Method for controlling electric lifting table based on knocking table top

Abstract

The invention relates to a method for controlling an electric lifting table based on knocking a desktop, which comprises the following steps: acquiring a knocking signal generated by knocking the desktop by a user, extracting parameters of the knocking signal, matching the knocking signal with a preset height adjustment mode database to determine a target height value, and after the desktop reaches the target height value, adjusting the height of the desktop. Detecting the hovering state of the hand of the user relative to the desktop, judging the initial adjustment direction according to the relative position relation between the palm of the user and the desktop, and then performing linkage adjustment according to the real-time distance change; according to the scheme, the accuracy and convenience of the electric lifting table can be improved, and the user experience is further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent control and information technology, and particularly relates to a method for controlling an electric lifting table based on knocking a table top. BACKGROUND

[0002] In modern office and home scenarios, electric lifting tables are increasingly widely used. The electric lifting table can meet the user's demand for the height of the table top in different working or using states, such as standing office work, sitting office work, and the like, by virtue of its height-adjustable feature, and helps to relieve physical fatigue caused by long-term fixed posture and improve the comfort of work and life.

[0003] At present, the height adjustment modes of the electric lifting tables on the market mainly include key control and remote control. The key control usually sets a group of physical keys on the table, and the user realizes the lifting, lowering or preset height switching of the table top by pressing different keys; the remote control is equipped with a remote controller, and the user can control the height of the table top by operating the buttons on the remote controller within a certain range.

[0004] However, these traditional adjustment modes have certain limitations. The key control requires the user to walk to the table to operate, which is not convenient in some cases, such as when the user is holding an object and cannot walk to the table; the remote control, although increasing the distance range of operation, is easy to lose or cannot be found, which affects the use experience. To solve these problems, some manufacturers try to introduce sensing control technology, such as infrared sensing or touch sensing, but these sensing modes are easily disturbed by external environmental factors, such as strong light and high temperature, which may cause inaccurate sensing, false triggering or normal sensing failure.

[0005] In order to solve these problems, an accurate and convenient adjustment mode of the electric lifting table is needed. SUMMARY

[0006] The main purpose of the present application is to provide a method for controlling an electric lifting table based on knocking a table top, which can improve the accuracy and convenience of the electric lifting table.

[0007] To achieve the above purpose, the embodiment of the present application provides a method for controlling an electric lifting table based on knocking a table top, which comprises: obtaining a knocking signal generated by a user knocking a table top and extracting parameters of the knocking signal, the parameters of the knocking signal including the number of knocks and the interval time between knocks; matching the parameters of the knocking signal with a preset height adjustment mode database to determine a target height value, the height adjustment mode database storing a plurality of combinations of knocking signal parameters and corresponding target height values; starting the lifting mechanism of the electric lifting table to adjust the table top to the target height value; after the table top reaches the target height value, detecting the hovering state of the user's hand relative to the table top, which is monitored by the sensors within the nominal hovering detection area; when the initial hovering state is detected, determining the relative position relationship between the user's palm and the table top, and judging the initial adjustment direction according to the relative position relationship; after the initial adjustment direction is confirmed, performing linkage adjustment of the table top height according to the real-time distance change between the user's palm and the table top, stopping the table top height adjustment if the hovering state is interrupted, and re-determining the initial hovering state and continuing the linkage adjustment until the hovering state is interrupted again if the hovering state is detected again.

[0008] In summary, by obtaining the knocking signal generated by the user knocking the table top and extracting its parameters, the target height value can be determined by matching the knocking signal with the preset height adjustment mode database. This way breaks the limitation of traditional key or remote control, and the user can conveniently control the table top height adjustment by knocking the table top without going to the table or looking for the remote control, improving the operation convenience. After the table top reaches the target height value, the hovering state of the user's hand relative to the table top is detected, and the initial adjustment direction is determined according to the relative position relationship between the user's palm and the table top, and then the linkage adjustment is performed according to the real-time distance change, so that the user can accurately fine-tune the table top height through hand hovering and moving without using additional equipment, enhancing the accuracy and flexibility of height adjustment. At the same time, the adjustment is stopped when the hovering state is interrupted, and the adjustment can continue when the hovering state is detected again, making the adjustment process more intelligent and user-friendly, and further improving the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 is a scene diagram of the method for controlling the electric lifting table based on knocking the table top in the embodiment of the present application; Figure 2 a flowchart of the method for controlling the electric lifting table based on knocking the table top is provided for the embodiment of the present application; Figure 3 a flowchart of the method for controlling the electric lifting table based on knocking the table top is provided for the embodiment of the present application; Figure 4 a flowchart of the method for controlling the electric lifting table based on knocking the table top is provided for the embodiment of the present application; Figure 5 a flowchart of the method for controlling the electric lifting table based on knocking the table top is provided for the embodiment of the present application; Figure 6 a flowchart of the method for controlling the electric lifting table based on knocking the table top is provided for the embodiment of the present application; Figure 7 a flowchart of the method for controlling the electric lifting table based on knocking the table top is provided for the embodiment of the present application; Figure 8 A schematic diagram of a process for adjusting speed based on gesture changes provided in an embodiment of the present application. DETAILED DESCRIPTION

[0010] The embodiments of the present application provide a method for controlling an electric lift table based on tapping the desktop, which will be described in detail below.

[0011] In the embodiments of the present application, the method of controlling an electric lift table by tapping the tabletop is an innovative method for adjusting the height of an electric lift table. It utilizes the tapping signal generated by the user tapping the tabletop, extracts and analyzes the signal parameters, and combines this with a preset database of height adjustment patterns to achieve preliminary adjustment of the tabletop height. Subsequently, by detecting the hovering state of the user's hand relative to the tabletop and the relative position of the palm of the hand and the tabletop, the tabletop height is further fine-tuned in a coordinated manner. This entire process combines tapping control with hand hovering control, providing users with a more convenient, precise, and user-friendly electric lift table height adjustment experience.

[0012] For example, consider an open office area with multiple electric height-adjustable desks, where employees work at dispersed workstations. In their daily work, employees may frequently switch between sitting and standing positions, making traditional button or remote control methods inconvenient. However, with the method described in this invention, employees can quickly adjust the height of their desks by simply tapping them, without leaving their seats or searching for a remote control.

[0013] For example, Figure 1 As shown in the figure, when an employee needs to switch from a sitting to a standing position, they can simply tap the desktop at their workstation. A vibration sensor array mounted on the bottom of the desktop detects the vibration signal and transmits it to the control system. The control system processes the vibration signal, extracting parameters such as the number of taps and the interval between taps. This information is then matched against a pre-set database of height adjustment patterns to determine a target height suitable for standing work. The electric lift table's lifting mechanism then activates, smoothly adjusting the desktop to the target height.

[0014] After the desktop reaches the target height, the employee can also fine-tune the height of the desktop by hand hovering. When the employee hovers the hand in the rated hovering detection area of the edge of the desktop, the optical sensor array arranged in the area collects the position information of the hand of the user. The control system calculates the distance value between the center point of the hand and the edge of the desktop according to the information, and judges whether it is in the initial hovering state. If the initial hovering state is detected, the control system further determines the relative position relationship between the palm of the user and the desktop, judges the initial adjustment direction, for example, upward or downward adjustment. Then, according to the real-time distance change between the palm of the user and the desktop, the lifting mechanism will make a linkage adjustment to the height of the desktop until the user is satisfied with the height.

[0015] In addition, in some home office scenarios, this control method also has great advantages. For example, in a family study, when the user is working on the computer, he may feel uncomfortable because of sitting for a long time and want to adjust the height of the desktop. At this time, the user can easily adjust the height of the desktop through the operation of tapping the desktop and hand hovering, without getting up to find the control device, greatly improving the convenience and comfort of use. Moreover, this method can also adapt to the individual needs of different users. Users can preset different height adjustment modes according to their physical conditions and use habits, so that the electric lifting table is more suitable for their own use needs.

[0016] Reference Figure 2 , Figure 2 is a flowchart of a method for controlling an electric lifting table based on tapping a desktop provided by the embodiments of the present application. The execution subject of the method can be an electric lifting table or a control system of the electric lifting table. The control system can be integrated on the electric lifting table, for example, a control device or apparatus or module can be arranged in the electric lifting table to realize the control of the electric lifting table based on tapping the desktop. The control system can also be independent of the electric lifting table. The method for controlling the electric lifting table based on tapping the desktop provided by the embodiments of the present application specifically comprises: S10: acquiring a tapping signal generated by the user tapping the desktop, and extracting parameters of the tapping signal, the parameters of the tapping signal including the number of taps and the tapping interval time.

[0017] In the embodiments of the present application, the tapping signal is a signal with specific characteristics generated by the vibration of the desktop caused by the physical action of the user tapping the desktop. The number of taps refers to the number of times the user taps the desktop within a certain time range; the tapping interval time is the time interval between two adjacent taps. These parameters are the basis for subsequent accurate adjustment of the height of the desktop. For example, the user taps three times in succession, and the corresponding desktop height adjustment requirement may be different from that of tapping three times slowly and intermittently.

[0018] In the embodiments of the present application, the vibration signals generated by knocking the table are collected by a vibration sensor array installed at the bottom of the table. The vibration sensor can convert mechanical vibration into an electrical signal, and a piezoelectric vibration sensor is a common choice. The piezoelectric vibration sensor works based on the piezoelectric effect. When subjected to vibration, the piezoelectric material inside the sensor will generate an electric charge, thereby outputting an electrical signal related to the vibration intensity and frequency. For example, a plurality of piezoelectric vibration sensors are evenly distributed at the bottom of the table of an electric lifting table. When a user knocks any position of the table, these sensors can timely capture the vibration and output corresponding electrical signals.

[0019] S20: According to the parameters of the knocking signal, match with a preset height adjustment mode database to determine a target height value, and the height adjustment mode database stores a plurality of knocking signal parameter combinations and corresponding target height values.

[0020] In the embodiments of the present application, the preset height adjustment mode database is a pre-established data set, which stores various different knocking signal parameter combinations (such as different knocking times and knocking interval times) and corresponding target height values. These combinations are set according to the common use requirements and habits of users. For example, it can be set that two times of knocking with an interval time of 0.3-0.5 seconds corresponds to a table height of 80 centimeters, which is suitable for normal sitting office work; and three times of knocking with an interval time of 0.6-0.8 seconds corresponds to a table height of 100 centimeters, which is suitable for standing office work.

[0021] In the embodiments of the present application, the matching process is to compare the extracted knocking times and knocking interval times and other parameters with the mode characteristics in the database one by one. By comparing the specific values and ranges of the parameters, the most consistent mode is found. If the database records that the target height value is H when the knocking times are N and the knocking interval time is in the range of T1-T2, when the collected knocking signal parameters match, the target height value H is determined as the target of this adjustment. The matching degree can be measured by similarity calculation S=(|N_ collection-N_database|+|T_ collection-T_database|) / (N_ collection+T_ collection), and when S is less than the set similarity threshold S_th, it is considered that the matching is successful. This matching method can quickly and accurately determine the target height value according to the user's knocking operation, realize the automatic height adjustment of the electric lifting table, and meet the diversified needs of different users in different scenarios. For example, if the database records that three times of knocking with an interval time of 0.5 seconds to 1 second corresponds to a table height of 90 centimeters, when the collected knocking signal parameters match, the target height value is determined to be 90 centimeters.

[0022] In the embodiment of the present application, this matching method can quickly and accurately determine the target height value based on the user's tapping operation, realizing automatic height adjustment of the electric height-adjustable table. By establishing a rich database of height adjustment modes, the diverse needs of different users in different scenarios can be met, improving the user experience.

[0023] S30: Activate the lifting mechanism of the electric lifting table to adjust the tabletop to the target height.

[0024] In the embodiments of this application, the lifting mechanism of the electric lift table is the actuator for adjusting the height of the desktop. It typically consists of a motor, a lead screw, and a nut. The motor provides power, and the lead screw and nut convert rotational motion into linear motion, thereby driving the desktop up or down. The target height value is determined by matching the tap signal parameters with a preset database and is the ultimate goal of this height adjustment.

[0025] In an embodiment of the present application, after the target height value is determined, the control system sends a start signal to the lifting mechanism. The motor starts to run, and based on the difference ΔH between the target height value and the current desktop height, the number of turns n and the direction that the screw needs to rotate are calculated. There is a relationship between the number of turns n and ΔH, n=ΔH / p (p is the pitch of the screw). If the target height value is higher than the current desktop height, the motor rotates forward, driving the screw to rotate, causing the nut to move upward along the screw, pushing the desktop up; conversely, if the target height value is lower than the current desktop height, the motor reverses and the desktop drops. During the adjustment process, the control system will monitor the height of the desktop in real time to ensure that the target height value is reached accurately.

[0026] In the embodiment of the present application, by precisely controlling the operation of the motor, the desktop can be smoothly and accurately adjusted to the target height. This method can realize automatic adjustment of the height of the electric lifting table, meet the user's personalized needs for the desktop height, and improve the convenience and comfort of use.

[0027] S40: After the desktop reaches the target height value, detecting a hovering state of the user's hand relative to the desktop, wherein the hovering state is monitored by a sensor within a rated hovering detection area.

[0028] In this embodiment, the hovering state refers to the state in which the user's hand remains relatively still at a certain position above the desk. The rated hovering detection area is a pre-defined area at the edge of the desk where a sensor is installed to detect hand position information. Detecting the hovering state provides a trigger for subsequent height adjustments.

[0029] In the embodiments of the present application, when the desktop reaches the target height value, the sensors arranged in the rated hovering detection area start to work. The sensors continuously collect information in the area, and when it is detected that an object (i.e., a user's hand) enters and remains relatively stationary for a certain period of time, it is determined that the hovering state is detected. For example, an optical sensor detects the position of the hand by emitting and receiving light. When the hand enters the detection area, it will block part of the light, causing the light intensity received by the sensor to change. Whether the hand enters can be determined by setting a light intensity change threshold I th. When the light intensity change ΔI is greater than I th, it is considered that the hand enters the detection area.

[0030] In the embodiments of the present application, detecting the hovering state of the hand can provide a more flexible height adjustment method for the user. After the desktop reaches the target height, the user can further fine-tune the height through the hovering operation of the hand, thereby improving the accuracy and personalization of height adjustment.

[0031] S50: When the initial hovering state is detected, the relative position relationship between the user's palm and the desktop is determined, and the initial adjustment direction is determined according to the relative position relationship.

[0032] In the embodiments of the present application, the initial hovering state refers to the state that the hand first enters the rated hovering detection area and remains relatively stationary. The relative position relationship between the user's palm and the desktop refers to the vertical height of the palm from the desktop and the position in the horizontal direction. The initial adjustment direction is the direction in which the desktop needs to be raised or lowered, which is determined according to the relative position relationship. For example, if the palm is relatively high from the desktop, it is determined that the initial adjustment direction is upward adjustment; on the contrary, if the palm is relatively low from the desktop, it is determined that the initial adjustment direction is downward adjustment.

[0033] In the embodiments of the present application, when the initial hovering state is detected, the control system calculates the vertical height difference Δh of the center point of the user's palm relative to the desktop according to the hand position information collected by the sensor. The vertical height difference is compared with a preset second threshold H th2. If Δh is greater than H th2, it indicates that the palm is relatively high from the desktop, and it is determined that the initial adjustment direction is upward adjustment; if Δh is less than or equal to H th2, it indicates that the palm is relatively close to the desktop, and it is determined that the initial adjustment direction is downward adjustment. This determination method can intuitively determine the adjustment direction according to the position of the user's hand, and provide a basis for subsequent height fine-tuning.

[0034] In the embodiments of the present application, by determining the relative position relationship and judging the initial adjustment direction, a basis can be provided for subsequent height linkage adjustment. The user can intuitively control the adjustment direction of the desktop height through the hovering position of the hand, so that the adjustment process is more in line with the user's operation habit, and the convenience and comfort of use are improved.

[0035] S60: After the initial adjustment direction is confirmed, the height of the table is adjusted in linkage according to the real-time distance change between the user's palm and the table. If the hovering state is interrupted, the height adjustment of the table is stopped. If the hovering state is detected again, the initial hovering state is determined again and the linkage adjustment is continued until the hovering state is interrupted again.

[0036] In the embodiments of the present application, the real-time distance change refers to the dynamic change of the vertical distance between the user's palm and the table with time. The linkage adjustment refers to the synchronous adjustment of the height of the table according to the real-time distance change, so that the height of the table and the height of the user's palm remain relatively consistent. The interruption of the hovering state refers to the hand leaving the rated hovering detection area or the hand position changing dramatically, which no longer meets the conditions of the hovering state.

[0037] In the embodiments of the present application, after the initial adjustment direction is determined, the control system calculates the change Δd of the vertical distance between the user's palm and the table according to the real-time hand position information collected by the sensor. If Δd increases, it means that the user wants the table to rise, and the control system controls the lifting mechanism to make the table rise. If Δd decreases, it means that the user wants the table to fall, and the control system controls the lifting mechanism to make the table fall. During the adjustment process, the real-time monitoring of the vertical height difference change rate R=Δd / Δt (Δt is the time interval), and it is compared with the preset third threshold R_th3. If R exceeds R_th3, it means that the vertical height difference change exceeds the normal range, which may be that the user accidentally moves the hand greatly, at which time the lifting mechanism is immediately stopped and the linkage adjustment mode is exited. If the hovering state is interrupted, the control system immediately stops the operation of the lifting mechanism and stops the height adjustment of the table. When the hovering state is detected again, the control system determines the initial hovering state again, and the linkage adjustment is performed again according to the hand position and the real-time distance change, until the hovering state is interrupted again. This linkage adjustment mode can realize fine adjustment of the height of the table, and the user can accurately control the height of the table through the slight movement of the hand, thereby improving the accuracy and individualization of the adjustment.

[0038] In the embodiments of the present application, this linkage adjustment mode can realize fine adjustment of the height of the table, and the user can accurately control the height of the table through the slight movement of the hand, thereby improving the accuracy and individualization of the adjustment. At the same time, the interruption and re-detection mechanism of the hovering state makes the adjustment process more flexible and controllable, which meets the actual operation needs of the user.

[0039] In an embodiment, in order to obtain accurate knocking signals, reference is made to Figure 3 , and step S10 can include S101-S102, which will be described in detail as follows: S101: Collect the vibration signals generated by the user knocking the table through the vibration sensor array installed at the bottom of the table.

[0040] In the embodiments of the present application, the vibration sensor array is a collection of multiple vibration sensors installed at the bottom of the table to effectively capture the vibration generated by the user tapping the table. The vibration signal is an electrical signal converted from the mechanical vibration of the table when the user taps the table, which contains the characteristic information of the tap.

[0041] In the embodiments of the present application, when the user taps the table, the vibration of the table is transmitted to the vibration sensor installed at the bottom. The vibration sensor converts the mechanical vibration into electrical signals, which are transmitted to the control system for subsequent processing.

[0042] In the embodiments of the present application, using a vibration sensor array to collect vibration signals can improve the accuracy and reliability of signal collection. Multiple sensors can collect vibration information from different positions, and integrating these information can more comprehensively reflect the characteristics of the tap.

[0043] S102: Perform multi-stage filtering processing on the vibration signal to remove high-frequency noise and low-frequency interference, and extract key characteristic parameters of the vibration signal; the key characteristic parameters include the number of taps, the time interval between two adjacent taps, and the change trend of the tap intensity.

[0044] In the embodiments of the present application, multi-stage filtering processing refers to performing multiple filtering operations of different types on the vibration signal to remove high-frequency noise and low-frequency interference in the signal. High-frequency noise may come from external environmental electromagnetic interference, etc., and low-frequency interference may be the inherent vibration of the table, etc. Key characteristic parameters are important parameters for describing the characteristics of the tap signal, and by extracting these parameters, the user's tapping intention can be accurately analyzed.

[0045] The embodiment of the present application first decomposes the vibration signal into multiple frequency components, which can be achieved by using Fourier transform and other methods. Each frequency component corresponds to a different frequency range, so that different frequency components in the signal can be separated. Then, for each frequency component, a band-pass filter is applied. The band-pass filter only allows signals within a certain frequency range to pass through, filtering out high-frequency noise and low-frequency interference that exceeds the preset frequency range. For example, the passband of the band-pass filter is set to f_1-f_2, and low-frequency signals below f_1 and high-frequency signals above f_2 will be filtered out. Next, the frequency components after band-pass filtering are recombined to generate a preliminary filtered vibration signal. In order to further eliminate residual random noise, an adaptive filtering algorithm is applied to the preliminary filtered signal. The adaptive filtering algorithm can dynamically adjust the filtering parameters according to the real-time characteristics of the signal, better adapting to the changes in the signal. Finally, after completing the multi-stage filtering process, the key feature parameters of the vibration signal are extracted through signal analysis algorithms. For example, the number of knocks is determined by detecting the peak value of the signal, the time interval between adjacent peaks is recorded to obtain the time interval between the adjacent two knocks, and the amplitude change of the signal is analyzed to calculate the trend of the knock strength.

[0046] In an embodiment, step S102: performing multi-stage filtering on the vibration signal to remove high-frequency noise and low-frequency interference, and extracting key feature parameters of the vibration signal includes the following steps: A: decompose the vibration signal into multiple frequency components to separate the signal components.

[0047] In the embodiment of the present application, the decomposition of the vibration signal into multiple frequency components is based on the frequency characteristics of the signal. Different frequency components may represent different signal components, such as high-frequency noise, low-frequency interference, and characteristic frequencies of the knock signal itself. By separating these frequency components, different components can be processed more specifically, providing a basis for subsequent filtering and feature extraction.

[0048] In the embodiment of the present application, a signal decomposition algorithm such as Fourier transform or wavelet transform is used to convert the collected vibration signal from time domain to frequency domain, thereby decomposing it into a series of components with different frequencies. Fourier transform can represent the signal as a superposition of different frequency sinusoidal waves, while wavelet transform can simultaneously analyze the signal in time and frequency domains, making it more suitable for processing non-stationary vibration signals.

[0049] B: for each frequency component, a band-pass filter is applied to remove high-frequency noise and low-frequency interference that exceeds the preset frequency range.

[0050] In the embodiments of the present application, the band-pass filter is a filter that only allows signals within a specific frequency range to pass. The pre-set frequency range is pre-set according to the characteristic frequency of the knocking signal and the frequency range of high-frequency noise and low-frequency interference. By applying a band-pass filter to each decomposed frequency component, noise and interference outside the range can be removed.

[0051] In the embodiments of the present application, for each decomposed frequency component, a suitable band-pass filter parameter is selected according to its frequency range. For example, for a frequency component with a frequency range of f_1-f_2, a band-pass filter is designed with a passband of f_1-f_2 and a stopband of frequencies below f_1 and above f_2. The frequency component is input into the band-pass filter, which processes the signal and only allows signals within the passband to pass, filtering out high-frequency noise and low-frequency interference outside the passband. Each frequency component is processed in this way to remove noise and interference from the vibration signal and improve signal purity.

[0052] C: The frequency components after band-pass filtering are recombined to generate a preliminary filtered vibration signal.

[0053] In the embodiments of the present application, the frequency components after band-pass filtering are each frequency component with high-frequency noise and low-frequency interference removed. Re-combining these frequency components can restore a relatively pure vibration signal, which is the preliminary filtered vibration signal.

[0054] In the embodiments of the present application, the frequency components after band-pass filtering are recombined using a process opposite to signal decomposition, such as inverse wavelet transform or inverse Fourier transform. Through these transformations, the signal in the frequency domain is converted back to the time domain to obtain the preliminary filtered vibration signal.

[0055] D: Apply an adaptive filtering algorithm to the preliminary filtered vibration signal to dynamically adjust the filtering parameters to eliminate residual random noise.

[0056] In the embodiments of the present application, the adaptive filtering algorithm is an algorithm that can dynamically adjust the filtering parameters according to the real-time characteristics of the signal. The preliminary filtered vibration signal may still have some residual random noise, and the characteristics of these noises may change over time and environment. The adaptive filtering algorithm can automatically adjust the filtering parameters according to the changes in the signal to better eliminate these random noises.

[0057] E: After completing the multi-stage filtering process, extract the key feature parameters of the vibration signal.

[0058] In the embodiments of the present application, after multi-stage filtering processing, the vibration signal has removed most of the noise and interference, and at this time, extracting key feature parameters can more accurately reflect the characteristics of the user tapping the desktop. The key feature parameters include the number of taps, the time interval between adjacent two taps, and the change trend number of tapping intensity, etc., which are important basis for subsequent matching with the preset height adjustment mode database.

[0059] In the embodiments of the present application, the signal analysis algorithm is used to analyze the vibration signal after multi-stage filtering processing. For example, the number of taps is determined by detecting the peak value of the signal, the time interval between adjacent two taps is obtained by recording the time difference between adjacent peak values, and the change trend number of tapping intensity is calculated by analyzing the amplitude change of the signal.

[0060] In the embodiments of the present application, accurately extracting key feature parameters can provide accurate input information for the height adjustment of the electric lifting table. The system can quickly and accurately determine the target height value according to the user's tapping intention, and improve the accuracy and efficiency of the adjustment.

[0061] In an embodiment, with reference to Figure 4 , step S20 can be implemented in the following way: S201: Compare the key feature parameters with the mode features in the preset height adjustment mode database one by one, and determine the unique target height value corresponding to the tapping signal.

[0062] In the embodiments of the present application, the preset height adjustment mode database is an information set that stores a plurality of tapping signal parameter combinations and their corresponding target height values. The mode features are the key feature parameter combinations of each mode in the database. Comparing the extracted key feature parameters with the mode features in the database one by one means comparing the parameters such as the number of taps, the time interval between adjacent two taps, and the change trend number of tapping intensity with the corresponding parameters of each mode in the database one by one.

[0063] In the embodiments of the present application, the control system takes out the feature parameters of each mode from the database one by one and compares them with the extracted key feature parameters. If all the feature parameters of a certain mode completely match or match within the allowed error range with the extracted key feature parameters, it is determined that the target height value corresponding to this mode is the unique target height value corresponding to the tapping signal.

[0064] In the embodiments of the present application, determining the unique target height value by comparing one by one can ensure the accuracy of the height adjustment. The electric lifting table can accurately adjust to the corresponding height according to the specific tapping signal of the user, and meet the individual needs of the user.

[0065] S202: If multiple candidate target height values are found in the comparison process, further filtering is performed according to the change trend of the tapping intensity, and the target height value that best matches the change trend of the tapping intensity is selected preferentially.

[0066] In the embodiments of the present application, in the comparison process, there may be a case where the feature parameters of multiple modes partially match the extracted key feature parameters, thereby generating multiple candidate target height values. The change trend of the tapping intensity refers to the change of the tapping intensity over time during the tapping process. Different tapping intensity change trends may correspond to different height adjustment requirements.

[0067] In the embodiments of the present application, when multiple candidate target height values are present, the control system further analyzes the tapping intensity change trend corresponding to each candidate mode and compares it with the tapping intensity change trend of the extracted tapping signal. The similarity between the two is calculated, and the target height value corresponding to the mode with the highest similarity is selected preferentially.

[0068] In the embodiments of the present application, further filtering according to the change trend of the tapping intensity can improve the accuracy of height matching. In the case of multiple candidate target height values, by considering the change trend of the tapping intensity, the tapping intention of the user can be judged more accurately, and the target height value that best meets the user's requirements can be selected.

[0069] S203: If a unique target height value cannot be matched, a prompt message is sent to the user to request re-input of the tapping signal.

[0070] In the embodiments of the present application, when no mode that completely matches the extracted key feature parameters can be found in the preset height adjustment mode database, it indicates that the tapping signal of the user may not conform to the preset mode, or the signal has errors. At this time, a prompt message is sent to the user, requesting the user to re-input the tapping signal, so as to ensure that the target height value can be determined accurately.

[0071] In the embodiments of the present application, after the control system completes the comparison, if a unique matching target height value is not found, a prompt message is sent to the user through the display screen or the voice prompt module of the electric lifting table. The prompt message can be "no valid tapping is recognized, please tap the table again" and the like.

[0072] In the embodiments of the present application, sending a prompt message to the user and requesting re-input of the tapping signal can avoid height adjustment errors caused by matching failure. The accuracy and reliability of the height adjustment of the electric lifting table are ensured, and better user experience is provided.

[0073] In an embodiment, reference is made to Figure 5 The detection of the hovering state of the user's hand relative to the table in step 40 can be realized in the following manner: S401: Collect the position information of the user's hand in the rated hovering detection area through the optical sensor array arranged in the rated hovering detection area.

[0074] In the embodiments of the present application, the optical sensor array is a collection of multiple optical sensors uniformly distributed in the rated hovering detection area. The optical sensor uses the principle of light emission and reception to detect the position of the object. When the user's hand enters the rated hovering detection area, it will block part of the light, causing the light intensity received by the sensor to change. By analyzing these changes in light intensity, the position information of the hand in the detection area can be determined.

[0075] In the embodiments of the present application, the optical sensor can continuously emit light to form a detection area. When the user's hand enters the area, the hand will reflect or block part of the light, so that the light intensity received by the sensor is different from that without the hand. Each sensor converts the received light intensity into an electrical signal and transmits it to the control system. The control system calculates the specific position information of the hand in the rated hovering detection area, including the horizontal position and the vertical height, according to the electrical signal changes of each sensor through triangulation algorithm. The hand position can be determined by calculating the light intensity change ratio I_ratio=(I_initial-I_current) / I_initial, where I_initial is the light intensity without the hand, and I_current is the light intensity with the hand. Accurate collection of hand position information is the basis for subsequent judgment of hovering state and height adjustment.

[0076] In the embodiments of the present application, accurate collection of hand position information is the basis for subsequent judgment of hovering state and height adjustment. Through the optical sensor array, accurate detection of the hand position in a large area can be achieved, improving the accuracy and reliability of the detection.

[0077] In an embodiment, infrared optical sensors can be used to form the optical sensor array. The infrared optical sensor emits infrared light, and when the hand enters the detection area, the infrared light is reflected back and received by the sensor. The sensor converts the received infrared light intensity into a voltage signal, and through processing and analysis of the voltage signal, the position information of the hand is determined. At the same time, a filter and amplifier module is added to the signal processing circuit of the sensor to improve the anti-interference ability and detection precision of the signal.

[0078] S402: Calculate the distance value between the center point of the user's hand and the edge of the table according to the position information, and record the distance value as the initial hovering distance.

[0079] In the embodiments of the present application, the hand center point refers to the geometric center position of the hand in a two-dimensional plane. By calculating the distance value between the hand center point and the edge of the table top, the position of the hand relative to the table top can be quantified. The initial hovering distance is the distance value recorded when the initial hovering state is detected, which serves as a reference basis for subsequent judgment of whether the hovering state is interrupted.

[0080] In the embodiments of the present application, the control system determines the position of the hand center point through geometric calculation method according to the hand position information collected by the optical sensor. Then, the vertical distance between the hand center point and the edge of the table top is measured to obtain the distance value. The distance value is recorded as the initial hovering distance.

[0081] In the embodiments of the present application, recording the initial hovering distance helps to accurately judge whether the hovering state changes in the subsequent monitoring process. By comparing the difference between the real-time distance and the initial hovering distance, the change of the hand position can be found in time, providing accurate information for subsequent adjustment operation.

[0082] In an embodiment, an image processing algorithm can be used to calculate the position of the hand center point. First, the hand image collected by the optical sensor is preprocessed, such as denoising, binarization, etc. Then, the contour of the hand is extracted through edge detection algorithm, and the coordinates of the hand center point are calculated according to the contour information. Finally, according to the center point coordinates and the position information of the edge of the table top, the distance value between them is calculated. This method can improve the accuracy and efficiency of calculation.

[0083] S403: After detecting the initial hovering state, the distance change value between the hand center point of the user and the edge of the table top is continuously monitored to determine whether the palm of the user remains in the rated hovering detection area.

[0084] In the embodiments of the present application, the distance change value refers to the difference between the real-time distance of the hand center point and the edge of the table top relative to the initial hovering distance. By continuously monitoring the distance change value, the change of the hand position can be understood in real time. If the distance change value fluctuates within a certain range, it means that the hand remains in the rated hovering detection area; if the distance change value exceeds the preset range, it means that the hand may have left the detection area.

[0085] In the embodiments of the present application, the control system continuously collects hand position information after detecting the initial hovering state, and calculates the distance D_real-time between the real-time hand center point and the edge of the table top. The distance change value AD is obtained by subtracting the initial hovering distance D_initial from the real-time distance D_real-time. A reasonable first threshold value D_th1 is set. When |AD| is less than D_th1, it is considered that the hand is kept in the rated hovering detection area, and the monitoring continues. When |AD| is greater than D_th1, it is determined that the hand may have left the detection area, which may cause the hovering state to be interrupted. This continuous monitoring and judgment method can dynamically grasp the position of the hand in real time, and ensure accurate judgment of whether the hovering state is continuous. This helps to improve the stability and reliability of the height adjustment process, and avoids adjustment errors caused by misjudgment.

[0086] In an embodiment, a moving average filtering algorithm can be used to process the distance change value. In the continuous monitoring process, the distance change value calculated each time is added to a moving window, and the average value AD_average of the data in the window is calculated. By comparing |AD_average| with the preset first threshold value D_th1, it is determined whether the hand is kept in the rated hovering detection area. The moving average filtering algorithm can reduce noise interference and make the judgment more stable and accurate. At the same time, the data in the moving window is constantly updated to ensure that the latest changes in the position of the hand can be reflected in time.

[0087] S404: If the distance change value exceeds the preset first threshold value, it is determined that the hovering state is interrupted.

[0088] In the embodiments of the present application, the preset first threshold value is a pre-set distance difference limit. When the distance change value exceeds this threshold value, it indicates that the position of the hand has changed greatly, and no longer meets the conditions of the hovering state, so it is determined that the hovering state is interrupted.

[0089] In the embodiments of the present application, the control system calculates the distance change value AD of the hand center point and the edge of the table top in real time, and compares it with the preset first threshold value D_th1. If |AD| is greater than D_th1, it indicates that the hand has deviated significantly from the initial hovering position, and may have left the rated hovering detection area or has moved violently. At this time, the control system determines that the hovering state is interrupted, and stops the related height adjustment operation, to avoid misadjustment caused by the hand not being in the appropriate position.

[0090] In the embodiments of the present application, the first threshold value is set to clearly determine the judgment standard for the interruption of the hovering state, so that the adjustment process is more standardized and controllable. It avoids misjudgment of the interruption of the hovering state due to small hand shaking or normal position fluctuations, and can also timely find the case that the hand has really left the detection area.

[0091] In an embodiment, a suitable first threshold value can be determined according to a large amount of experimental data and user usage habits. In practical applications, the first threshold value can be stored in the control system through software programming. When the distance change value is calculated, the control system automatically compares it with the first threshold value, and makes a judgment according to the comparison result. At the same time, the first threshold value can be dynamically adjusted according to different use scenarios and user needs, improving the flexibility and adaptability of the judgment.

[0092] S405: If the distance change value does not exceed the first threshold value, maintain the hovering state and continue to monitor the real-time position of the user's palm.

[0093] In the embodiments of the present application, when the distance change value does not exceed the first threshold value, it indicates that the change of the hand position is within an acceptable range, and the conditions for hovering state are still met, so the hovering state is maintained. The real-time position of the user's palm is continuously monitored to respond to further changes in the hand position in time and make corresponding height adjustments.

[0094] In the embodiments of the present application, if the absolute value of the distance change value ΔD is less than or equal to the preset first threshold value D_th1, it indicates that the hand only has a slight position fluctuation and is still within the rated hovering detection area, so the hovering state is maintained. The control system will continue to collect the position information of the hand by means of the optical sensor array, and calculate the distance change value in real time. At the same time, the change rate R_ΔD=ΔD / Δt (Δt is the time interval between two measurements) of the distance change value is monitored. If R_ΔD is within a reasonable range, it indicates that the change of the hand position is relatively stable, and the hovering state monitoring can be continued; if R_ΔD shows an abnormal trend of increasing or decreasing, even if the current ΔD does not exceed the first threshold value, the hand state needs to be paid more attention to, which may indicate that the hovering state is about to change. In the process of maintaining the hovering state, once the hand position changes, the control system can make corresponding height adjustment operation according to the latest position information, to ensure the continuity and accuracy of the adjustment.

[0095] In the embodiments of the present application, this way of maintaining the hovering state and continuous monitoring can ensure the continuity and stability of the height adjustment process. The user can make a slight hand movement in the hovering state to achieve fine adjustment of the desktop height, and improve the accuracy of the adjustment and user experience.

[0096] In an embodiment, referring to Figure 6 , the determination of the relative position relationship between the user's palm and the desktop in step S50, and the judgment of the initial adjustment direction according to the relative position relationship, can be realized in the following way: S501: When the initial hovering state is detected, record the vertical height difference of the center point of the user's palm relative to the desktop.

[0097] In the embodiments of the present application, the vertical height difference refers to the vertical distance between the palm center point and the table top. The difference is recorded when the initial hovering state is detected, which can provide an important basis for subsequent determination of the initial adjustment direction.

[0098] In the embodiments of the present application, when the optical sensor detects the initial hovering state, the control system calculates the vertical height of the palm center point relative to the table top according to the hand position information collected by the sensor. The height value is compared with the height of the table top to obtain the vertical height difference.

[0099] In the embodiments of the present application, recording the vertical height difference helps to accurately determine the user's adjustment intention. Different vertical height differences may correspond to different initial adjustment directions. Through analysis of the difference, accurate direction guidance can be provided for subsequent height adjustment.

[0100] In an embodiment, a laser ranging sensor can be used to assist the optical sensor in measuring the vertical height difference. The laser ranging sensor has the characteristics of high precision and fast measurement, and can accurately measure the vertical distance between the palm center point and the table top. When the initial hovering state is detected, the optical sensor and the laser ranging sensor are used simultaneously to obtain hand position information, and the data of the two are fused to obtain a more accurate vertical height difference.

[0101] S502: Compare the vertical height difference with a preset second threshold value. If the vertical height difference is greater than the second threshold value, determine that the initial adjustment direction is upward adjustment. If the vertical height difference is less than or equal to the second threshold value, determine that the initial adjustment direction is downward adjustment.

[0102] In the embodiments of the present application, the preset second threshold value is a pre-set height limit. By comparing the vertical height difference with the second threshold value, it can be determined whether the user wants the table top to rise or fall, thereby determining the initial adjustment direction.

[0103] In the embodiments of the present application, the control system compares the recorded vertical height difference Δh with the preset second threshold value H_th2. If Δh is greater than H_th2, it means that the palm is relatively high from the table top, and the user may want the table top to rise to approach the palm height, so it is determined that the initial adjustment direction is upward adjustment. If Δh is less than or equal to H_th2, it means that the palm is relatively close to the table top, and the user may want the table top to fall, so it is determined that the initial adjustment direction is downward adjustment.

[0104] In the embodiments of the present application, this comparison and determination method can simply and quickly determine the initial adjustment direction, and provide clear direction guidance for subsequent linkage adjustment. The electric lifting table can accurately adjust the height according to the user's intention, improving the efficiency and accuracy of the adjustment.

[0105] In an embodiment, referring to Figure 7 The linkage adjustment of the height of the table according to the real-time distance between the palm of the user and the table in step S60 of the present application can include the following steps: S601: Set the running speed of the lifting mechanism according to the initial adjustment direction, and start the lifting mechanism to drive the table to move at the running speed.

[0106] In the embodiment of the present application, the initial adjustment direction is determined according to the relative position relationship between the palm of the user and the table, and is divided into upward adjustment and downward adjustment. The running speed refers to the speed at which the lifting mechanism drives the table to rise or fall, and setting a suitable running speed according to the initial adjustment direction can make the adjustment of the table more stable and efficient.

[0107] In the embodiment of the present application, after determining the initial adjustment direction, the control system sets the running speed v of the lifting mechanism according to the adjustment direction and the preset speed rule. If the initial adjustment direction is upward adjustment, considering that the table may need to be operated more stably to avoid items falling off and other situations when rising, a relatively slow speed is usually set; if the initial adjustment direction is downward adjustment, the speed can be appropriately increased to improve the adjustment efficiency under the premise of safety. For example, the speed v_up is set when adjusting upward, and the speed v_down is set when adjusting downward, and v_down>v_up. After setting the speed, the control system sends a start signal to the lifting mechanism to drive the motor to operate at the set speed, drive the screw rod and the nut to move, and make the table rise or fall at the set speed.

[0108] In the embodiment of the present application, setting the running speed according to the initial adjustment direction can make the adjustment of the table more in line with the needs of the user. Different adjustment directions may require different speeds, for example, a slower speed may be required for upward adjustment to ensure stable rising, and the speed can be appropriately increased for downward adjustment to improve efficiency. This can improve the comfort and accuracy of the adjustment.

[0109] In an embodiment, a PID control algorithm can be used to set the running speed of the lifting mechanism. The PID control algorithm calculates appropriate control parameters according to the initial adjustment direction and the difference between the current height of the table and the target height, thereby adjusting the running speed of the lifting mechanism. During the adjustment process, the running speed is dynamically adjusted according to the real-time height change and error condition, so that the table can quickly and stably reach the target height.

[0110] S602: Monitor the change of the vertical height difference between the center point of the palm of the user and the table in real time during the movement of the table.

[0111] In the embodiments of the present application, the vertical height difference change refers to the dynamic change of the vertical distance between the palm center point of the user and the desktop with the movement of the desktop. Real-time monitoring of the change can timely understand the adjustment intention of the user, and provide a basis for subsequent adjustment operation.

[0112] In the embodiments of the present application, the optical sensor or other distance measuring sensor continuously collects the vertical distance information between the palm center point of the user and the desktop during the movement of the desktop. The control system calculates the vertical height difference value Δh_t (t represents the current time) in real time according to the information, and subtracts the vertical height difference value at the current time from the vertical height difference value Δh_t-1 at the last time, to obtain the vertical height difference change ΔΔh=Δh_t-Δh_t-1. By analyzing the positive and negative and the size of ΔΔh, it can be judged whether the palm of the user is away from the desktop (ΔΔh>0) or close to the desktop (ΔΔh<0), and the magnitude of the change, so as to understand whether the user wants the desktop to rise or fall and the speed of adjustment.

[0113] In the embodiments of the present application, real-time monitoring of the vertical height difference change can make the desktop height adjustment more accurate and flexible. The user can change the vertical height difference value through the slight movement of the hand, and the control system adjusts the desktop height in time according to the change to realize fine adjustment of the height.

[0114] S603: If the vertical height difference change data exceeds the preset third threshold value, immediately stop the operation of the lifting mechanism and exit the linkage adjustment mode.

[0115] In the embodiments of the present application, the preset third threshold value is a pre-set vertical height difference change limit. When the vertical height difference change exceeds this threshold value, it indicates that the position of the hand of the user has changed greatly, and the user may no longer want to perform linkage adjustment, so the operation of the lifting mechanism is immediately stopped and the linkage adjustment mode is exited.

[0116] In the embodiments of the present application, the control system monitors the vertical height difference change Δh in real time, and compares it with the preset third threshold value Δh_th. If |Δh| is greater than Δh_th, it indicates that the vertical height difference change exceeds the normal range, which may cause abnormal conditions of the desktop adjustment, such as excessive adjustment or excessive adjustment speed. At this time, the control system immediately sends a stop signal to the lifting mechanism to stop the operation of the motor, and exits the linkage adjustment mode, and waits for the user to re-input a valid adjustment signal.

[0117] In the embodiments of the present application, the third threshold value is set to ensure the safety and stability of the adjustment process. It avoids that the desktop height adjustment is out of control due to the accidental large movement of the hand of the user, and protects the safety of the user and the equipment.

[0118] S604: If the vertical height difference value tends to zero, it is determined that the desktop height and the palm height of the user reach the linkage balance state, and the desktop height adjustment is stopped.

[0119] In the embodiments of the present application, the vertical height difference value tends to zero means that the vertical distance between the center point of the user's palm and the desktop no longer changes significantly, indicating that the desktop height has reached a relatively balanced state with the palm height of the user. At this time, it is determined that the linkage balance state is reached, and the desktop height adjustment is stopped.

[0120] In the embodiments of the present application, the control system continuously monitors the vertical height difference value change amount Δh. When the absolute value of Δh is less than a very small threshold ε for a plurality of times in succession, it is determined that the vertical height difference value tends to zero. This indicates that the adjustment of the desktop height has basically met the user's needs, and the desktop height has reached a linkage balance state with the palm height of the user. At this time, the control system sends a stop signal to the lifting mechanism to stop the motor operation, and ends the desktop height adjustment process.

[0121] In the embodiments of the present application, determining the linkage balance state and stopping the adjustment can make the desktop height accurately reach the position expected by the user, avoiding excessive adjustment. The accuracy of the adjustment and the satisfaction of the user are improved.

[0122] S605: If the vertical height difference value change exceeds a preset third threshold value, the lifting mechanism is immediately stopped from running and the linkage adjustment mode is exited.

[0123] In the embodiments of the present application, when the vertical height difference value change exceeds the preset third threshold value, it indicates that the user's hand movement has changed by a large amplitude, which may be that the user accidentally moves the hand or wants to terminate the current adjustment operation. At this time, the lifting mechanism is immediately stopped from running and the linkage adjustment mode is exited, which can avoid unnecessary large adjustment of the desktop height, and ensure the safety and stability of the adjustment process.

[0124] The third threshold value is a pre-set limit value for measuring the degree of change of the vertical height difference value between the user's palm and the desktop. In the process of linkage adjustment of the desktop height according to the real-time distance change between the user's palm and the desktop, the control system will monitor the change of the vertical height difference value in real time. When this change value exceeds the third threshold value, it means that the user's hand movement has changed by a large amplitude, which may be that the user accidentally moves the hand or wants to terminate the current adjustment operation. At this time, the system will immediately stop the lifting mechanism from running and exit the linkage adjustment mode.

[0125] In the process of the linkage adjustment of the desktop height, the control system tracks the change of the vertical height difference value in real time. The change value Ah of the vertical height difference value is obtained by continuously calculating the difference between the vertical height difference values obtained by two adjacent measurements. The change value is compared with a preset third threshold Ah th. If | Ah | is greater than Ah th, it indicates that the user's hand may suddenly move greatly, such as the user accidentally waving the hand or quickly withdrawing the hand, and the like. At this time, the control system quickly responds, sends a stop instruction to the lifting mechanism, and makes the motor immediately stop running, and at the same time, the system state is switched to the non-linkage adjustment mode, and waits for the user to re-input a valid operation signal. This timely response mechanism can prevent the desktop height from being adjusted unexpectedly and greatly, and ensures the safety and stability of the adjustment process.

[0126] In the embodiment of the present application, the timely response and processing mechanism can effectively prevent the adjustment from being out of control due to abnormal movement of the user's hand, improve the use safety and reliability of the electric lifting table, and provide a more stable and comfortable adjustment experience for the user.

[0127] In an embodiment, a hardware comparison circuit can be set in the control system, and the vertical height difference change signal and the reference signal corresponding to the third threshold are input into the comparison circuit. When the vertical height difference change signal exceeds the reference signal, the comparison circuit outputs a trigger signal, which directly controls the lifting mechanism to stop running and triggers the software program to exit the linkage adjustment mode. This combination of hardware and software can achieve fast and accurate judgment and response.

[0128] S606: After exiting the linkage adjustment mode, if a new initial hovering state is detected, the linkage adjustment mode is restarted and the above steps are repeated.

[0129] In the embodiment of the present application, exiting the linkage adjustment mode means that the current height adjustment process is temporarily stopped. When a new initial hovering state is detected, it indicates that the user may have a new height adjustment demand, and at this time, the linkage adjustment mode is restarted, which can continue to adjust the desktop height according to the user's hand movement.

[0130] In the embodiment of the present application, the optical sensor can continuously monitor the rated hovering detection area. When the user's hand re-enters the area and meets the conditions of the initial hovering state, the control system receives the corresponding signal, switches the system state back to the linkage adjustment mode, and then re-executes the steps of determining the initial adjustment direction, setting the running speed, monitoring the change of the vertical height difference value, and the like, and continues to adjust the desktop height in linkage.

[0131] In the embodiment of the present application, this restart mechanism makes the adjustment process of the electric lift table more flexible and user-friendly. The user can interrupt and restart the adjustment operation at any time, meeting the diverse needs in different scenarios and improving the convenience and flexibility of use.

[0132] In one embodiment, a state machine can be provided within the control system to manage the start, stop, and restart of the coordinated adjustment mode. Upon detecting a new initial hovering state, the state machine receives a trigger signal and automatically switches the system state from the non-coordinated adjustment mode to the coordinated adjustment mode, reinitializing relevant adjustment parameters and variables to ensure a smooth adjustment process.

[0133] In one embodiment, reference Figure 8 In order to improve the accuracy of desktop height adjustment, in the process of adjusting the desktop height in a linked manner according to the real-time distance change between the user's palm and the desktop, the method of the embodiment of the present application may further include: S61: During the process of adjusting the height of the desktop in a linked manner, the user's palm posture information is collected through a sensor, where the posture information includes whether the palm is clenched into a fist and whether the palm is rotated.

[0134] In this embodiment, gesture information is a collection of information describing the shape and motion characteristics of the user's palm in space, reflecting the user's intention in adjusting the height of the desktop. Whether the palm is clenched into a fist reflects the degree of palm contraction, and different fist clenching states may correspond to different adjustment requirements. Whether the palm is rotated reflects the palm's rotation within the plane, and the rotational action may also be a specific adjustment instruction issued by the user.

[0135] In an embodiment of the present application, when the height of the desktop is adjusted in conjunction with the real-time distance between the user's palm and the desktop, the sensor starts working. In one embodiment, taking an optical sensor as an example, the contour and position changes of the palm can be sensed by emitting and receiving light and detecting changes in light reflection. When the palm is in a fist state, the pattern of light reflection will be different from that in the unfolded state; when the palm rotates, the angle and intensity of the reflected light will also change accordingly. By analyzing these changes in light reflection, the posture information of the palm can be obtained. Accurately collecting posture information can allow the system to more accurately understand the user's adjustment intentions, thereby optimizing the process of desktop height adjustment. For example, if a fist is detected, it may mean that the user wants to make more precise adjustments, and the system can adjust the adjustment strategy accordingly.

[0136] The technical effect of the embodiments of the present application is that collecting palm posture information provides the system with richer user operation information, which helps to improve the intelligence and personalization of desktop height adjustment and make the adjustment process more in line with the actual needs of users.

[0137] In an embodiment, the palm posture information is collected by multi-sensor fusion. In combination with an infrared sensor and a depth camera, the infrared sensor can quickly detect the approximate contour and position of the palm, and the depth camera can provide three-dimensional spatial information of the palm. The data of the two sensors are integrated and processed to remove noise and interference through a data fusion algorithm, thereby improving the accuracy of posture information collection. At the same time, the data collected by the sensor is updated in real time to ensure that the system can timely capture the changes in the palm posture.

[0138] In an embodiment, step S61 can be implemented in the following way: A1: capturing real-time image data of the user's palm using an image sensor arranged in the rated hovering detection area, the real-time image data containing a contour image of the palm.

[0139] In the embodiment of the application, the image sensor is a device that can simply collect the contour image of the user's palm and can be arranged in the rated hovering detection area. When the user's palm enters the detection area, the image sensor will immediately start the collection function. For example, when the user hovers the hand over the edge of the table to prepare for fine adjustment of the height of the table, the sensor will capture the image of the palm at that moment. The image sensor uses its photosensitive elements to convert the light reflected by the palm into an electrical signal, and then generates digital image data containing the contour of the palm after internal analog-to-digital conversion and other processing. These data can intuitively reflect the position and shape of the palm in space, providing raw materials for subsequent posture recognition.

[0140] In an embodiment, a low-cost CMOS image sensor can be used as an image collection device. The CMOS sensor has the characteristics of low power consumption and high integration, and is suitable for long-time continuous work. A plurality of CMOS sensors are uniformly distributed around the rated hovering detection area to ensure that the images of the palm can be captured from different angles to obtain more complete palm contour information. The image data collected by the sensor is transmitted to the microcontroller through a serial interface, and the microcontroller performs preliminary preprocessing on the image, such as grayscale, noise reduction, etc., to improve the quality of the image and prepare for subsequent edge detection and posture analysis.

[0141] A2: performing edge detection processing on the real-time image data to extract palm contour information.

[0142] In the embodiment of the application, edge detection processing is an image processing technique used to identify the position of the edge of an object in an image. Through edge detection, the contour features of the palm can be highlighted, and the palm can be separated from the background to extract clear palm contour information, providing key data for subsequent posture analysis.

[0143] In the embodiments of the present application, the collected real-time image data is input into an edge detection algorithm. The algorithm finds the positions of pixel value mutations in the image by calculating the rate of change of pixel values in the image, and these positions are the edges of the object. For a palm image, edge detection can accurately outline the contour of the palm. The extracted contour information can be represented by a series of coordinate points, which describe the shape boundary of the palm. For example, the finger boundaries and the contour of the palm center can be clearly determined through edge detection.

[0144] The technical effect of the embodiments of the present application is that edge detection processing can effectively extract palm contour information, remove interference factors in the image, and make subsequent posture analysis more accurate and efficient.

[0145] A3: According to the palm contour information, the key point positions of the palm are identified, including the fingertip position, the palm center position, and the wrist position.

[0146] In the embodiments of the present application, the key point position refers to a specific position on the palm that is representative and can reflect the posture characteristics of the palm. The fingertip position is the end point of the finger, the palm center position is the approximate position of the center of the palm, and the wrist position is the part where the palm connects to the arm. Identifying these key point positions helps to more accurately analyze the posture of the palm.

[0147] In the embodiments of the present application, after obtaining the palm contour information, the contour is analyzed through a specific algorithm. For example, the fingertip position is determined by finding points on the contour with large curvature changes; the palm center position is calculated based on the geometric center of the contour; and the wrist position is determined by analyzing the shape of the contour and the connection relationship with the arm. The determination of these key point positions provides an important reference for subsequent judgment of the posture of the palm. For example, the change of the fingertip position can reflect whether the palm is clenched or unfolded, and the movement of the wrist position may indicate the overall displacement of the palm in space.

[0148] The technical effect of the embodiments of the present application is that accurate identification of the key point positions of the palm can provide key references for subsequent posture analysis, improving the accuracy and reliability of posture judgment.

[0149] In an embodiment, first, for the identification of the fingertip position, the geometric features of the palm contour are used. Since the fingertip appears as a point with a large change in curvature on the contour, by calculating the curvature of each point on the contour, points with a curvature value exceeding a set curvature threshold are found, which are the possible fingertip positions. In order to exclude false positives, the distance between adjacent points will also be used for screening. If the distance between two adjacent high-curvature points is too small, only one of them will be kept as the fingertip position.

[0150] For the determination of the palm center position, a method of calculating the geometric center of the palm outline is adopted. The palm outline is regarded as a two-dimensional planar figure, and the coordinates of the geometric center are obtained by summing and averaging the coordinates of all points on the outline. The coordinates are the palm center position. This position can reflect the central balance position of the palm.

[0151] The wrist position recognition is achieved according to the features of the palm outline and the arm connecting part. By observing the shape of the palm outline, a region with a sudden increase in width and a relatively smooth edge transition is found in the outline. The region is the connection between the palm body and the wrist position. At the same time, the position and overall shape of the palm in the image are combined to further verify and adjust the recognition result of the wrist position.

[0152] The embodiments of the present application can accurately and efficiently recognize the positions of key points such as fingertips, palm centers and wrists by using the geometric features and shape information of the palm outline. This method does not require a large amount of data training and complex algorithm models, reduces the computational cost and system complexity, and can obtain reliable recognition results in a short time, thereby providing strong support for subsequent rapid and accurate judgment of the palm posture state, and further improving the response speed and adjustment accuracy of the entire electric lifting table height adjustment system.

[0153] In an embodiment, the above recognition algorithm is implemented in a microcontroller. First, the acquired palm outline information is stored in the form of coordinate points in the memory. Then, the curvature, geometric center and wrist connecting region of each point are calculated in sequence according to the above steps. For curvature calculation, the finite difference method is adopted to approximate the curvature value by calculating the slope change between adjacent points. When calculating the geometric center, the coordinate average value is obtained by using accumulation summation and division operation. In order to improve the calculation efficiency, the algorithm is optimized, such as using segmented calculation and parallel processing mode to reduce the calculation time. At the same time, the set curvature threshold and distance threshold parameters are stored in the read-only memory (ROM) for convenient and fast calling and comparison, to ensure the accuracy and stability of the recognition process.

[0154] A4: Analyzing the posture state of the palm based on the change of the key point position, the posture state including an unfolded state, a fist state and a rotation state.

[0155] In the embodiments of the present application, the posture state describes the specific shape and action of the palm in space. In the unfolded state, the fingers are naturally stretched, in the fist state, the fingers are bent and gathered towards the palm center, and in the rotation state, the palm rotates around an axis. By analyzing the change of the key point position, it can be judged which posture state the palm is in.

[0156] In the embodiments of the present application, the change of the position of the key point is continuously monitored. For example, when the position of the fingertip gradually approaches the position of the palm center, it may indicate that the palm changes from an unfolded state to a fist state; when the position of the key point rotates as a whole, it may indicate that the palm is in a rotating state. By establishing a mapping relationship between the change of the position of the key point and the posture state, the current posture of the palm can be accurately determined. For example, the posture is determined by calculating the distance change between the fingertip and the palm center and the angle change of the key point.

[0157] The technical effect of the embodiments of the present application is that the posture of the palm can be determined in real time and accurately based on the analysis of the posture state based on the change of the position of the key point, thereby providing a reliable basis for subsequent adjustment of the desktop height adjustment strategy.

[0158] In an embodiment, analyzing the posture state of the palm based on the change of the position of the key point can include the following steps: 1. obtaining a distance change value between the position of the fingertip and the position of the palm center in the palm contour information In the embodiments of the present application, the distance change value between the position of the fingertip and the position of the palm center refers to the dynamic change of the distance between the fingertip and the palm center with time during the change of the posture of the palm. This distance change value can directly reflect whether the palm is in an unfolded state or a fist state, and is one of the important bases for determining the posture state of the palm.

[0159] In the embodiments of the present application, after obtaining the position of the key point (the position of the fingertip and the position of the palm center) of the palm, the system continuously calculates the distance between the two positions. With the change of the posture of the palm, such as from unfolding to fist or vice versa, the distance will change accordingly. By recording the distance values at different times and calculating the distance difference values between adjacent times, the distance change is obtained. For example, when the palm gradually changes from an unfolded state to a fist state, the distance between the fingertip and the palm center will gradually decrease.

[0160] The technical effect of the embodiments of the present application is that obtaining the distance change value between the fingertip and the palm center can provide intuitive and effective information for determining the posture of the palm, which helps to improve the accuracy of posture determination.

[0161] In an embodiment, the distance between the position of the fingertip and the position of the palm center is obtained by using a coordinate calculation method. Assuming that the coordinates of the position of the fingertip are (x1, y1), and the coordinates of the position of the palm center are (x2, y2), the distance d between the two is [(x2-x1)^2+(y2-y1)^2)]^0.5. The system calculates the distance at each sampling time, stores the distance value at the previous time, and obtains the distance change value by subtraction. At the same time, the calculated distance change value is filtered to remove noise interference and improve the accuracy of the data.

[0162] 2. If the distance change value is less than a first set distance threshold, it is determined that the palm is in a fist state.

[0163] In the embodiments of the present application, the first set distance threshold is a distance limit pre-set to distinguish whether the palm is in a fist state or other state. When the distance change value between the fingertips and the palm center is less than the threshold, it indicates that the fingertips are close to the palm center to a greater extent, and the palm is determined to be in a fist state.

[0164] In the embodiments of the present application, the system compares the distance change value with the first set distance threshold in real time. If the distance change value is less than the threshold (for example, less than 2 cm), it indicates that the fingertips of the palm are approaching the palm center, and the approaching degree reaches the pre-set standard, and the palm is determined to be in a fist state. The determination result will be used for subsequent desktop height adjustment speed adjustment and other operations. For example, if the fist state is determined, the system can reduce the desktop height adjustment speed.

[0165] The technical effect of the embodiments of the present application is that the fist state is determined by setting the distance threshold, which can provide a clear gesture basis for desktop height adjustment, and the adjustment strategy is more in line with the user's operation intention.

[0166] In an embodiment, a comparator is set in the control system to compare the distance change value with the first set distance threshold. When the distance change value is less than the threshold, the comparator outputs a high-level signal to trigger the system to determine the logic of the palm being in a fist state. At the same time, in order to avoid misjudgment, a confirmation time window is set, and if the distance change value is continuously less than the threshold within the time window, the fist state is formally determined.

[0167] 3. If the distance change value is greater than or equal to the first set distance threshold and less than the second set distance threshold, the palm is determined to be in an unfolded state.

[0168] In the embodiments of the present application, the second set distance threshold is another pre-set distance limit, which divides different ranges of palm gestures together with the first set distance threshold. When the distance change value is between the two thresholds, it indicates that there is a certain distance between the fingertips and the palm center, and the degree of fist or overstretching is not reached, and the palm is determined to be in an unfolded state.

[0169] In the embodiments of the present application, when the system compares the distance change value with the threshold, if it is found that the distance change value is greater than or equal to the first set distance threshold and less than the second set distance threshold (for example, greater than 2 cm and less than 12 cm), it indicates that the fingertips of the palm are kept at a relatively moderate distance from the palm center, which meets the characteristics of the unfolded state, and the palm is determined to be in an unfolded state. The determination result will also affect the subsequent desktop height adjustment strategy. For example, if the unfolded state is determined, the system can maintain or increase the speed of desktop height adjustment to meet the user's demand for rapid adjustment.

[0170] The technical effect of the embodiment of the application is that the unfolding state of the palm is determined by reasonably setting two distance thresholds, the palm posture can be more accurately recognized, a more accurate control basis is provided for the desktop height adjustment, and the adaptability of the adjustment and the user experience are improved.

[0171] In an embodiment, two comparators are used to compare the distance change value with a first set distance threshold and a second set distance threshold respectively. When the distance change value meets the condition of being greater than or equal to the first set distance threshold and less than the second set distance threshold, the two comparators output a specific logic combination signal, triggering the operation of determining that the palm is in the unfolded state. At the same time, the stability of the determination result is monitored to ensure the accuracy of the posture determination within a certain time, and to avoid misjudgment caused by temporary distance fluctuation.

[0172] 4. If the angle between the line connecting the fingertip position and the palm center position changes and the change amount is greater than a set angle change threshold, it is determined that the palm is in a rotating state.

[0173] In the embodiment of the application, the angle between the line connecting the fingertip position and the palm center position refers to the included angle between the straight line connecting the fingertip and the palm center and a certain reference direction. The set angle change threshold is a predetermined angle change limit. When the change amount of the angle exceeds the threshold (such as 30 degrees), it indicates that the palm has rotated significantly, and it can be determined that the palm is in a rotating state.

[0174] In the embodiment of the application, the system calculates the angle of the line connecting the fingertip and the palm center in real time, and records the angle values of adjacent time points. The angle change amount is obtained by calculating the angle difference. When the angle change amount is greater than the set angle change threshold, it indicates that the palm has rotated around an axis to a certain extent, and at this time it is determined that the palm is in a rotating state. For example, when it is determined that the palm is in a rotating state and the rotating angle meets a certain condition, the system can pause or exit the linkage adjustment mode of the desktop height to respond to the possible change of the user's operation intention.

[0175] The technical effect of the embodiment of the application is that the change amount of the angle of the line connecting the fingertip and the palm center is monitored and compared with the set threshold to determine the rotating state, which provides an intelligent control method based on the palm posture for the desktop height adjustment, enhances the flexibility and controllability of the adjustment process, and can better meet the diversified operation needs of users.

[0176] In an embodiment, an angle sensor or an image processing algorithm is used to calculate the angle of the line connecting the fingertip and the palm center. The calculated angle value is stored in a circular buffer, and the angle change is obtained by comparing the angle values at adjacent time points. The angle change is compared with a set angle change threshold value, and when the threshold value is exceeded, it is determined that the palm is in a rotating state. At the same time, a filtering and threshold adjustment method is used to reduce the influence of external interference and measurement error on the calculation of the angle change, and to improve the accuracy and reliability of the rotating state determination. For example, a sliding average filtering algorithm is used to smooth the angle change, to avoid false positives caused by instantaneous angle fluctuations.

[0177] A5: The posture state is matched with a preset palm posture classification model, and posture information of the current palm is output.

[0178] In the embodiments of the present application, the preset palm posture classification model is a model that is pre-trained and used to classify palm postures. The model contains various known palm posture features and corresponding classification labels. Matching the analyzed posture state with the model can further confirm and refine the posture information of the palm.

[0179] In the embodiments of the present application, the posture state analyzed based on the change in key point position is input into the preset palm posture classification model. The model compares the input features with the posture features stored in itself, and finds the most matching classification label. The output posture information is more accurate and detailed, such as the specific degree of clenched fist, the direction and angle of rotation, etc., providing a more accurate basis for subsequent adjustment of the desktop height adjustment strategy. For example, if the model determines that the palm is in a slightly clenched fist state, the system can adjust the adjustment speed according to this more accurate information.

[0180] The technical effect of the embodiments of the present application is that by matching with a preset model to output more accurate posture information, the desktop height adjustment strategy can be more accurately adapted to the actual needs of the user, and the intelligent level of adjustment is improved.

[0181] In an embodiment, a support vector machine (SVM) classification model is used for posture matching. The SVM model has good classification performance and generalization ability. In the model training stage, a large amount of labeled palm posture data is used for training to obtain the parameters of the classification model. In actual application, the feature vector of the posture state is input into the trained SVM model, and the model outputs the corresponding posture classification label, thereby obtaining accurate palm posture information.

[0182] S62: If it is detected that the user's palm switches from an open state to a clenched fist state, the speed of the desktop height adjustment is reduced according to a preset speed adjustment rule.

[0183] In the embodiments of the present application, the preset speed adjustment rule is a series of conditions and corresponding adjustment strategies pre-set for adjusting the speed of height adjustment of the desktop according to different palm posture changes. When the palm switches from the unfolded state to the clenched state, it means that the user may wish to reduce the adjustment speed to achieve more fine height adjustment.

[0184] In the embodiments of the present application, the system triggers the speed adjustment mechanism as soon as it finds that the palm changes from the unfolded state to the clenched state in the process of continuously monitoring the palm posture information. According to the preset rule, a new adjustment speed is calculated. For example, the original adjustment speed is V1, and the rule sets that the speed is reduced to 50% of the original speed when the palm is clenched, so the new adjustment speed becomes V2 = V1 * 50%. Reducing the adjustment speed can avoid the desktop height adjustment being too fast, so that the user has more time to fine-tune, thereby improving the accuracy of adjustment. For example, when the user wishes to make a small adjustment to the height of the desktop, reducing the speed can make the change of the desktop height more gentle, which is convenient for the user to accurately control.

[0185] The technical effect of the embodiments of the present application is that the adjustment speed is adjusted according to the change of the palm posture, which can meet the needs of the user in different adjustment stages and improve the accuracy of the desktop height adjustment and the user experience.

[0186] In an embodiment, a speed adjustment module is set in the control system, which stores the preset speed adjustment rule. When the palm state switching is detected, the current adjustment speed and the palm state information are input into the speed adjustment module. The module calculates a new speed value according to the rule and sends the value to the drive system of the lifting mechanism, and the drive system adjusts the running speed of the motor according to the new speed value, so as to realize the reduction of the speed of the desktop height adjustment.

[0187] S63: If it is detected that the user's palm switches from the clenched state to the unfolded state, the speed of the desktop height adjustment is increased according to the preset speed adjustment rule.

[0188] In the embodiments of the present application, based on the preset speed adjustment rule, when the palm switches from the clenched state to the unfolded state, it indicates that the user may wish to speed up the adjustment process of the desktop height to reach the desired height more quickly.

[0189] In the embodiments of the present application, the system monitors the palm posture in real time, and when it is detected that the palm changes from the clenched state to the unfolded state, the speed adjustment mechanism is started. According to the preset rule, a new adjustment speed is calculated, for example, the original speed is V2, and the rule sets that the speed is increased to 150% of the original speed in the unfolded state, so the new speed V3 = V2 * 150%. Increasing the adjustment speed can improve the adjustment efficiency and reduce the adjustment time, thereby meeting the user's demand for quickly adjusting the height of the desktop. For example, when the user wishes to quickly raise the desktop to a rough height, increasing the speed can make the adjustment process more rapid.

[0190] The technical effect of the embodiments of the present application is that the adjustment speed can be dynamically adjusted according to the change of the palm posture of the user, the efficiency of the height adjustment of the desktop is improved, and the use requirements of different users in different scenarios are taken into account.

[0191] In an embodiment, similar to the reduction of the speed, a new speed value corresponding to the expanded state is looked up by using a speed adjustment table. The speed of the motor is increased by increasing the driving signal strength of the motor, such as increasing the duty cycle of the pulse width modulation (PWM) signal, so as to increase the speed of the motor and further increase the speed of the height adjustment of the desktop. At the same time, a closed-loop control strategy is adopted to feed back the actual running speed of the motor in real time, and the adjustment process is dynamically adjusted to ensure the accuracy and stability of the speed increase.

[0192] S64: If it is detected that the rotation angle of the user's palm in the clockwise or counterclockwise rotation direction is greater than or equal to the first set angle threshold and less than the second set angle threshold, the operation of the lifting mechanism is paused and a standby state is entered.

[0193] In the embodiments of the present application, the first set angle threshold and the second set angle threshold are two angle limits determined in advance, which are used to divide different ranges of the rotation angle of the palm. When the rotation angle of the palm is between the two thresholds, it indicates that the user may wish to temporarily stop the height adjustment of the desktop and enter the standby state to wait for further operation.

[0194] In the embodiments of the present application, the system calculates the rotation angle of the palm in real time. When it is detected that the rotation angle meets the condition of being greater than or equal to the first set angle threshold and less than the second set angle threshold, the control system sends a pause instruction to the lifting mechanism. The motor stops running, the height adjustment of the desktop is paused, and the system enters the standby state. In the standby state, the system continues to monitor the palm posture and waits for the subsequent operation of the user to decide whether to continue the adjustment. For example, the user may need to think about the next adjustment direction during the adjustment process, and by rotating the palm to pause the system, the user has time to make a decision.

[0195] The technical effect of the embodiments of the present application is that the controllability and flexibility of the adjustment process are increased, and the user can pause the adjustment at any time according to the own needs, so as to avoid the loss of control of the adjustment due to misoperation or the need to adjust the adjustment strategy.

[0196] In an embodiment, the rotation angle of the palm is calculated by an image processing algorithm. The image captured by the camera is analyzed, the feature points of the palm are extracted, and the rotation angle is calculated according to the position change of the feature points. When the calculated rotation angle is in a specified range, the control system cuts off the power supply of the motor through the relay to pause the lifting mechanism. At the same time, a state flag is set to mark the system state as the standby state.

[0197] S65: If it is detected that the palm rotation angle is greater than or equal to the second set angle threshold, immediately stop the lifting mechanism from running and exit the linkage adjustment mode.

[0198] In the embodiments of the present application, the second set angle threshold is a larger angle limit. When the palm rotation angle reaches or exceeds this threshold, it indicates that the user may wish to completely terminate the current desktop height adjustment process.

[0199] In the embodiments of the present application, during the continuous monitoring of the palm rotation angle, as soon as it is found that the rotation angle is greater than or equal to the second set angle threshold, the control system immediately takes emergency stop measures. The power supply of the motor is quickly cut off, so that the lifting mechanism immediately stops running. At the same time, the relevant parameters and settings in the linkage adjustment mode are cleared, and the system state is switched to the non-linkage adjustment mode, waiting for the user's next tapping or other operation to restart the adjustment process. For example, the user may have completed the adjustment of the desktop height, or does not want to continue the adjustment, and terminates the current adjustment by rotating the palm greatly.

[0200] The technical effect of the embodiments of the present application is to provide a way for the user to quickly terminate the adjustment process, avoid unnecessary adjustment operations, and improve the use efficiency and safety of the system.

[0201] In an embodiment, the rotation angle of the palm is accurately measured by using an angle sensor or an image processing algorithm. When the angle reaches or exceeds the second set angle threshold, the control system quickly cuts off the driving signal of the motor through a hardware circuit to ensure that the motor immediately stops. At the same time, the software program performs the operation of exiting the linkage adjustment mode, including releasing relevant system resources, resetting state flags, etc., to prepare for the next adjustment.

[0202] In summary, by using the technical solution of the present application, in terms of control convenience, the present application breaks through the limitations of the traditional electric lifting table height adjustment method. The traditional key control and remote control either require the user to walk to the table to operate or require the user to find the remote control, which is not flexible to use. However, in the present solution, the electric lifting table is controlled by tapping the table, and the user only needs to tap the table simply, and the system can determine the target height value according to the parameters of the tapping signal to achieve the adjustment of the desktop height. This way gets rid of the limitations of space and equipment searching, allowing the user to easily complete the operation while sitting in the seat. The subsequent hand hovering fine adjustment function further enhances the convenience, and the user can make fine adjustments to the desktop height by hovering and moving the hand on the edge of the table without additional operation of the equipment, greatly improving the convenience and efficiency of use.

[0203] The above disclosure is only the preferred embodiments of the present application, and of course cannot limit the scope of the rights of the present application, so equivalent changes made in accordance with the claims of the present application still fall within the scope covered by the present application.

Claims

1. A method of controlling an electric lift table based on tapping a tabletop, characterized by, The method comprises the following steps: acquiring a tapping signal generated by a user tapping a desktop, and extracting parameters of the tapping signal, the parameters of the tapping signal including tapping times and tapping interval times; matching the parameters of the tapping signal with a preset height adjustment mode database to determine a target height value, the height adjustment mode database storing a plurality of tapping signal parameter combinations and corresponding target height values; starting a lifting mechanism of an electric lifting table to adjust the desktop to the target height value; after the desktop reaches the target height value, detecting a hovering state of a user's hand relative to the desktop, the hovering state being monitored by a sensor in a rated hovering detection area; when the initial hovering state is detected, determining a relative position relationship between the user's palm and the desktop, and judging an initial adjustment direction according to the relative position relationship; after the initial adjustment direction is confirmed, performing linkage adjustment on the desktop height according to real-time distance changes between the user's palm and the desktop, if the hovering state is interrupted, stopping the desktop height adjustment, and if the hovering state is detected again, re-determining the initial hovering state and continuing the linkage adjustment until the hovering state is interrupted again.

2. The method of claim 1, wherein, The method of detecting the hovering state of the user's hand relative to the desktop comprises the following steps: collecting position information of the user's hand in the rated hovering detection area by an optical sensor array arranged in the rated hovering detection area at the edge of the desktop; calculating a distance value between a center point of the user's hand and the edge of the desktop according to the position information, and recording the distance value as an initial hovering distance; after the initial hovering state is detected, judging whether the user's palm remains in the rated hovering detection area by continuously monitoring distance change values between the center point of the user's hand and the edge of the desktop; if the distance change value exceeds a preset first threshold value, determining that the hovering state is interrupted; if the distance change value does not exceed the first threshold value, maintaining the hovering state and continuously monitoring the real-time position of the user's palm.

3. The method of claim 2, wherein, The method of determining the relative position relationship between the user's palm and the desktop, and judging the initial adjustment direction according to the relative position relationship, comprises the following steps: when the initial hovering state is detected, recording a vertical height difference value of a center point of the user's palm relative to the desktop; comparing the vertical height difference value with a preset second threshold value, if the vertical height difference value is greater than the second threshold value, determining that the initial adjustment direction is upward adjustment, and if the vertical height difference value is less than or equal to the second threshold value, determining that the initial adjustment direction is downward adjustment.

4. The method of claim 3, wherein, The method of performing linkage adjustment on the desktop height according to real-time distance changes between the user's palm and the desktop, comprises the following steps: setting a running speed of the lifting mechanism according to the initial adjustment direction, and starting the lifting mechanism to drive the desktop to move at the running speed; during the movement of the desktop, real-time monitoring a vertical height difference value change between the center point of the user's palm and the desktop; if the vertical height difference value change data exceeds a preset third threshold value, immediately stopping the running of the lifting mechanism and exiting the linkage adjustment mode; if the vertical height difference value change tends to zero, determining that the desktop height and the height of the user's palm reach a linkage balance state, and stopping the desktop height adjustment.

5. The method of claim 4, wherein, The linkage adjustment of the desktop height according to the real-time distance between the user's palm and the desktop further comprises the following steps: If the vertical height difference changes beyond the third threshold value, the lifting mechanism is immediately stopped and the linkage adjustment mode is exited. After exiting the linkage adjustment mode, if a new initial hovering state is detected, the linkage adjustment mode is restarted and the above steps are repeated.

6. The method of claim 1, wherein, The method further comprises the following steps: During the linkage adjustment of the desktop height, the posture information of the user's palm is collected by the sensor, and the posture information includes whether the palm is clenched and whether the palm is rotated; If it is detected that the palm switches from the unfolded state to the clenched state, the speed of the desktop height adjustment is reduced according to the preset speed adjustment rule; If it is detected that the palm switches from the clenched state to the unfolded state, the speed of the desktop height adjustment is increased according to the preset speed adjustment rule; If it is detected that the palm rotates in the clockwise or counterclockwise direction by an angle greater than or equal to the first set angle threshold value and less than the second set angle threshold value, the lifting mechanism is temporarily stopped and the standby state is entered; If it is detected that the palm rotates by an angle greater than or equal to the second set angle threshold value, the lifting mechanism is immediately stopped and the linkage adjustment mode is exited.

7. The method of claim 6, wherein, Collecting the posture information of the user's palm by the sensor comprises the following steps: The real-time image data of the user's palm is captured by the image sensor arranged in the normal hovering detection area, and the real-time image data contains the contour image of the palm; The edge detection processing is performed on the real-time image data to extract the palm contour information; The key point positions of the palm are identified according to the palm contour information, and the key point positions include the fingertip position, the palm center position, and the wrist position; The posture state of the palm is analyzed based on the changes of the key point positions, and the posture state includes the unfolded state, the clenched state, and the rotated state; The posture state is matched with the preset palm posture classification model to output the posture information of the current palm.

8. The method of claim 7, wherein, Analyzing the posture state of the palm based on the changes of the key point positions comprises the following steps: The distance change value between the fingertip position and the palm center position in the palm contour information is obtained; If the distance change value is less than the first set distance threshold value, it is determined that the palm is in the clenched state; If the distance change value is greater than or equal to the first set distance threshold value and less than the second set distance threshold value, it is determined that the palm is in the unfolded state; If the angle between the line connecting the fingertip position and the palm center position changes and the change amount is greater than the set angle change threshold value, it is determined that the palm is in the rotated state.

9. The method of claim 7, wherein, Matching the parameters of the tapping signal with the preset height adjustment mode database comprises the following steps: The key feature parameters are compared with the mode features in the preset height adjustment mode database one by one to determine the unique target height value corresponding to the tapping signal; If multiple candidate target height values are found during the comparison process, further filtering is performed according to the change trend of the tapping intensity to preferentially select the target height value that best matches the change trend of the tapping intensity.

10. The method of claim 9, wherein, Matching the parameters of the tapping signal with the preset height adjustment mode database comprises the following steps: If a unique target height value is not matched, a prompt message is sent to the user to request re-entry of the tap signal.

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