Rotating equipment control method based on UWB and related equipment

Abstract

The embodiment of the invention provides a UWB-based rotating equipment control method and related equipment, which are used for solving the problem of poor rotating control effect of a rotating dining table. The method provided by the embodiment of the invention comprises the following steps: receiving a rotation control parameter input by a user on a parameter input control of a client; when the relative position information of the user and the UWB module meets a relative position threshold value, identifying current pose information of the user based on the UWB module, and determining action category information of the user according to the current pose information; and controlling the rotating equipment according to the action category information and the rotating control parameters.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of speed controllers, and in particular to a UWB-based rotating equipment control method and related equipment. Background Art

[0002] Existing revolving tables are generally unable to sense changes in people's actions when taking dishes, so it is difficult to make the table rotate or stop by changing the action. Especially in large-scale catering places, since customers have different actions to take dishes in front of the revolving table, they have different requirements for the start or stop time of the table's rotation. Other smart revolving tables require manual setting of relevant parameters in advance. These settings need to be set by customers before dining. However, this setting often wastes customers' time, thus affecting the dining experience and making the experience poor. Summary of the invention

[0003] The embodiment of the present application provides a UWB-based rotating device control method and related devices, which are used to solve the problem of poor rotation control effect of a rotating dining table.

[0004] A first aspect of an embodiment of the present application provides a UWB-based rotating device control method, which is applied to a UWB control system. The UWB control system includes a UWB module and a client. The client is in communication connection with the UWB module. The method includes:

[0005] Receiving a rotation control parameter input by a user in a parameter input control of the client;

[0006] When the relative position information between the user and the UWB module meets the relative position threshold, identifying the current posture information of the user based on the UWB module, and determining the action category information of the user according to the current posture information;

[0007] The rotating device is controlled according to the action category information and the rotation control parameter.

[0008] Optionally, the receiving the rotation control parameter input by the user in the parameter input control of the client includes:

[0009] receiving a parameter setting request from the user at the client, and acquiring interface authority information according to the parameter setting request;

[0010] According to the interface authority information, calling the input interface and the parameter input control corresponding to the input interface;

[0011] Sending a parameter broadcast signal to the UWB module, and displaying the parameter broadcast signal on the client, so that the user inputs the rotation control parameter in the parameter input control based on the parameter broadcast signal; wherein the rotation control parameter includes one or more of the rotation speed, start and stop time, or rotation time interval of the rotating device;

[0012] One or more of the rotation speed, the start / stop time, or the rotation time interval is received.

[0013] Optionally, identifying the current posture information of the user in the UWB module, and determining the action category information of the user according to the current posture information, includes:

[0014] Controlling the UWB module to broadcast a motion measurement signal, and receiving a posture echo signal after the motion measurement signal is reflected by the user;

[0015] Based on the weighted joint distance time-frequency transform WRTFT algorithm, the posture echo signal is converted into a weighted joint distance time-frequency diagram, and the envelope feature parameters corresponding to the human body posture of the user are extracted from the weighted joint distance time-frequency diagram;

[0016] Based on the envelope feature parameters, the human body posture of the user is identified to determine the action category information.

[0017] Optionally, the identifying the current posture information of the user based on the UWB module, and determining the action category information of the user according to the current posture information includes:

[0018] Get relative position information at different time points;

[0019] Performing Fourier transform on the relative position information at different time points, taking the UWB module as a reference point, to obtain one or more of the target distance information, target speed information or target angle information of the user corresponding to the different time points;

[0020] Determining motion feature information of the user corresponding to a human body posture according to one or more of the target distance information, the target speed information or the target angle information;

[0021] The action feature information is input into an action classification model to determine the action category information.

[0022] A second aspect of an embodiment of the present application provides a UWB control system, including:

[0023] UWB module, client, motor drive control circuit and MCU module;

[0024] The client is in communication connection with the UWB module, and is used to read the rotation control parameters corresponding to the rotating device input by the user on the parameter input control of the client;

[0025] The UWB module is used to receive the rotation control parameters transmitted by the client, and control the operation of the MCU module through the rotation control parameters;

[0026] The MCU module is used to generate a rotation control instruction according to the rotation control parameter, and send the rotation control instruction to the motor drive control circuit;

[0027] The motor drive control circuit is used to control the rotating device to rotate according to the rotation control instruction.

[0028] The UWB control system is used to execute a UWB-based rotating equipment control method as described in any one of claims 1 to 4.

[0029] Optionally, the motor drive control circuit includes a controller and a drive motor;

[0030] The UWB module is further used to identify the action category information of the user and send the action category information to the MCU module, so that the MCU module generates rotation speed change information;

[0031] The output shaft of the driving motor is connected to the rotating device;

[0032] The controller is used to receive the rotation speed change information sent by the MCU, and control the rotation speed change and start-stop change of the drive motor according to the rotation speed change information.

[0033] Optionally, the motor drive control circuit further includes a torque sensor, an electromagnetic clutch, a drive shaft and a rotary encoder;

[0034] The rotary encoder is mounted on the bottom plate of the rotating device;

[0035] One end of the drive shaft is connected to the rotary encoder, and the other end is connected to the output shaft of the drive motor through the electromagnetic clutch; the control input ends of the electromagnetic clutch and the drive motor are respectively connected to the controller;

[0036] The torque sensor is coaxially connected to the output shaft of the drive motor, and the output end of the torque sensor is connected to the controller to transmit a contact state signal;

[0037] The control circuit is used to control the separation or closing of the electromagnetic clutch according to the contact state signal.

[0038] The UWB control system provided in the second aspect of the embodiment of the present application is used to execute the UWB-based rotating equipment control method described in the first aspect.

[0039] A third aspect of the embodiment of the present application provides a UWB control system, a UWB-based rotating equipment control system, characterized in that the UWB-based rotating equipment control system includes:

[0040] A receiving unit, used for receiving a rotation control parameter input by a user in a parameter input control of the client;

[0041] a determining unit, configured to identify the current posture information of the user based on the UWB module when the relative position information between the user and the UWB module meets a relative position threshold, and determine the action category information of the user according to the current posture information;

[0042] A control unit is used to control the rotating device according to the action category information and the rotation control parameter.

[0043] The UWB-based rotating equipment control system provided in the third aspect of the embodiment of the present application is used to execute the UWB-based rotating equipment control method described in the first aspect.

[0044] A fourth aspect of the embodiments of the present application provides a UWB-based rotating equipment control device, including:

[0045] CPU, memory, input and output interfaces, wired or wireless network interfaces, and power supply;

[0046] The memory is a short-term storage memory or a persistent storage memory;

[0047] The central processing unit is configured to communicate with the memory and execute instruction operations in the memory to perform the UWB-based rotating device control method described in the first aspect.

[0048] A fifth aspect of an embodiment of the present application provides a computer-readable storage medium, which includes instructions. When the instructions are executed on a computer, the computer executes the UWB-based rotating device control method described in the first aspect.

[0049] A sixth aspect of the embodiments of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer, the computer executes the UWB-based rotating device control method described in the first aspect.

[0050] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: through a UWB-based rotating device control method disclosed in the embodiments of the present application, the UWB control system senses the user's movements, and thereby controls the rotation or stop of the rotating device according to the rotation parameters of the rotating device pre-set by the user, thereby improving the user's experience during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0052] Figure 1 A schematic diagram of the architecture of a UWB control system disclosed in an embodiment of the present application;

[0053] Figure 2 A schematic diagram of a DC motor speed regulation and UWB control system disclosed in an embodiment of the present application;

[0054] Figure 3 A flowchart of a UWB-based rotating device control method disclosed in an embodiment of the present application;

[0055] Figure 4 A flow chart of another UWB-based rotating device control method disclosed in an embodiment of the present application;

[0056] Figure 5 A schematic diagram of the structure of a UWB-based rotating equipment control system disclosed in an embodiment of the present application;

[0057] Figure 6 This is a schematic diagram of the structure of a UWB-based rotating equipment control device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0059] See also Figure 1 , Figure 1 A schematic diagram of the architecture of a UWB control system disclosed in an embodiment of the present application.

[0060] Depend on Figure 1It can be known that the embodiment of the present application is mainly used in ultra-wideband (UWB, ultra wide band) intelligent control system (hereinafter referred to as UWB control system). Among them, the UWB control system includes at least a UWB module, a client, a motor drive control circuit and a microcontroller unit (MCU, micro controller unit) module. Among them, the client is mainly a device that can be connected to UWB, mainly a device with a UWB chip. The common devices now are smart phones, tablet computers, laptops, desktop computers, PDAs, mobile Internet devices (MID, mobile internet device), wearable devices (such as smart watches, smart bracelets, etc.), smart computers, smart car-mounted and other smart terminals. Further, the client is connected to the UWB module for communication, and is used to read the rotation control parameters corresponding to the rotating device input by the user on the parameter input control of the client; the UWB module is used to receive the rotation control parameters transmitted by the client, and control the operation of the MCU module through the rotation control parameters; the MCU module is used to generate a rotation control instruction according to the rotation control parameters, and send the rotation control instruction to the motor drive control circuit; the motor drive control circuit is used to control the rotating device to rotate according to the rotation control instruction. The motor drive control circuit also includes a controller and a drive motor; the UWB module is also used to identify the user's action category information and send the action category information to the MCU module so that the MCU module generates rotation speed change information; the output shaft of the drive motor is connected to the rotating device; the controller is used to receive the rotation speed change information sent by the MCU, and control the speed change and start-stop change of the drive motor according to the rotation speed change information. The motor drive control circuit also includes a torque sensor, an electromagnetic clutch, a drive shaft and a rotary encoder; the rotary encoder is installed on the bottom plate of the rotating device; one end of the drive shaft is connected to the rotary encoder, and the other end is connected to the output shaft of the drive motor through an electromagnetic clutch; the control input ends of the electromagnetic clutch and the drive motor are respectively connected to the controller; the torque sensor is coaxially connected to the output shaft of the drive motor, and the output end of the torque sensor is connected to the controller to transmit the contact state signal; the control circuit is used to control the separation or closure of the electromagnetic clutch according to the contact state signal. In short, the rotating device is set as a rotating dining table. At this time, the rotating dining table is used as a single anchor point, and a UWB base station is set at the bottom of the table. The client connects to the UWB module, reads and sets the initialization parameters of the rotating table input by the user, including but not limited to the rotation speed, start and stop time interval and other data, and passes the initialization parameters to the UWB module. The UWB module will directly control the MCU to operate, and the instructions are stored in the memory and sent to the motor drive control circuit.

[0061] Furthermore, the torque sensor is installed at the rotating joint of the rotating motor equipment to measure the torque. In order to accurately control the rotation of the motor. The embodiment of the present application adopts a capacitive torque sensor, which has the advantages of high sensitivity, good dynamic performance, and small size. When the torque is applied to the inner ring of the sensor, the moving plate will rotate slightly with the inner ring, and the distance between the moving and static plates of the capacitor will change. In one of the torque sensors, a total of 8 static capacitor plates are required to form a differential in pairs, divided into 4 groups to realize torque detection, which requires the system to support the input of at least 8 capacitor channels. At the same time, considering the scalability of the system, the system can be expanded to the measurement of capacitive multi-dimensional force sensors.

[0062] The electromagnetic clutch can apply the principle of electromagnetic induction and the friction between the inner and outer friction plates to make the two rotating parts in the mechanical transmission system. When the active part does not stop rotating, the driven part can be connected or separated from it. The electromagnetic mechanical connector can accurately control the brake stop of the turntable device. The working principle of the electromagnetic clutch is as follows: 1) Attraction: When the clutch coil is energized, an electromagnetic force is generated in the coil. When the electromagnetic force is greater than the spring force, under the action of the electromagnetic force, the suction plate overcomes the spring force and is attracted to the clutch housing, and the clutch is in the attracted state; 2) Release: When the clutch coil is de-energized, the electromagnetic force disappears. Under the action of the spring force, the suction plate is separated from the clutch housing, and the friction material on the suction plate fits the brake disc, and the clutch is in the released state.

[0063] The drive shaft is a device that can propel the loader smoothly so that the drive wheels can rotate at different angular speeds.

[0064] A rotary encoder is a device used to measure rotational speed and can achieve rapid speed regulation in conjunction with PWM technology. It can convert mechanical quantities such as angular displacement and angular velocity of the output shaft into corresponding electrical pulses and output them as digital quantities. The embodiments of this application mainly use an electromagnetic rotary encoder.

[0065] Combination Figure 1 , see Figure 2 , Figure 2 A schematic diagram of a DC motor speed regulation and UWB control system disclosed in an embodiment of the present application.

[0066] Combined with the above Figure 1Description, further, the DC stepper motor in the embodiment of the present application receives the pulse width modulation (PWM, pulse-width modulation) signal transmitted by the MCU module, so as to work through the rotary encoder and torque sensor in the motor drive control circuit, so that the MCU module can provide feedback in the latest rotation information and speed information, thereby regulating the DC stepper motor. Specifically, the embodiment of the present application mainly adopts technology to realize motor control, and the essence of the control command is to output a specified number of pulses by using a timer. The working mode of triggering another timer by one timer is called timer synchronization; the timer that sends a trigger signal works in the master mode, and the timer started by receiving the trigger signal works in the slave mode, and the selection of the trigger source needs to be selected in the data manual. The advantage is that it has little effect on the program operation efficiency while ensuring a higher frequency PWM output. The MCU sends a control pulse to the motor drive control circuit, thereby controlling the rotation of the DC stepper motor.

[0067] Combination Figure 1 and Figure 2 See Figure 3 , Figure 3 The flowchart of a UWB-based rotating device control method disclosed in an embodiment of the present application includes steps 301 to 303.

[0068] 301. Receive a rotation control parameter input by a user through a parameter input control of a client.

[0069] By the above Figure 1 and Figure 2 As can be seen from the description, the present embodiment will not describe the composition of the UWB control system. Specifically, the UWB control system can receive the rotation control parameter input by the user in the parameter input control of the client.

[0070] In one of the specific embodiments, the rotating device is illustrated by a rotating dining table. However, in addition to the rotating dining table, this embodiment can also be applied to other rotating devices, such as various types of workbenches. Furthermore, after adjusting the positioning scheme, it can also be used in other scenarios for human motion sensing, such as: fall warning and detection, gait recognition, life feature recognition and other fields. It will not be repeated here.

[0071] Furthermore, before the rotating dining table starts to be used, the user can set the rotation control parameters in advance through the client, such as rotation speed, start and stop time, rotation time interval and other parameters. Among them, this step is mainly set through a client with UWB function (such as a mobile phone), which can be in the form of a small program, APP, or H5 page, etc., and there is no specific limitation here.

[0072] 302. When the relative position information between the user and the UWB module meets the relative position threshold, the current posture information of the user is identified based on the UWB module, and the action category information of the user is determined according to the current posture information.

[0073] Based on step 301, when the relative position information between the user and the UWB module meets the relative position threshold, the current posture information of the user can be identified based on the UWB module, and the action category information of the user can be determined according to the current posture information.

[0074] In one specific embodiment, when the user approaches the rotating dining table (because the rotating dining table is close to the UWB base station), the UWB module can transmit and receive UWB signals in real time, thereby identifying and determining the user's current position and posture (current posture information), so that the user's action type, i.e., action category information, can be determined based on the current posture information. Specifically, the action category information includes but is not limited to the user's actions such as getting up, moving, or taking food.

[0075] 303. Control the rotating device according to the action category information and the rotation control parameter.

[0076] Based on step 302, the rotating device can be controlled according to the action category information and the rotation control parameters.

[0077] In one specific embodiment, by identifying the type of user's action and combining it with the rotation control parameters of the rotating dining table received and set by the UWB module, a control device for the rotation speed and rotation time of the rotating dining table is implemented.

[0078] For example, in the H5 operation port of the mobile phone, the initial speed of the table is set to 4 rpm, which is more suitable for the needs of regular diners to pick up dishes; the new speed maintenance time can be set to 30 seconds. When the rotating tabletop rotates at the new speed for 30 seconds without a new signal control instruction, it will automatically decelerate to the initial speed. Since in this embodiment, a DC stepper motor is mainly used for a rotating dining table, the frequency of the unipolar PWM technology is set to 4000Hz and the duty cycle is 50%. Based on the actual purpose of the rotating dining table and the diameter of the table, the motor speed is usually controlled at 20-60r / min.

[0079] Through the UWB-based rotating device control method disclosed in this embodiment, the UWB control system senses the user's movements and controls the rotation or stop of the rotating device according to the rotation parameters of the rotating device pre-set by the user, thereby improving the user experience during use.

[0080] For easier understanding Figure 3 In the embodiment shown, steps 301 to 302 are shown in FIG. Figure 4 , Figure 4 This is a flow chart of another UWB-based rotating device control method disclosed in an embodiment of the present application, including steps 401 to 410.

[0081] 401. Receive a parameter setting request from a user at a client, obtain interface authority information according to the parameter setting request, and call an input interface and the parameter input control corresponding to the input interface according to the interface authority information.

[0082] Corresponds to Figure 3 As shown in step 301, in this embodiment, the UWB control system can receive a parameter setting request from a user on the client, thereby obtaining interface authority information according to the parameter setting request, and calling the input interface and the parameter input control corresponding to the input interface according to the interface authority information.

[0083] In one of the specific embodiments, in combination with the above description of the client, the input interface is illustrated by an H5 page. Specifically, an H5 page is a web page that can be directly opened and interacted with, and is mainly developed based on HTML5 technology. The main form of expression is a mini-program or a public account. Users can register and create applications on an open platform. Thereby applying for and calling related application requests. Then, in a specific application, by applying for related device parameter requests, the corresponding application program interface (API, application program interface) key and permissions can be obtained according to the device parameter request. Then, the API interface provided by the platform and the parameter input control on the page corresponding to the API interface can be called through the API key and permissions.

[0084] 402 . Send a parameter broadcast signal to the UWB module, and display the parameter broadcast signal on the client, so that the user can input the rotation control parameter in the parameter input control based on the parameter broadcast signal.

[0085] Based on step 401, the UWB control system can send a parameter broadcast signal to the UWB module and display the parameter broadcast signal on the client, so that the user can input the rotation control parameter in the parameter input control based on the parameter broadcast signal. It should be noted that the rotation control parameter includes one or more of the rotation speed, start and stop time or rotation time interval of the rotating device.

[0086] In one specific embodiment, the UWB control system controls the UWB module and its UWB base station to periodically broadcast ibeacon signals, i.e., parameter broadcast signals. Thus, after the client (mobile phone) collects the ibeacon signal sent by the UWB base station, it can be displayed on the client's display interface, specifically, the input page of the relevant parameter input control can be displayed. Then, the user can enter the relevant rotation control parameters on the input page of the parameter input space. For example, the operation is carried out on the mobile phone H5 interface.

[0087] Example settings: The dining table is 4 rpm, the start and stop time is 2s, and the rotation time interval is 30s.

[0088] 403. Receive one or more of a rotation speed, a start / stop time, or a rotation time interval.

[0089] Based on step 402, as can be seen from the above description, the received rotation control parameters can be analyzed to obtain one or more of the rotation speed, start and stop time or rotation time interval of the rotating dining table.

[0090] Furthermore, since the UWB module can determine the type of the user's action in a variety of ways, please refer to step 404 to step 406, or step 407 to step 409 in this embodiment.

[0091] 404. Control the UWB module to broadcast the motion measurement signal, and receive the gesture echo signal after the motion measurement signal is reflected by the user.

[0092] After completing the preliminary setting of the rotation parameters, the UWB control system can control the UWB module to broadcast the motion measurement signal and receive the posture echo signal after the motion measurement signal is reflected by the user.

[0093] In one specific embodiment, based on the cooperation between the UWB module and the UWB base station, the UWB module controls the UWB base station to broadcast the motion measurement signal, thereby receiving the gesture echo signal reflected back after the motion measurement signal is transmitted to the user. Specifically, the UWB base station can transmit and receive special nanosecond or sub-nanosecond short pulses to detect surrounding motion. Moreover, the short pulses have very high time domain and space domain resolution capabilities, and signals from different paths are not easy to overlap, so that extremely slight human body movements can be detected.

[0094] Specifically, the UWB base station can effectively detect the user's position and posture by transmitting and receiving transmitted signals. Since the UWB module or UWB base station cannot directly determine the position and posture, it is necessary to first receive the reflected posture echo signal.

[0095] 405. Based on the weighted joint distance time-frequency transform WRTFT algorithm, the posture echo signal is converted into a weighted joint distance time-frequency diagram, and the envelope feature parameters corresponding to the user's human body posture are extracted from the weighted joint distance time-frequency diagram.

[0096] Based on step 404, since the UWB module collects the posture echo signal, the posture echo signal can be converted into a weighted joint distance time-frequency diagram based on the weighted joint distance time-frequency transform WRTFT algorithm, and the envelope feature parameters corresponding to the user's human posture can be extracted from the weighted joint distance time-frequency diagram. In one specific embodiment, the weighted joint distance time-frequency transform (WRTFT, weighted range time fourier transform) algorithm can be used to extract the envelope feature parameters of the human body trunk from the weighted joint distance time-frequency diagram. It should be noted that the WRTFT algorithm is essentially a Range-weighted short-time Fourier transform algorithm, which can perform short-time Fourier transform on the time-range spectrum diagram row by row, and then weight it according to the distance domain energy. This will not be described in detail later.

[0097] Furthermore, by running the WRTFT algorithm on the posture echo signal, the characteristic parameters of the user's entire body posture, namely, the envelope characteristic parameters, can be extracted.

[0098] 406. Based on the envelope feature parameters, identify the user's body posture and determine the action category information.

[0099] Based on step 405, the user's body posture can be identified through the envelope feature parameters to determine the action category information.

[0100] In one specific embodiment, effective characteristic parameters, namely envelope characteristic parameters, can be extracted from the echo signal of the human body posture, and then a classifier is used to identify a variety of human body postures, thereby determining the action category information of the user at this time. Then, step 410 is executed.

[0101] 407. Obtain relative position information at different time points, perform Fourier transform on the relative position information at different time points, use the UWB module as a reference point, and obtain one or more of the user's target distance information, target speed information, or target angle information corresponding to different time points.

[0102] Based on step 407, the action category information can also be obtained in other ways. Specifically, the relative position information at different time points is obtained, and Fourier transform is performed on the relative position information at different time points, and the UWB module is used as a reference point to obtain one or more of the user's target distance information, target speed information, or target angle information corresponding to different time points.

[0103] In one specific embodiment, the UWB module can use the algorithm in the UWB chip to simulate the action through a large number of samplings, so as to identify the type of action. In this embodiment, the UWB base station on the UWB module can be used as a reference point (such as the origin in a three-dimensional coordinate system), and then the relative position (relative position information) of the user and the UWB base station at different time points can be simulated for movement. Specifically, the relative position information can be subjected to Fourier transform (FFT, fastfourier transform), including but not limited to distance FFT, speed or angle FFT, etc., so as to detect the target distance information, speed information or angle information, etc.

[0104] 408. Determine the user's motion feature information corresponding to the human body posture according to one or more of the target distance information, the target speed information, or the target angle information.

[0105] Therefore, based on step 407, the motion feature information of the user corresponding to the human body posture can be determined according to one or more of the target distance information, the target speed information or the target angle information.

[0106] In one specific embodiment, based on the collected distance, speed or angle, etc., different feature mapping and comparison are performed to determine the motion feature information of the human body posture corresponding to the current user.

[0107] 409. Input the action feature information into the action classification model to determine the action category information.

[0108] Based on step 408, the action feature information may be input into the action classification model to determine the action category information.

[0109] In one specific embodiment, the characteristic information can be input into the action classification, so as to determine the corresponding action category information according to the difference in the recognized action types, and then convert it into an electrical signal. Then, step 410 is executed.

[0110] 410. Control the rotating device according to the action category information and the rotation control parameter.

[0111] In this embodiment, step 410 is similar to the above Figure 3 The step 303 in the embodiment is similar, and the specific description is not repeated here. However, it should be noted that in this embodiment, the MCU also controls its speed through PWM. This technology does not require special hardware support, but is implemented by writing a program. By calculating the frequency and duty cycle of the output pulse, the MCU can control the motor speed.

[0112] The UWB-based rotating device control method disclosed in this embodiment is different from the traditional mechanical, button-type, and light-sensing rotating dining tables. The UWB module is set up with the UWB base station, and can sense the movement of objects within a certain range through the transmission and reception of signals. The smart rotating dining table equipped with UWB and MCU can send instructions to the motor drive controller to rotate or stop the dining table according to the action of the guest getting up to take the food, thereby further improving the user experience.

[0113] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0114] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of a UWB-based rotating equipment control system disclosed in an embodiment of the present application.

[0115] The receiving unit 501 is used to receive the rotation control parameter input by the user in the parameter input control of the client;

[0116] A determination unit 502, configured to identify the current posture information of the user based on the UWB module when the relative position information between the user and the UWB module meets the relative position threshold, and determine the action category information of the user according to the current posture information;

[0117] The control unit 503 is used to control the rotating device according to the action category information and the rotation control parameters.

[0118] Exemplarily, the system further includes: a calling unit 504 and a sending unit 505;

[0119] The receiving unit 501 is specifically configured to receive a parameter setting request from a user at a client, and obtain interface authority information according to the parameter setting request;

[0120] The calling unit 504 is used to call the input interface and the parameter input control corresponding to the input interface according to the interface authority information;

[0121] The sending unit 505 is used to send a parameter broadcast signal to the UWB module and display the parameter broadcast signal on the client, so that the user can input the rotation control parameter in the parameter input control based on the parameter broadcast signal; wherein the rotation control parameter includes one or more of the rotation speed, start and stop time or rotation time interval of the rotating device;

[0122] The receiving unit 501 is further configured to receive one or more of a rotation speed, a start / stop time, or a rotation time interval.

[0123] Exemplarily, the system further includes: an extraction unit 506;

[0124] The control unit 503 is specifically used to control the UWB module to broadcast the motion measurement signal and receive the gesture echo signal after the motion measurement signal is reflected by the user;

[0125] The extraction unit 506 is used to convert the posture echo signal into a weighted joint distance time-frequency diagram based on the weighted joint distance time-frequency transform WRTFT algorithm, and extract the envelope feature parameters corresponding to the user's human body posture from the weighted joint distance time-frequency diagram;

[0126] The determination unit 502 is specifically configured to identify the user's body posture based on the envelope feature parameters and determine the action category information.

[0127] Exemplarily, the system further includes: an acquisition unit 507;

[0128] An acquisition unit 507, used to acquire relative position information at different time points;

[0129] The acquisition unit 507 is further used to perform Fourier transform on the relative position information at different time points, and use the UWB module as a reference point to obtain one or more of the target distance information, target speed information or target angle information of the user corresponding to different time points;

[0130] The determination unit 502 is specifically configured to determine the motion feature information of the user corresponding to the human body posture according to one or more of the target distance information, the target speed information or the target angle information;

[0131] The determination unit 502 is further configured to input the action feature information into the action classification model to determine the action category information.

[0132] See below Figure 6 , a structural schematic diagram of a UWB-based rotating equipment control device disclosed in an embodiment of the present application includes:

[0133] CPU 601, memory 605, input / output interface 604, wired or wireless network interface 603 and power supply 602;

[0134] The memory 605 is a temporary storage memory or a permanent storage memory;

[0135] The CPU 601 is configured to communicate with the memory 605 and execute the instructions in the memory 605 to perform the aforementioned Figure 3 and Figure 4 A UWB-based rotating device control method in any of the embodiments shown.

[0136] The embodiment of the present application also provides a chip system, the chip system includes at least one processor and a communication interface, the communication interface and the at least one processor are interconnected through a line, and the at least one processor is used to run a computer program or instruction to execute the aforementioned Figure 3 and Figure 4 A UWB-based rotating device control method in any of the embodiments shown.

[0137] The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium includes instructions, when the instructions are executed on a computer, the computer executes the aforementioned Figure 1 The UWB-based rotating device control method in the illustrated embodiment.

[0138] The present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the aforementioned Figure 3 and Figure 4 A UWB-based rotating device control method in any of the embodiments shown.

[0139] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0140] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0141] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0142] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0143] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program code.

Claims

1. A UWB-based rotating device control method, characterized in that: Applied to a UWB control system, the UWB control system includes a UWB module and a client, the client is communicatively connected with the UWB module, and the method includes: Receiving a rotation control parameter input by a user in a parameter input control of the client; When the relative position information between the user and the UWB module meets the relative position threshold, identifying the current posture information of the user based on the UWB module, and determining the action category information of the user according to the current posture information; The rotating device is controlled according to the action category information and the rotation control parameter.

2. The UWB-based rotating equipment control method according to claim 1, characterized in that: The receiving of the rotation control parameter input by the user in the parameter input control of the client includes: receiving a parameter setting request from the user at the client, and acquiring interface authority information according to the parameter setting request; According to the interface authority information, calling the input interface and the parameter input control corresponding to the input interface; Sending a parameter broadcast signal to the UWB module, and displaying the parameter broadcast signal on the client, so that the user inputs the rotation control parameter in the parameter input control based on the parameter broadcast signal; wherein the rotation control parameter includes one or more of the rotation speed, start and stop time, or rotation time interval of the rotating device; One or more of the rotation speed, the start / stop time, or the rotation time interval is received.

3. The UWB-based rotating equipment control method according to claim 1, characterized in that: The identifying the current posture information of the user based on the UWB module, and determining the action category information of the user according to the current posture information, includes: Controlling the UWB module to broadcast a motion measurement signal, and receiving a posture echo signal after the motion measurement signal is reflected by the user; Based on the weighted joint distance time-frequency transform WRTFT algorithm, the posture echo signal is converted into a weighted joint distance time-frequency diagram, and the envelope feature parameters corresponding to the human body posture of the user are extracted from the weighted joint distance time-frequency diagram; Based on the envelope feature parameters, the human body posture of the user is identified to determine the action category information.

4. The UWB-based rotating equipment control method according to claim 1, characterized in that: The identifying the current posture information of the user based on the UWB module, and determining the action category information of the user according to the current posture information, includes: Get relative position information at different time points; Performing Fourier transform on the relative position information at different time points, taking the UWB module as a reference point, to obtain one or more of the target distance information, target speed information or target angle information of the user corresponding to the different time points; Determining motion feature information of the user corresponding to a human body posture according to one or more of the target distance information, the target speed information or the target angle information; The action feature information is input into an action classification model to determine the action category information.

5. A UWB control system, characterized in that: The UWB control system includes: a UWB module, a client, a motor drive control circuit and an MCU module; The client is in communication connection with the UWB module, and is used to read the rotation control parameters corresponding to the rotating device input by the user on the parameter input control of the client; The UWB module is used to receive the rotation control parameters transmitted by the client, and control the operation of the MCU module through the rotation control parameters; The MCU module is used to generate a rotation control instruction according to the rotation control parameter, and send the rotation control instruction to the motor drive control circuit; The motor drive control circuit is used to control the rotating device to rotate according to the rotation control instruction; The UWB control system is used to execute a UWB-based rotating equipment control method as described in any one of claims 1 to 4.

6. The UWB control system according to claim 5, characterized in that: The motor drive control circuit includes a controller and a drive motor; The UWB module is further used to identify the action category information of the user and send the action category information to the MCU module, so that the MCU module generates rotation speed change information; The output shaft of the driving motor is connected to the rotating device; The controller is used to receive the rotation speed change information sent by the MCU, and control the rotation speed change and start-stop change of the drive motor according to the rotation speed change information.

7. The UWB control system according to claim 6, characterized in that: The motor drive control circuit also includes a torque sensor, an electromagnetic clutch, a drive shaft and a rotary encoder; The rotary encoder is mounted on the bottom plate of the rotating device; One end of the drive shaft is connected to the rotary encoder, and the other end is connected to the output shaft of the drive motor through the electromagnetic clutch; the control input ends of the electromagnetic clutch and the drive motor are respectively connected to the controller; The torque sensor is coaxially connected to the output shaft of the drive motor, and the output end of the torque sensor is connected to the controller to transmit a contact state signal; The control circuit is used to control the separation or closing of the electromagnetic clutch according to the contact state signal.

8. A UWB-based rotating equipment control system, characterized in that: The UWB-based rotating equipment control system includes: A receiving unit, used for receiving a rotation control parameter input by a user in a parameter input control of the client; a determining unit, configured to identify the current posture information of the user based on the UWB module when the relative position information between the user and the UWB module meets a relative position threshold, and determine the action category information of the user according to the current posture information; A control unit is used to control the rotating device according to the action category information and the rotation control parameter.

9. A UWB-based rotating equipment control device, characterized in that: The device comprises: CPU, memory, input and output interfaces, wired or wireless network interfaces, and power supply; The memory is a transient storage memory or a persistent storage memory; The central processing unit is configured to communicate with the memory and execute instruction operations in the memory to perform the UWB-based rotating device control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes instructions, and when the instructions are executed on a computer, the computer is enabled to execute the UWB-based rotating device control method according to any one of claims 1 to 7.

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