Wind swing control method and device, wind heating equipment and storage medium

Abstract

The invention relates to an air swing control method and device, air heating equipment and a storage medium. The air swing control method comprises the steps that the position of a target object is detected; determining a target angle of an air swinging structure based on the position and a current working mode of the air heating equipment, wherein the current working mode is a tracking mode or an avoiding mode; the wind swinging structure needs to be continuously aligned with the target object in the tracking mode, and the wind swinging structure needs to avoid the target object in the avoiding mode; and the air swinging structure is driven to move based on the target angle so as to adjust the air supply direction. Thus, it can be ensured that the position of the target object can be accurately determined, the swing structure can continuously align to or avoid the target object according to the position of the target object in different working modes, then effective air supply assistance can be provided, and the effect of improving user experience is achieved.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent control technologies, and particularly to a swing control method, apparatus, air heating device, and storage medium. Background Art

[0002] With the development of technology, more and more household appliances have entered people's work and life. For example, an air heating type bath heater can blow hot air to achieve the effect of heating up.

[0003] In the related art, air heating type bath heaters can generally be divided into two types: fixed air output and swingable air output. Specifically, in some swingable bath heaters, a corresponding motor can be installed to drive a swing blade to rotate reciprocally to blow hot air in different directions. In addition, the motor can be controlled to stop rotating so that the swing blade remains stationary, thereby achieving the purpose of directional air blowing.

[0004] However, the solutions in the related art can only perform reciprocating motion within a pre-set rotation range during swing, and cannot avoid a certain position or track a certain position to continuously supply air during air supply. Therefore, this solution has the problem of being unable to provide effective air supply assistance, resulting in a poor user experience. Summary of the Invention

[0005] To solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a swing control method, apparatus, air heating device, and storage medium.

[0006] The first aspect of the present disclosure provides a swing control method applied to an air heating device. The method includes:

[0007] Detect the position of a target object;

[0008] Based on the position and the current working mode of the air heating device, determine the target angle of a swing structure. The current working mode is a tracking mode or an avoidance mode. In the tracking mode, the swing structure needs to continuously align with the target object, and in the avoidance mode, the swing structure needs to avoid the target object;

[0009] Drive the swing structure to move based on the target angle to adjust the air supply direction.

[0010] Optionally, the detecting the position of the target object includes:

[0011] Output a detection signal and receive an echo signal, where the echo signal is generated by the target object reflecting the detection signal;

[0012] Based on the echo signal, determine the coordinates of the target object in a preset coordinate system;

[0013] Determine the target direction of the target object relative to the detection unit based on the coordinates of the target object in the preset coordinate system.

[0014] Optionally, the determining the target direction of the target object relative to the detection unit based on the coordinates of the target object in the preset coordinate system includes:

[0015] Obtain the first coordinates of the target object in the first preset coordinate system, where the origin of the first preset coordinate system is the center point of the detection unit in the air heating device;

[0016] Determine the first target distance between the target object and the origin of the first preset coordinate system based on the first coordinates;

[0017] Determine the target direction based on the first target distance and the first coordinates.

[0018] Optionally, based on the fact that the direction of the first preset coordinate system is inconsistent with the direction of the moving unit in the air heating device, the method further includes:

[0019] Determine the target direction based on the deviation relationship between the first coordinates, the first preset coordinate system, and the second preset coordinate system;

[0020] Wherein, the origin of the second preset coordinate system is the center point of the detection unit in the air heating device, and the direction of the second preset coordinate system is consistent with the direction of the moving unit in the air heating device.

[0021] Optionally, the determining the target angle of the swing structure based on the position and the current working mode of the air heating device includes:

[0022] Determine the target angle based on the current working mode and the target direction.

[0023] Optionally, the determining the target angle based on the current working mode and the target direction includes:

[0024] If the current working mode is the tracking mode, then determine that the swing structure needs to be aligned with the target object, and determine the first angle as the target angle; the first angle matches the target direction;

[0025] If the current working mode is the avoidance mode, then determine that the swing structure needs to avoid the target object, and determine the second angle as the target angle; the second angle does not match the target direction.

[0026] Optionally, the driving the swing structure to move based on the target angle includes:

[0027] Obtain the stroke ratio of the moving unit and the swing structure in the air heating device;

[0028] Based on the stroke ratio and the target angle, determine the motion information of the moving unit, where the motion information includes the rotation angle and / or the moving stroke;

[0029] Control the moving unit to act according to the motion information to drive the swing structure to move so as to adjust the air supply direction.

[0030] The second aspect of the present disclosure further provides a swing control device applied to an air heating device, and the swing control device includes:

[0031] A detection module for detecting the position of a target object;

[0032] A determination module for determining the target angle of the swing structure based on the position and the current working mode of the air heating device, where the current working mode is a tracking mode or an avoidance mode; in the tracking mode, the swing structure needs to continuously align with the target object, and in the avoidance mode, the swing structure needs to avoid the target object;

[0033] A driving module for driving the swing structure to move based on the target angle so as to adjust the air supply direction.

[0034] The third aspect of the present disclosure further provides an air heating device, including: a memory, a processor, a swing structure, a detection unit, and a moving unit; wherein, the detection unit and the moving unit are respectively connected to the processor, and the moving unit is connected to the swing structure; a computer program that can run on the processor is stored in the memory, and when the processor executes the computer program, the steps of the swing control method described in the first aspect above are implemented; the detection unit is used to detect the position of the target object under the control of the processor, and the moving unit is used to drive the swing structure to move under the control of the processor.

[0035] The fourth aspect of the present disclosure further provides a computer-readable storage medium, and the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the swing control method described in the first aspect above are implemented.

[0036] The technical solutions provided by the embodiments of the present disclosure have the following advantages compared with the prior art:

[0037] A swing control method provided by the present disclosure determines the target angle of the swing structure by detecting the position of the target object, based on the position and the current working mode of the air heating device, and drives the swing structure to move based on the target angle so as to adjust the air supply direction.

[0038] Among them, in different working modes of the air heating device, the air supply direction of the air heating device needs to be aligned with or avoid the target object. Since the target angle is determined according to the position of the target object and the current working mode of the air heating device. Therefore, when driving the swing structure to move to the target angle, the air supply direction of the air heating device can be accurately and reliably aligned with the target object or the air supply direction of the air heating device can be made to avoid the target object.

[0039] In this way, it can be ensured that the swing structure can continuously align with or avoid the target object according to the position of the target object in different working modes, and thus effective air supply assistance can be provided, achieving the effect of improving the user experience. Brief Description of the Drawings

[0040] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments in line with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0042] Figure 1 It is a schematic flow chart of a swing control method provided by an embodiment of the present disclosure;

[0043] Figure 2 It is a schematic flow chart of another swing control method provided by an embodiment of the present disclosure;

[0044] Figure 3 It is a schematic flow chart of yet another swing control method provided by an embodiment of the present disclosure;

[0045] Figure 4 It is a schematic diagram of a first preset coordinate system provided by an embodiment of the present disclosure;

[0046] Figure 5 It is a schematic flow chart of yet another swing control method provided by an embodiment of the present disclosure;

[0047] Figure 6 It is a schematic diagram of a second preset coordinate system provided by an embodiment of the present disclosure;

[0048] Figure 7 It is a schematic diagram of another first preset coordinate system provided by an embodiment of the present disclosure;

[0049] Figure 8 It is a schematic flow chart of yet another swing control method provided by an embodiment of the present disclosure;

[0050] Figure 9 Schematic flowchart of another air swing control method provided by an embodiment of the present disclosure;

[0051] Figure 10 Schematic structural diagram of an air swing control device provided by an embodiment of the present disclosure;

[0052] Figure 11 Schematic structural diagram of a warm air device provided by an embodiment of the present disclosure;

[0053] Figure 12 Schematic structural diagram of an air swing structure provided by an embodiment of the present disclosure;

[0054] Figure 13 Schematic structural diagram of another air swing structure provided by an embodiment of the present disclosure;

[0055] Figure 14 Schematic structural diagram of yet another air swing structure provided by an embodiment of the present disclosure. Detailed implementation manners

[0056] In order to more clearly understand the above objects, features, and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0057] Many specific details are set forth in the following description in order to fully understand the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all the embodiments.

[0058] Generally, warm air type bathroom heaters can generally be divided into two types: fixed air outlet and air swing. Specifically, in some bathroom heaters with air swing, a corresponding motor can be installed to drive the air swing blades to rotate reciprocally to blow hot air in different directions. In addition, the motor can be controlled to stop rotating so that the air swing blades are fixed, thus achieving the purpose of directional air blowing.

[0059] However, the solutions in the related art can only perform reciprocating motion within a preset rotation interval during air swing, and cannot avoid a certain position or track a certain position to continuously supply air during air supply. Therefore, this solution has the problem of being unable to provide effective air supply assistance, resulting in a poor user experience.

[0060] To this end, embodiments of the present disclosure provide a swing control method, apparatus, air heater, and storage medium. By detecting the position of a target object, determining the target angle of a swing structure based on this position and the current working mode of the air heater, and driving the swing structure to move based on this target angle to adjust the air supply direction. In this way, it can be ensured that the position of the target object can be accurately determined, and the swing structure can continuously align with or avoid the target object according to the position of the target object in different working modes, thereby providing effective air supply assistance and achieving the effect of improving the user experience.

[0061] The air heater in the embodiments of the present disclosure may at least include a swing structure, a detection unit, and a motion unit.

[0062] Among them, the detection unit may be any sensor that can be used to detect position, orientation, and distance, and the embodiments of the present disclosure do not limit this.

[0063] The motion unit may be any component used to drive the swing structure to rotate or move. For example, the motion unit may be a motor, and the embodiments of the present disclosure do not limit this.

[0064] The swing structure may be a component used to change the air supply direction of the air heater. The swing structure may include various swing leaves, rotating shafts, swing arms, and / or corresponding supports, and the embodiments of the present disclosure do not limit this.

[0065] In some embodiments, the air heater may be a ceiling heater with air supply and heating functions. Specifically, the air heater may further include a heating unit and an air supply unit. For example, air can be sent to the outside through the air supply unit, and the heating unit can be used to heat the air that needs to be sent to the outside. Specifically, the air outlet of the air supply unit may be adjacent to the swing structure, that is, the air supply unit supplies air to the outside through the swing structure. The embodiments of the present disclosure do not limit this. In some embodiments, the air heater may further include a processor, which is used to execute the steps in the swing control method provided by the embodiments of the present disclosure.

[0066] In some embodiments, the air heater may further include a communication unit for communicating and interacting with other devices. For example, the communication unit may be a Bluetooth device, an infrared device, a WiFi device, etc. In this case, the user can trigger a remote control or a terminal device to output a corresponding operation instruction to the communication unit, and then the communication device can send the operation instruction to the processor, and then the processor can parse and execute the operation instruction to control other components or units in the air heater. The embodiments of the present disclosure do not limit this.

[0067] In some embodiments, the air heating device may further include a voice input device, which may be a sound receiving device such as a microphone. In this case, the voice input device can receive the user's voice and convert the received voice into corresponding electrical signals and output them to the processor. The processor then generates corresponding control instructions based on the electrical signals, and further controls other components or units in the air heating device. The embodiments of the present disclosure do not limit this.

[0068] It can be understood that the air heating device may further include other components for implementing any possible air heating functions or any other possible related functions of the air heating device, such as a power supply unit, a display unit, a prompt unit, etc. The embodiments of the present disclosure do not limit this.

[0069] The swing control method provided by the embodiments of the present disclosure will be exemplarily described below with reference to the accompanying drawings.

[0070] Exemplarily, Figure 1 is a schematic flowchart of a swing control method provided by the present disclosure, and this method can be executed by the processor in the above air heating device. Refer to Figure 1 , the control method of the air heating device provided by the embodiments of the present disclosure may include:

[0071] Step 110: Detect the position of the target object.

[0072] In this embodiment, the position of the target object can be detected by the above detection unit. The detection unit can specifically be devices such as a microwave radar and an infrared sensor. The embodiments of the present disclosure do not limit this.

[0073] In this embodiment, the target object may refer to a user or any other possible object. Specifically, the position of the target object may also be the position of a certain feature point of the user, such as the top of the user's head, the user's face, etc., or it may also refer to a point position of an object that is the closest or the farthest from the detection unit.

[0074] The position of the target object may include position information such as the distance between the target object and the detection unit, the direction of the target object relative to the detection unit, and the direction of the target object relative to the air heating device. The embodiments of the present disclosure do not limit this.

[0075] In this way, the position of the target object can be accurately determined for subsequent operations. Step 120: Determine the target angle of the swing structure based on the position and the current working mode of the air heating device.

[0076] In this embodiment, the current working mode is the tracking mode or the avoidance mode, and the current working mode can be obtained by any possible means. Moreover, the air heating device can adjust its working mode according to the corresponding instruction when receiving the instruction, and the embodiments of the present disclosure do not limit this.

[0077] Moreover, in the tracking mode, the air supply direction of the air heating device needs to continuously aim at the target object, and in the avoidance mode, the air supply direction of the air heating device needs to avoid the target object.

[0078] Specifically, in the tracking mode, the air supply direction of the air heating device can aim at the feature point of the target object or at the area around the feature point of the target object. In the avoidance mode, the air supply direction of the air heating device can avoid the feature point of the target object or aim at the area around the feature point of the target object.

[0079] Exemplarily, if the feature point of the target object is the tip of a person's nose, then in the tracking mode, the air supply direction of the air heating device can aim at the tip of the person's nose or at a circular area with the tip of the person's nose as the center and a preset length as the radius.

[0080] It can be understood that the shape and size of the area around the feature point of the target object can be set by those skilled in the relevant art according to actual needs, and the embodiments of the present disclosure do not limit this.

[0081] In one of the embodiments, the air swing structure can be composed of a plurality of rotatable swing blades, swing arms, and corresponding support members. The air swing structure can be a two-way air swing structure, a one-way air swing structure, a one-way air swing and axial rotation structure, and the embodiments of the present disclosure do not limit this.

[0082] Generally, the air swing structure can change the air supply direction of the air heating device. Specifically, the air supply direction of the air heating device can be changed by changing the swing angle of the swing blades in the air swing structure.

[0083] The target angle can refer to the angle that the air swing structure needs to rotate, or the angle that the swing blades in the air swing structure need to rotate, or the angle of the air swing structure or the swing blades in the air swing structure relative to a certain reference object. The embodiments of the present disclosure do not limit this.

[0084] It should be noted that, in this tracking mode, the air supply direction of the air heating device needs to continuously align with the target object, while in this avoidance mode, the air supply direction of the air heating device needs to avoid the target object. And this position can accurately indicate the direction of the target object relative to the detection unit and / or the air heating device. Therefore, based on this position and the current working mode of the air heating device, the angle by which the swing structure (or the swing blades of the swing structure) should rotate when the air supply direction of the air heating device needs to align with the target object, and the angle (or the angle to be maintained) by which the swing structure (or the swing blades of the swing structure) should rotate when the air supply direction of the air heating device needs to align with the target object can be accurately determined respectively.

[0085] In this way, it is convenient to perform subsequent operations based on this target angle.

[0086] Step 130: Drive the swing structure to move based on this target angle to adjust the air supply direction.

[0087] In one embodiment, the movement unit in the air heating device can be driven to move or rotate, thereby driving the movement of the swing structure and / or the swing blades in the swing structure.

[0088] It should be noted that when driving the swing structure to move based on this target angle, the angle of the swing structure can be made to satisfy this target angle, or the angle of the swing blades in the swing structure can be made to satisfy this target angle.

[0089] Exemplarily, if this target angle is determined according to this position and this avoidance mode, then when the angle of the swing structure and / or the angle of the swing blades in the swing structure satisfy this target angle, it can be ensured that the air supply direction of the air heating device can avoid the target object. If this target angle is determined according to this position and this tracking mode, then when the angle of the swing structure and / or the angle of the swing blades in the swing structure satisfy this target angle, it can be ensured that the air supply direction of the air heating device can align with the target object.

[0090] In this way, it can be ensured that the swing structure can continuously align with or avoid the target object according to actual needs to provide effective air supply assistance.

[0091] In the embodiments of the present disclosure, by detecting the position of the target object, determining the target angle of the swing structure based on this position and the current working mode of the air heating device, and driving the swing structure to move based on this target angle to adjust the air supply direction.

[0092] Among them, in different working modes of the air heating device, the air supply direction of the air heating device needs to be aligned with or avoid the target object. Since the target angle is determined according to the position of the target object and the current working mode of the air heating device. Therefore, the target angle can accurately indicate the angle of the air swing structure when the air supply direction of the air heating device needs to be aligned with the target object and the angle of the air swing structure when the air supply direction of the air heating device needs to avoid the target object.

[0093] Then, when driving the air swing structure to move to the target angle, the air supply direction of the air heating device can be adjusted accurately and reliably.

[0094] In this way, it can be ensured that the air swing structure can continuously align with or avoid the target object according to the position of the target object in different working modes, and thus can provide effective air supply assistance and achieve the effect of improving the user experience.

[0095] In a possible implementation manner, referring to Figure 2 , detecting the position of the target object includes: Step 1101: Output a detection signal and receive an echo signal.

[0096] In this embodiment, there is a corresponding relationship between the echo signal and the pulse signal. The echo signal is generated by the target object reflecting the detection signal, and the echo signal can indicate the position of the target object.

[0097] Exemplarily, if the above detection unit is a microwave radar, then the detection signal can be a microwave pulse signal output by the microwave radar. When the microwave pulse signal is transmitted to the target object, the target object reflects the microwave pulse signal to generate an echo signal corresponding to the microwave pulse signal.

[0098] If the above detection unit is an infrared sensor, then the detection signal can be an infrared pulse signal output by the infrared sensor. When the infrared pulse signal is transmitted to the target object, the target object reflects the infrared pulse signal to generate an echo signal corresponding to the infrared pulse signal.

[0099] Step 1102: Determine the coordinates of the target object in a preset coordinate system based on the echo signal.

[0100] In this embodiment, the preset coordinate system can be a rectangular coordinate system or a cylindrical coordinate system established based on the arrangement orientation of the detection unit.

[0101] Generally, for the convenience of calculation and reduction of the amount of computation, different types of preset coordinate systems can be set according to the types of the above-mentioned air-swinging structures. For example, if the air-swinging structure is a bidirectional air-swinging structure or a unidirectional air-swinging structure, then the preset coordinate system can be a rectangular coordinate system; if the air-swinging structure is a unidirectional air-swinging and axial rotation structure, then the preset coordinate system can be a cylindrical coordinate system. The embodiments of the present disclosure do not make any limitations thereto.

[0102] It should be noted that the echo signal can indicate the position of the target object, so it can be ensured that the coordinates determined based on the echo signal can also accurately represent the position of the target object. In addition, since the preset coordinate system is established based on the arrangement orientation of the detection unit, when subsequent processing is performed based on the coordinates, the amount of computation can be reduced, thereby improving the efficiency of the air-swinging control method.

[0103] Step 1103: Based on the coordinates of the target object in the preset coordinate system, determine the target direction of the target object relative to the detection unit.

[0104] It should be noted that the target direction is used to represent the direction of the target object relative to the detection unit. Then, if the air supply direction of the air heating device needs to be aligned with the target object, the air supply direction of the air heating device can be made to be consistent with the target direction; if the air supply direction of the air heating device needs to avoid the target object, the air supply direction of the air heating device can be made to be inconsistent with the target direction.

[0105] In a possible implementation manner, refer to Figure 3 , based on the coordinates of the target object in the preset coordinate system, determining the target direction of the target object relative to the detection unit includes: Step 1104: Obtain the first coordinates of the target object in the first preset coordinate system.

[0106] In this embodiment, the origin of the first preset coordinate system is the center point of the detection unit in the air heating device. The center point may refer to the geometric center of the detection unit.

[0107] Exemplarily, if the air-swinging structure is a unidirectional air-swinging structure or a bidirectional air-swinging structure, then the first axis of the first preset coordinate system can be parallel to the vertical direction, the second axis of the first preset coordinate system can be parallel to the first direction of the detection unit, and the third axis of the first preset coordinate system can be parallel to the second direction of the detection unit. Wherein, the first direction of the detection unit is perpendicular to the second direction of the detection unit, and the first direction and the second direction of the detection unit are respectively parallel to the arrangement direction of the detection unit.

[0108] Specifically refer to Figure 4 , such as Figure 4As shown, the geometric center of the detection unit J is the coordinate origin O of the first preset coordinate system O-XYZ. The first axis Z of the first preset coordinate system O-XYZ is parallel to the vertical direction, and the second axis X and the third axis Y are respectively parallel to the arrangement direction of the detection unit J. Moreover, using the top position M of the target object to represent the position of the target object, in this case, the first coordinate of the target object can be determined as M(X, Y, Z).

[0109] It should be noted that since the first preset coordinate system is a coordinate system with the center point of the detection unit as the coordinate origin, and the two axes of the first preset coordinate system are respectively consistent with the arrangement direction of the detection unit, then the first coordinate can accurately and intuitively represent the position of the target object relative to the detection unit, facilitating subsequent operations.

[0110] Step 1105: Determine the first target distance between the target object and the origin of the first preset coordinate system based on the first coordinate.

[0111] In this embodiment, continue to refer to Figure 4 , the first target distance is used to represent the distance between the target object and the detection unit, and the first target distance is the Figure 4 distance L between O and M in

[0112] Step 1106: Determine the target direction based on the first target distance and the first coordinate.

[0113] In this embodiment, continue to refer to Figure 4 , point Mx is the projection of point M on the plane XOZ, the distance between point Mx and the origin O is Lx, point My is the projection of point M on the plane YOZ, and the distance between point My and the origin O is Ly. And, the dihedral angle between the plane MOMx and the plane YOZ is ∠a, and the dihedral angle between the plane MOMy and the plane XOZ is ∠b. From the above, it can be obtained that Lx = Lcosb, Ly = Lcosa, then X = Lxsina = Lsinacosb, Y = Lysinb = Lcosasinb, Z = Lxcosa = Lycosb = Lcosacosb. Furthermore, the first coordinate M(X, Y, Z) can be determined as (Lsinacosb, Lcosasinb, Lcosacosb).

[0114] It should be noted that the distance L between point M and the origin O can be calculated through the first coordinate, and then the values of ∠a and ∠b can be calculated in reverse according to the above formula. In this way, the target direction can be accurately determined, that is, the target direction can be represented by ∠a and ∠b.

[0115] It should be noted that specifically, steps 1105, 1106 and subsequent steps can be executed when the layout direction of the above-mentioned motion unit is consistent with the layout direction of the detection unit. The layout direction of the motion unit being consistent with the layout direction of the detection unit may mean that the direction in which the motion unit can move is parallel to the first direction and / or the second direction of the detection unit.

[0116] In this way, on the basis of reducing the amount of calculation, it is possible to avoid errors caused by the inconsistent layout directions of the motion unit and the detection unit at the same time. That is, it is possible to improve the accuracy of determining the target direction, and thus improve the accuracy and efficiency of the swing control method. Since when actually arranging the components in the air heating device, the layout direction of the motion unit in the air heating device and the layout direction of the detection unit are not necessarily consistent. Therefore, based on the fact that the direction of the first preset coordinate system is inconsistent with the direction of the motion unit, the embodiments of the present disclosure also provide a possible implementation manner. Refer to Figure 5 , the method further includes:

[0117] Step 1107: Determine the target direction based on the deviation relationship between the first coordinate, the first preset coordinate system and the second preset coordinate system.

[0118] In this embodiment, the deviation relationship may be stored in advance in the memory of the air heating device. The deviation relationship can be used to characterize the relative position difference and relative direction difference between the first preset coordinate system and the second preset coordinate system. That is, the deviation relationship can be used to convert and align the first preset coordinate system and the second preset coordinate system.

[0119] For example, the deviation relationship can be in various arbitrary possible forms such as a transformation matrix, Euler angles, etc., as long as it can accurately characterize the relationship between the first preset coordinate system and the second preset coordinate system.

[0120] In this embodiment, the origin of the second preset coordinate system is the center point of the detection unit in the air heating device, and the direction of the second preset coordinate system is consistent with the direction of the motion unit in the air heating device.

[0121] Exemplarily, refer to Figure 6 , as Figure 6 shown, the first axis Z' of the second preset coordinate system O-X'Y'Z' is parallel to the vertical direction, and the second axis X' and the third axis Y' form a certain angle with the layout direction of the detection unit J respectively, while the second axis X' and the third axis Y' are respectively consistent with the layout direction of the motion unit.

[0122] In addition, from Figure 6It can also be seen that the point Mx’ is the projection of the point M on the plane X’OZ’, the point My’ is the projection of the point M on the plane Y’OZ’, and the dihedral angle between the plane MOMx’ and the plane Y’OZ’ is ∠a’, and the dihedral angle between the plane MOMy’ and the plane X’OZ’ is ∠b’.

[0123] It should be noted that referring to the Figure 4 listed relational expressions, the distance L between the point M and the origin O can be calculated through the first coordinate, and the distance L between the point M and the origin O is the same whether in the first preset coordinate system or in the second preset coordinate system. Furthermore, the values of ∠a’ and ∠b’ can be calculated in reverse according to the above relational expressions and the error relationship.

[0124] In this way, the target direction can be accurately determined, that is, in this case, the target direction can be characterized by ∠a’ and ∠b’.

[0125] It should be noted that in this way, the first coordinate of the target object detected by the detection unit in the first preset coordinate system can be accurately converted into the second coordinate in the second preset coordinate system. In this way, the error caused by the inconsistent arrangement directions of the motion unit and the detection unit in the air heating device can be eliminated.

[0126] In a possible way, the second coordinate of the target object in the second preset coordinate system can be determined first based on the deviation relationship between the first coordinate, the first preset coordinate system and the second preset coordinate system.

[0127] For example, if the deviation relationship is represented in the form of a transformation matrix, the first coordinate can be directly multiplied by the transformation matrix to obtain the second coordinate.

[0128] Then, the values of ∠a’ and ∠b’ can be calculated in reverse based on the above first target distance and the second coordinate.

[0129] It can be seen that the embodiments of the present disclosure can eliminate the error caused by the inconsistent arrangement directions of the motion unit and the detection unit in the air heating device in various ways, and have high flexibility.

[0130] In a possible way, if the swing structure is a unidirectional swing and axial rotation structure, then the first preset coordinate system of the cylindrical coordinate system type can be established in the way of Figure 7 , referring to Figure 7 , it can be seen that the origin O of the first preset coordinate system is still the center point of the detection unit J, and the first axis Z of the first preset coordinate system is parallel to the rotation axis direction of the air outlet in the unidirectional swing and axial rotation structure, and the second axis X and the third axis Y of the second preset coordinate system are respectively parallel to the arrangement direction of the detection unit J.

[0131] In this case, the first coordinates of the target object are (r, φ, z), and φ represents the rotation angle of the air outlet in the unidirectional swing and axial rotation structure, and ∠γ represents the swing angle of the swing blade in the unidirectional swing and axial rotation structure.

[0132] Further corresponding to Figure 4 the first coordinates (X, Y, Z) of the target object in the shown rectangular coordinate system, we can obtain r = √(X² + Y²), φ = arctan(Y / X), z = Z, and in this cylindrical coordinate system, there is also the relationship of γ = arctan(z / r). In this case, the target direction can be used to indicate the rotation angle φ of the air outlet in the unidirectional swing and axial rotation structure and the swing angle γ of the swing blade relative to the air outlet.

[0133] In a possible implementation, referring to Figure 8 , determining the target angle of the swing structure based on this position and the current working mode of the air heating device includes:

[0134] Step 1201: Determine the target angle based on the current working mode and the target direction.

[0135] Furthermore, determining the target angle based on the current working mode and the target direction includes:

[0136] If the current working mode is the tracking mode, then it is determined that the swing structure needs to align with the target object, and the first angle is determined as the target angle.

[0137] If the current working mode is the avoidance mode, then it is determined that the swing structure needs to avoid the target object, and the second angle is determined as the target angle.

[0138] In this embodiment, the first angle and the second angle can be preset by those skilled in the art according to the actual situation, or can be calculated in real time by the processor in the air heating device according to the target direction. The embodiments of the present disclosure do not make limitations in this regard.

[0139] Generally, the first angle matches the target direction, and the second angle does not match the target direction.

[0140] It can be understood that the first angle matching the target direction means that when the swing structure and / or the swing blade in the swing structure rotates to the first angle, the air supply direction of the air heating device aligns with the target direction. The second angle not matching the target direction means that when the swing structure and / or the swing blade in the swing structure rotates to the second angle, the air supply direction of the air heating device avoids the target direction.

[0141] In this way, the air supply direction of the air heating device can be continuously aligned with or avoid the target object according to the position of the target object in different working modes, so as to provide effective air supply assistance.

[0142] In a possible implementation, refer to Figure 9 , and drive the swing structure to move based on the target angle, including:

[0143] Step 1301: Obtain the stroke ratio between the moving unit and the swing structure in the air heating device.

[0144] Optionally, the stroke ratio may refer to the ratio between the angle of rotation of the moving unit itself and the angle of rotation of the swing structure driven, or the ratio between the distance of movement of the moving unit itself and the distance of movement of the swing structure driven.

[0145] Step 1302: Determine the movement information of the moving unit based on the stroke ratio and the target angle.

[0146] In this embodiment, the movement information includes the rotation angle and / or the movement stroke. If the moving unit is a motor, the rotation angle may refer to the mechanical angle or the electrical angle, and the embodiments of the present disclosure do not limit this.

[0147] Exemplarily, if the stroke ratio between the moving unit and the swing structure is 1:3, then if it is necessary to make the swing structure rotate 30°, the moving unit only needs to rotate 10°, that is, the rotation angle of the moving unit can be determined to be 10°. If the stroke ratio between the moving unit and the swing structure is 2:1, then if it is necessary to make the swing structure rotate 20°, the moving unit only needs to rotate 40°, that is, the rotation angle of the moving unit can be determined to be 40°.

[0148] For another example, if the stroke ratio between the moving unit and the swing structure is 1:2, then if it is necessary to make the swing structure move 2 cm, the moving unit only needs to move 1 cm, that is, the movement stroke of the moving unit can be determined to be 1 cm.

[0149] It can be understood that the above examples are only for clearly explaining the meaning of the stroke ratio, and do not represent that the movement information can only be determined in the above example ways in the embodiments of the present disclosure.

[0150] Step 1303: Control the moving unit to act according to the movement information to drive the swing structure to move and adjust the air supply direction.

[0151] Exemplarily, the swing structure may be of different structures, such as the one-way swing structure, the two-way swing structure, etc. Therefore, when adjusting the air supply direction, the components that need to move in different types of swing structures are also different, and the embodiments of the present disclosure do not limit this.

[0152] It should be noted that since the swing structure is driven by the motion unit, and due to the different ratios of the transmission components (such as gears, belts, etc.) connected between the motion unit and the swing structure, the stroke ratio between the motion unit and the swing structure is also different. Determining the motion information of the motion unit through this stroke ratio can accurately drive the swing structure to align with or avoid the target object, thereby ensuring the accuracy and reliability of the swing control method. In one possible way, before performing step 120, the method may further include:

[0153] Determine whether there is a target object within the detection range of the detection device. If so, execute step 120. If not, re-determine whether there is a target object within the detection range after a certain delay.

[0154] In one possible way, before performing step 120, the method may further include:

[0155] Determine whether the air supply function of the air heating device is turned on. If so, execute step 120. If not, control the air heating device to enter the standby state.

[0156] In one possible way, the current working mode may also be the swing mode. When the current working mode is the swing mode, the swing structure can be driven to move reciprocally in a preset manner so that the swing blades swing back and forth, and the air supply direction of the air heating device is adjusted in a cycle.

[0157] Based on the above embodiments, and on the basis of the same inventive concept, the embodiments of the present disclosure further provide a swing control device.

[0158] Exemplarily, Figure 10 is a schematic structural diagram of a swing control device provided by an embodiment of the present disclosure. Refer to Figure 10 , this device is applied to an air heating device, and this device includes:

[0159] A detection module 201, configured to detect the position of the target object.

[0160] A determination module 202, configured to determine the target angle of the swing structure based on the position and the current working mode of the air heating device. The current working mode is the tracking mode or the avoidance mode; in the tracking mode, the swing structure needs to continuously align with the target object, and in the avoidance mode, the swing structure needs to avoid the target object.

[0161] The driving module 203 is configured to drive the swing structure to move based on the target angle so as to adjust the air supply direction.

[0162] It can be understood that the swing control device provided by the embodiments of the present disclosure can implement the steps of any of the swing control methods provided by the above embodiments, and has corresponding beneficial effects, which will not be elaborated herein.

[0163] The above modules may be one or more integrated circuits configured to implement the above methods. For example: one or more application specific integrated circuits (ASICs), or, one or more microprocessors, or, one or more field programmable gate arrays (FPGAs), etc. Again, when a certain module above is implemented in the form of a processing element dispatching program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processors that can call program code. Again, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0164] The embodiments of the present disclosure also provide a warm air device, see Figure 11 , including: a processor 301, a memory 302, a swing structure 303, a detection unit 304, and a motion unit 305.

[0165] Wherein, the detection unit and the motion unit are respectively connected to the processor, and the motion unit is connected to the swing structure.

[0166] The memory 302 stores a computer program that can run on the processor 301. When the processor 301 executes the computer program, the steps of the swing control method provided by any of the above embodiments are implemented.

[0167] Exemplarily, for the convenience of understanding how to drive each component to move to adjust the air supply direction in different types of swing structures, the embodiments of the present disclosure also provide several possible structural schematic diagrams of the swing structure 303. For example, see Figure 12 in (a), the swing structure 303 is a bidirectional swing structure. The swing structure 303 may include a panel assembly 1, a swing page bracket 2, and a double swing page assembly 3.

[0168] Wherein, the double swing page assembly 3 is composed of an outer swing page 31, an outer swing page bottom plate 32, a swing arm 33, a small shaft cover 34, and several inner swing pages 35.

[0169] Continue to see Figure 12In (b) thereof, the dual-motor assembly 4 (i.e., the motion unit) is composed of an outer swing page drive mechanism 41, an inner swing page drive mechanism 42, a first motor bracket 43, a second motor bracket 44, and a shaft cover 45. The outer swing page drive mechanism 41 includes a first motor 411, a first gear 412, and a gear shaft 413. The inner swing page drive mechanism includes a second motor 421, a second gear 422, and a transmission rod 423.

[0170] The double swing page assembly 3 is rotatably mounted on the swing page bracket 2. The dual-motor assembly 4 is fixedly mounted on the swing page bracket 2. The swing page bracket 2 is fixedly mounted on the panel assembly 1. Among them, the end of the transmission rod 423 in the dual-motor assembly 4 is fixedly mounted on one end of the swing arm 33 through a small shaft cover 34. A plurality of small swing pages 35 are rotatably mounted between the outer swing page 31 and the outer swing page bottom plate 32 through a fixed shaft. The swing shaft is swingably sleeved on the swing arm 33. One end of the gear shaft 413 is sleeved on one end of the outer swing page 31.

[0171] In the above tracking mode, when the detection unit detects the position of the user and processes and converts it into a control signal for the inner and outer swing page motors, the first motor 411 is driven. The first motor 411 drives the first gear 412 fixed on its shaft to rotate, driving the gear shaft 413 meshing with it, thereby driving the outer swing page 31 to swing relative to the swing page bracket 2. By controlling the rotation stroke, the outer swing page is aligned with the direction where the user is located. The second motor 421 is driven. The second motor 421 drives the second gear 422 fixed on its shaft to rotate, driving the transmission rod 423 meshing with it to perform a telescopic movement relative to the second motor bracket 44 and driving the swing arm 33 to swing, thereby driving the inner swing page 35 to swing relative to the outer swing page 31. By controlling the rotation stroke, the inner swing page is aligned with the direction where the user is located.

[0172] Similarly, in the avoidance mode, it is possible to control that neither the inner nor the outer swing page is aligned with the position where the user is located.

[0173] Also, for example, refer to Figure 13 , the swing structure 303 is a unidirectional swing structure. The swing structure 303 may include a panel assembly A1, a swing page bracket A2, and a swing page A3.

[0174] Among them, the swing page A3 is rotatably mounted on the swing page bracket A2. And the stepper motor A4 (i.e., the motion unit) is fixedly mounted on the swing page bracket A2, and its motor shaft is sleeved on one end of the swing page A3. The swing page bracket A2 is fixedly mounted on the panel assembly A1.

[0175] In the tracking mode, when the detection unit detects the position information of the user and processes and converts it into a control signal for the stepper motor A4, the stepper motor A4 is driven to drive the swing page A3 to rotate relative to the swing page bracket A2, so that the swing page A3 is aligned with the direction where the user is located. Similarly, in the avoidance mode, it is only necessary to make the swing page A3 not aligned with the position where the user is located.

[0176] For another example, refer to Figure 14 , the swing structure 303 is a unidirectional swing and axial rotation structure. The swing structure 303 may include a panel assembly B1, an air outlet B2, an air outlet gear B3, a motor gear B4, and a swing blade B6.

[0177] Among them, the air outlet gear B3 is fixedly installed on the air outlet B2, the air outlet B2 is rotatably installed on the panel assembly B1, the motor gear B4 is fixedly installed on the shaft of the air outlet motor B5 (i.e., the motion unit), the air outlet motor B5 is fixedly installed on the panel assembly B1, the motor gear B4 meshes with the air outlet gear B3, the swing blade B6 is rotatably installed on the air outlet B2, the swing blade motor B7 (i.e., the motion unit) is fixedly installed on the air outlet B2, and the motor shaft is sleeved on one end of the swing blade B6.

[0178] When the detection unit detects the user's position information and processes it into a control signal for the corresponding motor, it drives the air outlet motor B5, drives the motor gear B4 fixed on the motor shaft, thereby rotating the air outlet by an angle of φ, and then drives the swing blade motor B7 to drive the swing blade B6 to swing relative to the air outlet B2 by an angle of γ, so that the air outlet B2 is aligned with the position where the user is located. Similarly, in the avoidance mode, it is only necessary to avoid the air outlet B2 from being aligned with the position where the user is located.

[0179] In some embodiments, the air heating device may further include components such as a power supply unit, a display unit, and / or a communication unit.

[0180] In some possible implementation manners, the air heating device may further include other structural components known to those skilled in the art, and the embodiments of the present disclosure do not limit this.

[0181] The embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the steps of the swing control method provided in any one of the above embodiments.

[0182] In some embodiments, the present disclosure also provides a program product, such as a computer-readable storage medium, including a program, which is used to execute the embodiments of any one of the above swing control methods when executed by a processor.

[0183] In several embodiments provided by the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0184] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0185] In addition, each functional unit in various embodiments of the present disclosure can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of a combination of hardware and software functional units.

[0186] The above-mentioned integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional units stored in a storage medium include several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute some steps of the methods in various embodiments of the present disclosure. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (English: Read-Only Memory, abbreviated as: ROM), random access memories (English: Random Access Memory, abbreviated as: RAM), magnetic disks or optical discs that can store program codes.

[0187] It should be noted that in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising that element. The above are only specific embodiments of the present disclosure to enable those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but rather will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A swing control method, characterized in that, Applied to a warm air device, the method includes: Detect the position of a target object; Based on the position and the current working mode of the warm air device, determine the target angle of the air swing structure, where the current working mode is a tracking mode or an avoidance mode; in the tracking mode, the air supply direction of the warm air device needs to continuously align with the target object, and in the avoidance mode, the air supply direction of the warm air device needs to avoid the target object; Drive the air swing structure to move based on the target angle to adjust the air supply direction.

2. The swing control method according to claim 1, characterized in that The detecting the position of the target object includes: Output a detection signal and receive an echo signal, where the echo signal is generated by the target object reflecting the detection signal; Based on the echo signal, determine the coordinates of the target object in a preset coordinate system; Based on the coordinates of the target object in the preset coordinate system, determine the target direction of the target object relative to the detection unit.

3. The swing control method according to claim 2, wherein The determining the target direction of the target object relative to the detection unit based on the coordinates of the target object in the preset coordinate system includes: Obtain the first coordinates of the target object in a first preset coordinate system, where the origin of the first preset coordinate system is the center point of the detection unit in the warm air device; Based on the first coordinates, determine the first target distance between the target object and the origin of the first preset coordinate system; Based on the first target distance and the first coordinates, determine the target direction.

4. The swing control method according to claim 3, characterized in that, Based on the fact that the direction of the first preset coordinate system is inconsistent with the direction of the moving unit in the warm air device, the method further includes: Based on the deviation relationship between the first coordinates, the first preset coordinate system and a second preset coordinate system, determine the target direction; Wherein, the origin of the second preset coordinate system is the center point of the detection unit in the warm air device, and the direction of the second preset coordinate system is consistent with the direction of the moving unit in the warm air device.

5. The swing control method according to claim 2, wherein The determining the target angle of the air swing structure based on the position and the current working mode of the warm air device includes: Based on the current working mode and the target direction, determine the target angle.

6. The swing control method according to claim 5, wherein, The determining the target angle based on the current working mode and the target direction includes: Based on the current working mode being the tracking mode, determine that the air swing structure needs to align with the target object, and determine the first angle as the target angle; the first angle matches the target direction; Based on the current working mode being the avoidance mode, determine that the air swing structure needs to avoid the target object, and determine the second angle as the target angle; the second angle does not match the target direction.

7. The swing control method according to any one of claims 1-6, characterized in that, The driving the air swing structure to move based on the target angle includes: Obtain the stroke ratio of the moving unit and the air swing structure in the warm air device; Based on the stroke ratio and the target angle, determine the movement information of the moving unit, where the movement information includes a rotation angle and / or a moving stroke; Control the moving unit to act according to the movement information to drive the air swing structure to move to adjust the air supply direction.

8. A swing control device, characterized in that, Applied to a warm air device, the air swing control device includes: A detection module for detecting the position of a target object; A determination module for determining a target angle of a swing structure based on the position and the current working mode of the air heating device, the current working mode being a tracking mode or an avoidance mode; in the tracking mode, the swing structure needs to continuously align with the target object, and in the avoidance mode, the swing structure needs to avoid the target object; A driving module for driving the swing structure to move based on the target angle to adjust the air supply direction.

9. A wind heating device, characterized in that, Comprising: A memory, a processor, a swing structure, a detection unit and a motion unit; Wherein, the detection unit and the motion unit are respectively connected to the processor, and the motion unit is connected to the swing structure; The processor executes the steps of the method according to any one of claims 1 to 7 by calling the program or instruction stored in the memory; The detection unit is configured to detect the position of the target object under the control of the processor, and the motion unit is configured to drive the swing structure to move under the control of the processor.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program or instruction, and the program or instruction causes the computer to execute the steps of the method according to any one of claims 1 to 7.

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