, and the target distance between the first camera and the second camera, including:

[0009] Among them, d is the target distance between the target person and the smart podium, f is the focal length of the camera, L is the target distance between the first camera and the second camera, x is the first distance, and y is the second distance.

[0010] According to the mobile control method of the smart podium provided by the present invention, the actual height of the target person is determined according to the target distance, the first distance, the focal length of the camera, the target spacing, and the height of the second camera from the ground, including:

[0011] Among them, H is the actual height of the target person, x is the first distance, f is the focal length of the camera, d is the target distance between the target person and the smart podium, L is the target distance between the first camera and the second camera, and h is the height of the second camera from the ground.

[0012] According to the mobile control method of the smart podium provided by the present invention, before determining the target distance between the target person and the smart podium according to the focal length of the camera, the first distance and the second distance, and the target distance between the first camera and the second camera, the method further includes: In the case where it is determined that the target person deviates from the center of the smart podium, determining an image distance of the target person deviating from the center; Determine the focal length of the calibrated camera according to the image distance and the focal length of the camera, and determine the target distance between the target person and the smart podium according to the focal length of the calibrated camera, the first distance and the second distance, and the target distance between the first camera and the second camera; The image distance of the target person deviating from the center is determined based on the distance between the first intersection and the second intersection, the first intersection being the intersection of the center line of the smart podium and the vertical line of any camera focal position, and the second intersection being the intersection of the deviation line formed by the target person and any camera and the vertical line of the camera focal position.

[0013] According to the mobile control method of the smart podium provided by the present invention, determining the focal length of the camera after calibration according to the image distance and the focal length of the camera includes:

[0014] Wherein, z is the image distance of the target person deviating from the center, f is the focal length of the camera, and f′ is the focal length of the camera after calibration.

[0015] According to the mobile control method of the smart podium provided by the present invention, after adjusting the actual height of the smart podium, the method further includes: Acquire the real-time coordinates of the target person in a preset three-dimensional coordinate system, where the preset three-dimensional coordinate system is constructed based on the center position of the camera along the smart podium as the Y axis and the width direction of the smart podium as the X axis; When the target person is within the normal activity range, the smart podium remains motionless; The normal range of activities is:

[0016] Among them, x is the horizontal coordinate of the target person, y is the vertical coordinate of the target person, L is the preset horizontal movement length, and W is the preset vertical movement length.

[0017] According to the mobile control method of the intelligent podium provided by the present invention, after obtaining the real-time coordinates of the target person in the preset three-dimensional coordinate system, the method further includes: When the target person is located in the activity range on both sides of the middle, the smart podium is driven to move laterally, and the activity range on both sides of the middle includes the left middle activity range and the right middle activity range; The range of activities on both sides of the middle part is:

[0018] Among them, x is the horizontal coordinate of the target person, y is the vertical coordinate of the target person, L is the preset horizontal movement length, W is the preset vertical movement length, M is the preset front activity length, and D is the depth of the smart podium.

[0019] According to the mobile control method of the intelligent podium provided by the present invention, the activity range of the target person includes the left front activity range, the right front activity range, the left middle side activity range, the right middle side activity range, the left rear activity range, the right rear activity range, the left invalid area range, the right invalid area range and the normal activity range; When the target person is located in the left front activity range, the right front activity range, the left rear activity range, or the right rear activity range, the smart podium is driven to turn and move; When the target person is located in the left invalid area or the right invalid area, the smart podium is adjusted to a preset initial state.

[0020] In a second aspect, a smart podium is provided, comprising: a podium body, a motor-controlled mobile device, a binocular camera, and a control processor of the smart podium; The platform body is fixedly connected to the motor-controlled moving device; the binocular camera includes a first camera and a second camera, which are arranged at different heights of the platform body along the vertical direction; The control processor is fixed on the podium body and is communicatively connected with the motor-controlled mobile device and the binocular camera; it also includes a memory and a program or instruction stored in the memory and executable on the control processor of the smart podium. When the program or instruction is executed by the control processor of the smart podium, the mobile control method of the smart podium is executed.

[0021] The present invention provides a mobile control method of an intelligent podium and an intelligent podium. By automatically identifying and locking the facial image of the speaker, the intelligent podium can quickly respond and adjust to the optimal height and position suitable for the speaker without manual adjustment, which greatly improves the convenience of the speech. The present invention solves the problem of flexibly utilizing the selection tendency of whether the speaker is an internal staff or a non-internal staff in the case of multiple speakers, and accurately determines the target person in combination with the distance between the speaker and the podium. At the same time, the automatic adjustment function of the intelligent podium can ensure that the speaker always stays in the optimal viewing angle and range during the speech, thereby improving the overall effect of the speech. The present invention not only supports the identification of internal staff, but also can identify non-internal staff, and intelligently adjusts the height and position of the podium according to the identification results. This flexibility enables the intelligent podium to adapt to different usage scenarios and user needs, thereby enhancing the user experience. The present invention not only realizes automatic adjustment of height and position, but also ensures that the speaker always remains within the optimal shooting range through the automatic positioning and following function. This comprehensive intelligent function enables the smart podium to adapt to more usage scenarios and needs, and improves its adaptability and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a flow chart of the mobile control method of the intelligent podium provided by the present invention; Figure 2 This is a schematic diagram of binocular height recognition provided by the present invention; Figure 3 It is a schematic diagram of a situation where a target deviates from the center line of a camera provided by the present invention; Figure 4 It is a schematic diagram of the platform coordinate system provided by the present invention; Figure 5 is a schematic diagram of angle correction provided by the present invention; Figure 6 It is a structural schematic diagram of the intelligent podium provided by the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] The present invention discloses a multifunctional integrated intelligent podium designed by applying computer vision technology and automatic control technology, which can realize functions such as automatic height adjustment and automatic follow-up movement to improve the effect and convenience of speech. In terms of automatic height adjustment, this scheme adopts binocular cameras, uses convolutional neural networks, performs convolution operations and pooling operations on input data, extracts features and performs learning and classification, and compares with face libraries to realize face recognition, realizes low-cost calculation of height without full body in multiple scenes, and adopts motor-controlled screw lifting device to realize segmented height adjustment; in terms of automatic follow-up movement, the present invention adopts a mobile device controlled by a motor and a binocular camera to establish a coordinate system with the podium itself as a reference and locate the user, and proposes a moving method according to the area where the coordinates are located; and calculates the posture angle deviation of the podium during the steering process through the linear speed and working time of the power wheel differential operation, and finally makes the two power wheels work in reverse to complete the angle correction; the overall user coordinates are kept in a suitable area through the movement of the podium itself, realizing high-stability 360° automatic follow-up movement and podium posture correction.

[0026] Figure 1 : is a flow chart of a mobile control method of an intelligent podium provided by the present invention, and the mobile control method of the intelligent podium comprises: Step 101, identifying a facial image facing the direction of the smart podium, inputting the facial image into a preset face recognition model, and obtaining target person information output by the preset face recognition model, wherein the target person information is internal person information and / or non-internal person information; Step 102: When it is determined that the target person information is non-inside person information, the distance between each non-inside person and the smart platform is determined, and the non-inside person with the shortest distance is determined as the target person; Step 103, determining the target distance between the target person and the smart podium according to the camera focal length, the first distance, the second distance, and the target distance between the first camera and the second camera, and determining the actual height of the target person according to the target distance, the first distance, the camera focal length, the target distance, and the height of the second camera from the ground, wherein the first distance is determined according to the distance from the top of the target person's head to the first camera and the optical center of the first camera in the vertical direction, and the second distance is determined according to the distance from the top of the target person's head to the second camera and the optical center of the second camera in the vertical direction, and the first camera and the second camera are arranged in the vertical direction of the smart podium; Step 104: adjusting the actual height of the smart podium according to the actual height of the target person; The preset face recognition model is determined after training based on different sample face images and face labels corresponding to each sample face image, and the face labels include internal staff labels and non-internal staff labels.

[0027] Optionally, the present invention consists of two main parts, including an automatic height adjustment control method and an automatic positioning and following control method. In the automatic height adjustment control method, a visual system is used to judge and lock the target person, and an innovative height calculation method based on a binocular camera is used to quickly obtain height data. According to the height data, a feedback control system is used in conjunction with the visual system to automatically adjust the height of the podium; in the automatic positioning and following control method, a visual system is used for coordinate positioning, and a following algorithm is used to drive the podium according to the positioning result.

[0028] In step 101, first obtain a facial image of a person facing the smart podium. After the image is captured by a camera installed on the podium, it is input into a preset face recognition model for analysis. The face recognition model uses a machine learning algorithm to detect and identify facial features and matches them with previously trained samples. Specifically, the preset face recognition model is determined after training based on different sample face images and the face labels corresponding to each sample face image. The face labels include internal staff labels and non-internal staff labels. In an optional implementation, it is assumed that a speaker faces the podium, and the camera captures a clear facial image. Through model analysis, it is confirmed that the speaker is an internal staff.

[0029] Optionally, the facial image facing the direction of the smart podium may be a facial image of a speaker, or may be multiple facial images facing the direction of the smart podium. A preset face recognition model is used to obtain all target person information output by the preset face recognition model, including internal person information and / or non-internal person information.

[0030] Optionally, when the smart podium is working, in the default mode, automatic adjustment is enabled as long as a face is detected. This mode only involves face detection. If the podium is connected to the face database, the adjustment will be enabled only after the podium vision module recognizes an internal person. In this mode, after the smart podium detects the face, it collects the facial image and extracts the feature vector, uses the convolutional neural network (CNN) for recognition, and compares it with the connected database to complete the identity authentication process. The smart podium needs to adapt to different working environments, and lighting and occlusion are not conducive to face recognition. The use of convolutional neural networks can improve the accuracy and stability of recognition. In addition, face recognition involves user privacy to a certain extent. In the database connection mode, face information is not directly stored in the podium, that is, there is no problem of information management. The management of face information collected in the default mode requires proper storage and regular cleaning to avoid the leakage of user facial images and protect user privacy.

[0031] In step 102, in this embodiment, it is first necessary to identify the target person as a non-inside person, and the number of non-inside persons is greater than 1. At this time, the distance between each non-inside person and the smart podium is calculated, and the non-inside person with the smallest distance is determined as the target person. For example, if there are two speakers whose distances from the podium are 3 meters and 5 meters respectively, the system will select the speaker with a distance of 3 meters as the target person. This step ensures that the system responds to the nearest target, optimizes the movement and adjustment strategy of the podium, improves the recognition strategy and improves the recognition accuracy.

[0032] Optionally, after obtaining the target person information output by the preset face recognition model, the method further includes: When it is determined that the target person information includes the insider information and the non-insider information, and when it is determined that there is more than one insider information, the distance between each insider and the smart platform is determined, and the insider with the shortest distance is determined as the target person; When it is determined that the target person information includes the insider information and the non-insider information, and when it is determined that the insider information is one, determining the insider as the target person; According to the target person, the actual height of the target person is determined from a preset height database; the preset height database is constructed based on the corresponding relationship between all internal personnel and the height of each internal person.

[0033] Optionally, when the target person information contains multiple insiders and at least one non-inside person, the non-inside persons are first eliminated, and then among all the insiders, the distance between each insider and the podium is identified, and the insider with the shortest distance is determined as the target person; if it is determined that the target person information includes insider information and non-inside person information, and it is determined that the insider information is one, then the insider is preferentially locked as the target person, and then when the target person is determined to be an insider, the preset height database can be directly used to realize the determination of the actual height of the target person. The present application constructs the preset height database in advance according to the corresponding relationship between the heights of all insiders and each insider, so that the actual height needs to be calculated only when the non-inside person determines the height, and when the insider determines the height, the calculation step is omitted and the height data is directly obtained, thereby improving the execution response speed and lifting speed of the smart podium. In the subsequent operation of the podium, as long as the locked person does not exit the use range, the podium will not readjust the height due to detecting other people.

[0034] In step 103, based on the focal length of the camera and the distance information to the target person, the target distance between the target person and the podium is determined, and then combined with the geometric relationship, the first distance (determined by the distance from the top of the target person's head to the first camera and the optical center of the first camera in the vertical direction) and the second distance (determined by the distance from the top of the target person's head to the second camera and the optical center of the second camera in the vertical direction) are used to calculate the actual height of the target person. Step 103 improves the adaptability of the smart podium through precise calculation, ensures that the podium height can accurately correspond to the height of each target person, and improves the user experience.

[0035] Figure 2 : is a schematic diagram of binocular height recognition provided by the present invention, such as Figure 2 As shown, the first camera and the second camera are arranged in the vertical direction of the smart podium, and the target distance between the target person and the smart podium is determined according to the focal length of the camera, the first distance and the second distance, and the target distance between the first camera and the second camera, including: (1) Among them, d is the target distance between the target person and the smart podium, f is the focal length of the camera, L is the target distance between the first camera and the second camera, x is the first distance, and y is the second distance.

[0036] Optionally, determining the actual height of the target person according to the target distance, the first distance, the focal length of the camera, the target spacing, and the height of the second camera from the ground includes: (2) Among them, H is the actual height of the target person, x is the first distance, f is the focal length of the camera, d is the target distance between the target person and the smart podium, L is the target distance between the first camera and the second camera, and h is the height of the second camera from the ground.

[0037] The premise of the response control of the present invention is to identify the highest point of the user, that is, the top of the user's head. In the calculation process, it is necessary to analyze the known quantities such as the distance from the highest point to the center in the image by receiving the data transmitted by the visual module. The present invention intends to measure the approximate height of the target through a binocular system. The binocular camera is installed on the same vertical line as the podium. The target is located in the center of the camera. The height h of camera 2 from the ground can be directly read by the height variable. The distance L between the cameras is fixed, which are all known quantities. The focal length f of the camera is known. The distance x and y between the top of the target's head and the optical center of the two cameras are obtained by image analysis. In the figure, the camera imaging surface is rotated 180°, and formula (1) can be listed. The distance d between the target and the podium can be solved. The target height can be substituted into formula (2) to calculate the height H.

[0038] Figure 3 is a schematic diagram of a situation where a target deviates from the center line of a camera provided by the present invention. Before determining the target distance between the target person and the smart podium according to the focal length of the camera, the first distance, the second distance, and the target distance between the first camera and the second camera, the method further includes: In the case where it is determined that the target person deviates from the center of the smart podium, determining an image distance of the target person deviating from the center; Determine the focal length of the calibrated camera according to the image distance and the focal length of the camera, and determine the target distance between the target person and the smart podium according to the focal length of the calibrated camera, the first distance and the second distance, and the target distance between the first camera and the second camera; The image distance of the target person deviating from the center is determined based on the distance between the first intersection and the second intersection, the first intersection being the intersection of the center line of the smart podium and the vertical line of any camera focal position, and the second intersection being the intersection of the deviation line formed by the target person and any camera and the vertical line of the camera focal position.

[0039] Optionally, since in reality the speaker is not necessarily in front of the podium, the simulation situation is as follows Figure 3 As shown, if the target is not on the center line, the data calculated by the above algorithm is incorrect and needs to be corrected. Since the error mainly exists in the substituted focal length f, the focal length of the camera after calibration is determined according to the image distance and the camera focal length, including: (3) Wherein, z is the image distance of the target person deviating from the center, f is the focal length of the camera, and f′ is the focal length of the camera after calibration.

[0040] Further, we get the corrected f′, where z is the image distance of the speaker away from the exact center. Like the variables x and y mentioned above, the value of z is given by image analysis. Substitute f′ into f in equation (2) and calculate H. The other processes are the same.

[0041] In step 104, the present invention adjusts the actual height of the smart podium according to the actual height of the target person. After calculating the actual height of the target person, the most suitable height of the podium can be obtained. The operation of the lifting device can be controlled by continuously reading the current podium height and comparing it with the target height. The height adjustment of the present invention does not need to be too precise. In actual use, the change in speech experience brought about by adjustment within 1 cm can be almost regarded as zero, and the greater the accuracy, the greater the development cost. Therefore, the automatic height adjustment method of the smart podium is designed as a "segmented" method, that is, each 1 cm is a level, and the lifting device drives the podium to adjust to the interval where the target height falls.

[0042] Optionally, the present invention intends to use a motor-controlled screw lifting device to convert rotational motion into linear motion while transmitting power to the vertical direction to achieve height adjustment. Compared with hydraulic presses, it is easier to adapt to various environments without a large amount of oil, and it is more convenient to repair faults. Through programming control of the motor, the rotation direction of the motor is changed to achieve the raising or lowering of the podium, and the appropriate motor rotation speed and time are controlled to achieve gear adjustment. The power provided by the motor is stable, which can ensure that the lifting device runs smoothly when adjusting the height, and is not prone to shaking or jittering, which is beneficial to protecting the equipment, has high reliability and durability, and can operate stably for a long time.

[0043] In addition, to meet dynamic needs during use, the smart podium can also automatically fine-tune according to the speaker's posture during use. For example, the user's posture often changes during use, and the resulting height fluctuation is generally within 5cm. During use, the smart podium repeats the height calculation process every 30 seconds and compares it with the original data. If it exceeds 5cm, it is considered an error. It will be re-tested after 10 seconds. Changes within 5cm will be adjusted according to the latest height data.

[0044] The present invention provides a mobile control method of an intelligent podium and an intelligent podium. By automatically identifying and locking the facial image of the speaker, the intelligent podium can quickly respond and adjust to the optimal height and position suitable for the speaker without manual adjustment, which greatly improves the convenience of the speech. The present invention solves the problem of flexibly utilizing the selection tendency of whether the speaker is an internal staff or a non-internal staff in the case of multiple speakers, and accurately determines the target person in combination with the distance between the speaker and the podium. At the same time, the automatic adjustment function of the intelligent podium can ensure that the speaker always stays in the optimal viewing angle and range during the speech, thereby improving the overall effect of the speech. The present invention not only supports the identification of internal staff, but also can identify non-internal staff, and intelligently adjusts the height and position of the podium according to the identification results. This flexibility enables the intelligent podium to adapt to different usage scenarios and user needs, thereby enhancing the user experience. The present invention not only realizes automatic adjustment of height and position, but also ensures that the speaker always remains within the optimal shooting range through the automatic positioning and following function. This comprehensive intelligent function enables the smart podium to adapt to more usage scenarios and needs, and improves its adaptability and flexibility.

[0045] Figure 4 It is a schematic diagram of the platform coordinate system provided by the present invention, such as Figure 4 As shown, the smart podium realizes user positioning based on the visual system. The intermediate quantity obtained by height calculation includes the distance between the user and the podium and the distance from the center line. The former is y and the latter is x. A two-dimensional coordinate system with the podium as a reference can be constructed. Once the user's coordinates (x, y) are obtained, the positioning is completed.

[0046] Optionally, after adjusting the actual height of the intelligent podium, the method further includes: Acquire the real-time coordinates of the target person in a preset three-dimensional coordinate system, where the preset three-dimensional coordinate system is constructed based on the center position of the camera along the smart podium as the Y axis and the width direction of the smart podium as the X axis; When the target person is within the normal activity range, the smart podium remains motionless; The normal range of activities is: (4) Among them, x is the horizontal coordinate of the target person, y is the vertical coordinate of the target person, L is the preset horizontal movement length, and W is the preset vertical movement length.

[0047] Optionally, after positioning is completed, it is determined how to drive the mobile device according to the coordinates. Figure 4, the y>0 plane is divided into eight areas in the coordinate system, and the activity range of the target person includes the left front activity range, the right front activity range, the left middle activity range, the right middle activity range, the left rear activity range, the right rear activity range, the left invalid area range, the right invalid area range and the normal activity range, where θ is the maximum shooting angle of the camera.

[0048] If the user is within the normal activity range, the platform considers that there is no need to adjust the posture and position. At this time, the coordinates should satisfy equation (4). After obtaining the real-time coordinates of the target person in the preset three-dimensional coordinate system, the method further includes: When the target person is located in the activity range on both sides of the middle, the smart podium is driven to move laterally, and the activity range on both sides of the middle includes the left middle activity range and the right middle activity range; The range of activities on both sides of the middle part is: (5) Among them, x is the horizontal coordinate of the target person, y is the vertical coordinate of the target person, L is the preset horizontal movement length, W is the preset vertical movement length, M is the preset front activity length, and D is the depth of the smart podium.

[0049] Optionally, the left and right horizontal movement area can realize the horizontal lateral movement of the podium. For example, if the coordinates satisfy equation (5), since it is in the "horizontal right movement" area, the moving device drives the active wheel to work in the same direction and speed to realize horizontal right movement. During the movement process, the user's new position is continuously located until the user coordinates are within the normal activity range and stop moving; the same applies to the "horizontal left movement" area.

[0050] Optionally, the activity range of the target person includes a left front activity range, a right front activity range, a left middle activity range, a right middle activity range, a left rear activity range, a right rear activity range, a left invalid area range, a right invalid area range and a normal activity range; When the target person is located in the left front activity range, the right front activity range, the left rear activity range, or the right rear activity range, driving the smart podium to turn and move; When the target person is located in the left invalid area or the right invalid area, the smart podium is adjusted to a preset initial state.

[0051] Figure 5This is a schematic diagram of angle correction provided by the present invention. In the area related to steering, taking "moving backward to the left" as an example, after positioning the user within the left-rear activity range, the two driving wheels are driven to work with differential speed in the same direction. To achieve backward movement, the rotational speed of the front wheels should be greater than that of the rear wheels. During the movement process, the user's coordinates are continuously positioned. If the user is at the edge of the invalid area, the rotational speed of the front wheels is reduced, aiming to always keep the user within the recognizable range. Once the user's coordinate y < W and enters the "horizontal left shift" area, the user is only laterally shifted to enter the normal activity range. Different from the previous two moving parts, the following four steering situations require angle correction after the user enters the normal range. When the two wheels work with differential speed in the same direction, let the linear speed of the fast wheel be v1, the linear speed of the slow wheel be v2, and the deviation angle be β. In this mode, it works for a time t. The deviation angle β can be obtained from the formula: (6) After the user enters the normal area, the two wheels work in the opposite direction at a speed of v0 for a time t0, such that: (7) Thus, the angle deviation caused by steering movement is eliminated, and the posture of the podium is corrected.

[0052] When the target person is within the left invalid area range or the right invalid area range, the intelligent podium is adjusted to the preset initial state. The invalid area is the area that the camera cannot detect. If the user is in this area, the vision system cannot recognize and lock, and the mobile device will not be activated.

[0053] Computer vision technology and automatic control technology are the core technologies that enable the intelligent podium to achieve automatic height adjustment and positioning tracking. The realization of the automatic height adjustment function is divided into three steps: target recognition, height calculation, and control adjustment. The target recognition link is the key to starting the entire function. As long as a human face is detected, the automatic adjustment is activated. Computer vision technology uses binocular cameras and image processing algorithms to collect facial images and extract feature vectors, and uses convolutional neural networks for recognition, thereby starting the automatic adjustment.

[0054] The measurement of height data of the present invention involves the use of a binocular camera system to calculate the height of the target by measuring the distance from the top of the target's head to the camera and the known distance between the cameras, combined with the focal length and installation height of the camera. Automatic control technology focuses on control and adjustment to ensure the precise coordination of motor control and mechanical transmission, and achieves height fine-tuning through a screw lifting device. The implementation of the positioning and tracking function is divided into two steps: coordinate positioning and real-time tracking. Based on the intermediate quantity obtained by the height calculation module in computer vision technology, the two-dimensional coordinates of the speaker relative to the podium are obtained. Automatic control technology is responsible for the decision-making of the movement strategy: controlling the active wheel or power wheel to achieve horizontal movement or steering of the podium; adjusting the wheel speed to achieve precise movement control and angle correction to eliminate deviations; through the feedback mechanism, the position and posture of the podium are adjusted in real time to ensure that the speaker always remains within the optimal shooting range.

[0055] The present invention provides a mobile control method for an intelligent podium, which provides a solution to the problem that the height and position of existing podiums are fixed and limited, resulting in inconsistent height requirements of different groups of people but unable to adjust in time, and unfriendly to scene layout and process smoothness. The present invention adds height adjustment and free movement functions on the basis of traditional podiums. Through the mobile phone or interactive page, the lead screw lifting device controlled by the segmented motor is controlled to realize manual height adjustment, and face recognition is used to confirm the target start function.

[0056] The present invention uses a binocular camera to identify the highest point of the target, calculates the height in combination with the focal length and the fixed height of the podium, and confirms the height range of the podium. The height is adjusted within the corresponding range through a screw lifting device controlled by a segmented motor to realize the automatic height adjustment function. Through the "six-wheel" design, the motor controls the forward and reverse rotation and the speed to realize the mobile function of the podium. The motor is controlled through the podium touch screen or the mobile phone to realize manual control movement. The intermediate data of the height calculation is used to confirm the user coordinates. The specified area is divided into eight blocks according to the maximum shooting angle of the camera. Based on the positions of different blocks, the podium is moved differently to ensure that the user is in the normal block. The deviation angle β calculated by the wheel speed is used to eliminate the rotation deviation and realize the positioning follow-up movement. Compared with the prior art, the computer vision technology is used to realize the height adjustment and free movement functions, increase the flexibility of the podium, solve the existing problems and make the podium adaptable to more scenarios.

[0057] Figure 6 : is a structural schematic diagram of the intelligent podium provided by the present invention, the intelligent podium comprises: a podium body 1, a motor-controlled mobile device 2, a binocular camera 3 and a control processor 4 of the intelligent podium; The platform body 1 is fixedly connected to the motor-controlled mobile device 2; the binocular camera 3 includes a first camera and a second camera, which are arranged at different heights of the platform body 1 along the vertical direction; The control processor 4 is fixed on the podium body 1 and is communicatively connected with the motor-controlled mobile device 2 and the binocular camera 3; it also includes a memory and a program or instruction stored in the memory and executable on the control processor 4 of the smart podium. When the program or instruction is executed by the control processor 4 of the smart podium, the mobile control method of the smart podium is executed.

[0058] The present invention provides a smart podium. By automatically identifying and locking the facial image of the speaker, the smart podium can quickly respond and adjust to the optimal height and position suitable for the speaker without manual adjustment, which greatly improves the convenience of the speech. The present invention solves the problem of flexibly utilizing the selection tendency of whether the speaker is an internal person or a non-internal person in the case of multiple speakers, and accurately determines the target person in combination with the distance between the speaker and the podium. At the same time, the automatic adjustment function of the smart podium can ensure that the speaker always stays in the optimal viewing angle and range during the speech, thereby improving the overall effect of the speech. The present invention not only supports the identification of internal personnel, but also can identify non-internal personnel, and intelligently adjusts the height and position of the podium according to the identification results. This flexibility enables the smart podium to adapt to different usage scenarios and user needs, thereby enhancing the user experience. The present invention not only realizes automatic adjustment of height and position, but also ensures that the speaker always stays within the optimal shooting range through the automatic positioning and following function. This comprehensive intelligent function enables the smart podium to adapt to more usage scenarios and needs, and improves its adaptability and flexibility. The present invention can optimize the lecture experience for different groups of people and different scenarios, and realizes the automatic adjustment of the podium height and the automatic following and moving function of the position.

[0059] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile control method for an intelligent podium, characterized in that: include: Identify a facial image facing the direction of the smart podium, input the facial image into a preset face recognition model, and obtain target person information output by the preset face recognition model, wherein the target person information is internal person information and / or non-internal person information; In the case where it is determined that the target person information is non-inside person information, determining the distance between each non-inside person and the smart podium, and determining the non-inside person with the shortest distance as the target person; The target distance between the target person and the smart podium is determined according to the focal length of the camera, the first distance, the second distance, and the target distance between the first camera and the second camera. The actual height of the target person is determined according to the target distance, the first distance, the focal length of the camera, the target distance, and the height of the second camera from the ground. The first distance is determined according to the distance from the top of the target person's head to the first camera and the optical center of the first camera in the vertical direction. The second distance is determined according to the distance from the top of the target person's head to the second camera and the optical center of the second camera in the vertical direction. The first camera and the second camera are arranged in the vertical direction of the smart podium. According to the actual height of the target person, adjust the actual height of the smart podium; The preset face recognition model is determined after training based on different sample face images and face labels corresponding to each sample face image, wherein the face labels include internal staff labels and non-internal staff labels; Determining the target distance between the target person and the smart podium according to the focal length of the camera, the first distance, the second distance, and the target distance between the first camera and the second camera includes: ； Among them, d is the target distance between the target person and the smart podium, f is the focal length of the camera, L is the target distance between the first camera and the second camera, x is the first distance, and y is the second distance.

2. The mobile control method of the intelligent podium according to claim 1, characterized in that: After obtaining the target person information output by the preset face recognition model, the method further includes: When it is determined that the target person information includes the insider information and the non-insider information, and when it is determined that there is more than one insider information, the distance between each insider and the smart platform is determined, and the insider with the shortest distance is determined as the target person; When it is determined that the target person information includes the insider information and the non-insider information, and when it is determined that the insider information is one, determining the insider as the target person; According to the target person, the actual height of the target person is determined from a preset height database; the preset height database is constructed based on the corresponding relationship between all internal personnel and the height of each internal person.

3. The mobile control method of the intelligent podium according to claim 1, characterized in that: Determining the actual height of the target person according to the target distance, the first distance, the focal length of the camera, the target spacing, and the height of the second camera from the ground includes: ； Among them, H is the actual height of the target person, x is the first distance, f is the focal length of the camera, d is the target distance between the target person and the smart podium, L is the target distance between the first camera and the second camera, and h is the height of the second camera from the ground.

4. The mobile control method of the intelligent podium according to claim 1, characterized in that: Before determining the target distance between the target person and the smart podium according to the focal length of the camera, the first distance, the second distance, and the target distance between the first camera and the second camera, the method further includes: In the case where it is determined that the target person deviates from the center of the smart podium, determining an image distance of the target person deviating from the center; Determine the focal length of the calibrated camera according to the image distance and the focal length of the camera, and determine the target distance between the target person and the smart podium according to the focal length of the calibrated camera, the first distance and the second distance, and the target distance between the first camera and the second camera; The image distance of the target person deviating from the center is determined based on the distance between the first intersection and the second intersection, the first intersection being the intersection of the center line of the smart podium and the vertical line of any camera focal position, and the second intersection being the intersection of the deviation line formed by the target person and any camera and the vertical line of the camera focal position.

5. The mobile control method of the intelligent podium according to claim 4, characterized in that: The determining the focal length of the camera after calibration according to the image distance and the focal length of the camera includes: ； Wherein, z is the image distance of the target person deviating from the center, f is the focal length of the camera, and f′ is the focal length of the camera after calibration.

6. The mobile control method of the intelligent podium according to claim 1, characterized in that: After adjusting the actual height of the intelligent podium, the method further includes: Acquire the real-time coordinates of the target person in a preset three-dimensional coordinate system, where the preset three-dimensional coordinate system is constructed based on the center position of the camera along the smart podium as the Y axis and the width direction of the smart podium as the X axis; When the target person is within the normal activity range, the smart podium remains motionless; The normal range of activities is: ； Among them, x is the horizontal coordinate of the target person, y is the vertical coordinate of the target person, L is the preset horizontal movement length, and W is the preset vertical movement length.

7. The mobile control method of the intelligent podium according to claim 6, characterized in that: After obtaining the real-time coordinates of the target person in the preset three-dimensional coordinate system, the method further includes: When the target person is located in the activity range on both sides of the middle, the smart podium is driven to move laterally, and the activity range on both sides of the middle includes the left middle activity range and the right middle activity range; The range of activities on both sides of the middle part is: ； Among them, x is the horizontal coordinate of the target person, y is the vertical coordinate of the target person, L is the preset horizontal movement length, W is the preset vertical movement length, M is the preset front activity length, and D is the depth of the smart podium.

8. The mobile control method of the intelligent podium according to claim 7, characterized in that: The activity range of the target person includes the left front activity range, the right front activity range, the left middle activity range, the right middle activity range, the left rear activity range, the right rear activity range, the left invalid area range, the right invalid area range and the normal activity range; When the target person is located in the left front activity range, the right front activity range, the left rear activity range, or the right rear activity range, driving the smart podium to turn and move; When the target person is located in the left invalid area or the right invalid area, the smart podium is adjusted to a preset initial state.

9. An intelligent podium, characterized in that: include: The podium body, the motor-controlled mobile device, the binocular camera and the control processor of the smart podium; The platform body is fixedly connected to the motor-controlled moving device; the binocular camera includes a first camera and a second camera, which are arranged at different heights of the platform body along the vertical direction; The control processor is fixed on the podium body and is communicatively connected with the motor-controlled mobile device and the binocular camera; it also includes a memory and a program or instruction stored in the memory and executable on the control processor of the smart podium. When the program or instruction is executed by the control processor of the smart podium, the mobile control method of the smart podium as described in any one of claims 1 to 8 is executed.

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