Air conditioning device

Abstract

The application discloses an air conditioning device, comprising: a distance measuring module, which is provided with: an image acquisition unit, comprising a monocular camera, the image acquisition unit is configured to capture images of an air conditioning room; the image can comprise a reference object, or can comprise a reference object and a target object at the same time; and a distance generation unit, the distance generation unit is configured to generate the reference object in the image captured by the image acquisition unit based on the position and posture of the monocular camera itself and the physical parameters of the air conditioning room; and estimate the distance between the distance measuring module and the target object by using the image comprising the reference object and the target object at the same time and the real distance of the reference object. The application has the advantages of fast operation speed, no distortion correction, elimination of distortion influence and high distance measuring precision.

Description

Technical Field

[0001] This invention relates to the field of air conditioning technology, and more particularly to an air conditioning device. Background Technology

[0002] As air conditioning technology matures, users are demanding higher levels of comfort and energy efficiency. Air conditioning devices can acquire various information such as the target distance, posture, and movement of people or objects, providing valuable data for intelligent operation. For example, they can automatically turn on when someone is detected in the room, automatically turn off when no one is in the room, and offer intelligent airflow control.

[0003] In the prior art, sound waves can be used to detect the distance to a target. For example, the technical solution disclosed in Chinese patent application (CN1133048C) is as follows: "A method for detecting the distance to a target using an air conditioner having a sound wave transmitter and a receiver, the method comprising the following steps: transmitting a first sound wave to a target by the sound wave transmitter at a predetermined time interval; if the target reflects the first sound wave and the sound wave receiver receives the first sound wave within the first predetermined time interval T1, then calculating the distance to the first target; if the sound wave receiver does not receive the first sound wave within the first predetermined time interval T1, then transmitting a second sound wave by the sound wave transmitter for a longer time than the predetermined time interval; if the target reflects a second sound wave with a stronger intensity than a predetermined intensity within a second time period T2 and the sound wave receiver receives the second sound wave, then calculating the distance to the second target; and if the sound wave receiver does not receive the second sound wave with a stronger intensity than the predetermined intensity within the second time period T2, then determining that no target has been detected."

[0004] However, ultrasonic testing is easily affected by temperature, especially when used indoors, as it is easily absorbed by sound-absorbing or sound-insulating materials on walls. Moreover, ultrasonic testing cannot measure direction.

[0005] The information disclosed in this background section is only intended to enhance the understanding of the background technology of this application, and therefore may include prior art that is not known to those skilled in the art. Summary of the Invention

[0006] In view of the problems that existing air conditioners using ultrasonic ranging are easily affected by the environment and that ultrasonic detection cannot detect direction, the first aspect of the present invention designs and provides an air conditioning device.

[0007] An air conditioning device includes: a ranging module comprising: an image acquisition unit including a monocular camera, the image acquisition unit being configured to acquire images of an air-conditioned room by capturing images; the images may include a reference object, or may simultaneously include a reference object and a target object; and a distance generation unit configured to generate the reference object from the images of the air-conditioned room captured by the image acquisition unit based on the position and orientation of the monocular camera and the physical parameters of the air-conditioned room; and to estimate the estimated distance between the ranging module and the target object using the image simultaneously including the reference object and the target object, and the actual distance of the reference object.

[0008] In some optional embodiments of this application, the distance generation unit is configured to perform the following steps to generate the reference object in an image of an air-conditioned room captured by the image acquisition unit: controlling the image acquisition unit to determine a two-dimensional field of view by capturing a first image; dividing the two-dimensional field of view into multiple two-dimensional units using a set unit and using the two-dimensional units as reference objects; marking the corner points of the multiple two-dimensional units in the first image and storing the pixel coordinates of each corner point in the two-dimensional field of view; acquiring the physical distance between some corner points of the multiple two-dimensional units and the projection point of the monocular camera in the image acquisition unit in the ground direction as the true distance of the reference object; establishing a two-dimensional unit distance table, the two-dimensional unit distance table including the corner point coordinates of each two-dimensional unit, the physical distance of some corner points, the row number of the two-dimensional unit, and the column number of the two-dimensional unit.

[0009] In some optional embodiments of this application, the two-dimensional unit is a polygon.

[0010] In some optional embodiments of this application, the two-dimensional unit is a square.

[0011] In some optional embodiments of this application, the two-dimensional unit distance table includes the corner coordinates of each two-dimensional unit, the physical distance of some corner points, the row number of the two-dimensional unit, and the column number of the two-dimensional unit.

[0012] In some optional embodiments of this application, the distance generation unit is configured to perform the following steps to estimate the estimated distance between the ranging module and the target object using an image that simultaneously includes a reference object and a target object, and the actual distance of the reference object: controlling the image acquisition unit to acquire a second image by taking a picture, the second image including the target object; using a target detection model to determine the target object in the image including the target object and selecting the target object; determining the labeled coordinate points of the target object; estimating the relative positional relationship between the labeled coordinate points and the reference object, determining at least one of the two-dimensional units where the labeled coordinate points of the target object are located or the edge of the two-dimensional unit where they are located; estimating the distance between the labeled coordinate points and the monocular camera based on the physical distance of some corner points of the corresponding two-dimensional unit and the labeled coordinates of the labeled coordinate points as the estimated distance between the ranging module and the target object.

[0013] In some optional embodiments of this application, determining whether a labeled coordinate point is within a two-dimensional unit specifically involves the following steps: the distance generation unit is configured to perform the following steps to determine at least one of the two-dimensional units in which the labeled coordinate point of the target object is located: defining the edge of any two-dimensional unit as a plurality of edge vectors connected in the same order; establishing a target vector between the corner point of any two-dimensional unit and the labeled coordinate point; calculating the cross product of any edge vector and the target vector; and presuming that the labeled coordinate point is located within the corresponding two-dimensional unit when the cross product of all edge vectors and the target vector of the two-dimensional unit is greater than 0.

[0014] In some optional embodiments of this application, determining whether a labeled coordinate point is on the edge of a two-dimensional unit specifically involves the following steps: the distance generation unit is configured to perform the following steps to determine that the labeled coordinate point of the target object is on the edge of at least one of the two-dimensional units: defining the edge of any two-dimensional unit as a plurality of edge vectors connected in the same order; establishing a target vector between the corner point of any two-dimensional unit and the labeled coordinate point; calculating the cross product of any edge vector and the target vector; and presuming that the labeled coordinate point is located on the edge of the corresponding two-dimensional unit when the cross product of one of the edge vectors and the target vector of the two-dimensional unit is equal to 0.

[0015] In some optional embodiments of this application, for a target object with a certain height, the distance generation unit is further configured to perform the following steps to estimate the estimated distance between the ranging module and the target object using an image that simultaneously includes a reference object and the target object, and the actual distance of the reference object: determining a marked coordinate point at a first position of the target object, the first position corresponding to the bottom of the target object in the height direction; determining a marked coordinate point at a second position of the target object, the second position corresponding to the top of the target object in the height direction; estimating the relative positional relationship between the marked coordinate point at the first position and the reference object, and determining at least one of the two-dimensional units or the edge of the two-dimensional unit where the marked coordinate point at the first position is located; estimating the distance between the marked coordinate point at the first position and the monocular camera based on the physical distance of some corner points of the corresponding two-dimensional unit and the marked coordinate point at the first position; estimating the relative positional relationship between the marked coordinate point at the second position and the reference object, and determining the second... The distance between the second position's marked coordinate point and the monocular camera is estimated based on the physical distance of some corner points of the corresponding two-dimensional unit and the marked coordinates of the second position's marked coordinate point; the pitch angle of the first position's marked coordinate point relative to the monocular camera is calculated based on the marked coordinates of the first position's marked coordinate point, the distance between the first position's marked coordinate point and the monocular camera, and the height of the monocular camera; the pitch angle of the second position's marked coordinate point relative to the monocular camera is calculated based on the marked coordinates of the second position's marked coordinate point, the distance between the second position's marked coordinate point and the monocular camera, and the height of the monocular camera; the estimated physical distance between the second position and the monocular camera is estimated; the distance between the first position's marked coordinate point and the monocular camera, and the physical distance between the second position and the monocular camera are used as the estimated physical distance between the ranging module and the target object.

[0016] In some alternative embodiments of this application, the target object is a person.

[0017] In some optional embodiments of this application, the first position is the foot of the human body, and the marked coordinate point of the first position is the midpoint of the foot.

[0018] In some optional embodiments of this application, the second position is the head of the human body, and the marked coordinate point of the second position is the midpoint of the head.

[0019] A second aspect of this application provides an air conditioning device, comprising: a ranging module, which includes: an image acquisition unit including a monocular camera, the image acquisition unit being configured to acquire a first image and a second image of an air-conditioned room by capturing images, the second image including a target object, the target object being a person; and a distance generation unit configured to perform the following steps to estimate the distance between the target object and the ranging module: based on the position and orientation of the monocular camera and the physical parameters of the air-conditioned room, dividing a two-dimensional field of view determined based on the first image into multiple two-dimensional units by a set unit; determining the marked coordinate points of the target object; estimating the relative positional relationship between the marked coordinate points and a reference object, determining at least one of the two-dimensional units or the edge of the two-dimensional unit where the marked coordinate points of the target object are located, and using the physical distance of the two-dimensional unit as the estimated distance between the target object and the ranging module.

[0020] In some optional embodiments of this application, determining whether a labeled coordinate point is within a two-dimensional unit specifically involves the following steps: the distance generation unit is configured to perform the following steps to determine at least one of the two-dimensional units in which the labeled coordinate point of the target object is located: defining the edge of any two-dimensional unit as a plurality of edge vectors connected in the same order; establishing a target vector between the corner point of any two-dimensional unit and the labeled coordinate point; calculating the cross product of any edge vector and the target vector; and presuming that the labeled coordinate point is located within the corresponding two-dimensional unit when the cross product of all edge vectors and the target vector of the two-dimensional unit is greater than 0.

[0021] In some optional embodiments of this application, determining whether a labeled coordinate point is on the edge of a two-dimensional unit specifically involves the following steps: the distance generation unit is configured to perform the following steps to determine that the labeled coordinate point of the target object is on the edge of at least one of the two-dimensional units: defining the edge of any two-dimensional unit as a plurality of edge vectors connected in the same order; establishing a target vector between the corner point of any two-dimensional unit and the labeled coordinate point; calculating the cross product of any edge vector and the target vector; and presuming that the labeled coordinate point is located on the edge of the corresponding two-dimensional unit when the cross product of one of the edge vectors and the target vector of the two-dimensional unit is equal to 0.

[0022] Compared with the prior art, the advantages and positive effects of the present invention are: fast calculation speed, no need for distortion correction, elimination of distortion effects; and high ranging accuracy.

[0023] Other features and advantages of the present invention will become clearer after reading the detailed embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic block diagram of the distance measuring module in an air conditioning device provided according to some embodiments of the present invention;

[0026] Figure 2 This is a schematic block diagram of the distance measuring module in an air conditioning device provided according to some embodiments of the present invention;

[0027] Figure 3 A flowchart illustrating the operation performed by the ranging module in an air conditioning device according to some embodiments of the present invention;

[0028] Figure 4 This is a schematic diagram of a first image in an air conditioning device provided according to some embodiments of the present invention;

[0029] Figure 5 This is a schematic diagram of a two-dimensional field of view in an air conditioning device provided according to some embodiments of the present invention;

[0030] Figure 6 A flowchart illustrating the operation performed by the ranging module in an air conditioning device according to some embodiments of the present invention;

[0031] Figure 7 A flowchart illustrating the operation performed by the ranging module in an air conditioning device according to some embodiments of the present invention;

[0032] Figure 8 This is a schematic diagram of a second image in an air conditioning device provided according to some embodiments of the present invention;

[0033] Figure 9 A schematic diagram illustrating the relative positions of estimated coordinate points and two-dimensional units in an air conditioning device provided according to some embodiments of the present invention;

[0034] Figure 10 A schematic diagram illustrating the relative positions of estimated coordinate points and two-dimensional units in an air conditioning device provided according to some embodiments of the present invention;

[0035] Figure 11 A schematic diagram illustrating the relative positions of estimated coordinate points and two-dimensional units in an air conditioning device provided according to some embodiments of the present invention;

[0036] Figure 12This is a schematic diagram illustrating the calculation of marked coordinate points in an air conditioning device provided according to some embodiments of the present invention;

[0037] Figure 13 This is a schematic diagram illustrating the calculation of marked coordinate points in an air conditioning device provided according to some embodiments of the present invention;

[0038] Figure 14 This is a schematic diagram illustrating the calculation of marked coordinate points in an air conditioning device provided according to some embodiments of the present invention;

[0039] Figure 15 This is a schematic diagram illustrating the calculation of marked coordinate points in an air conditioning device provided according to some embodiments of the present invention;

[0040] Figure 16 This is a schematic diagram illustrating the calculation of marked coordinate points in an air conditioning device provided according to some embodiments of the present invention;

[0041] Figure 17 A flowchart illustrating the operation performed by the ranging module in an air conditioning device according to some embodiments of the present invention;

[0042] Figure 18 A flowchart illustrating the operation performed by the ranging module in an air conditioning device according to some embodiments of the present invention; Detailed Implementation

[0043] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0045] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0046] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0047] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0048] The following disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0049] In view of the problems that existing air conditioners using ultrasonic ranging are easily affected by the environment and that ultrasonic detection cannot detect direction, this invention designs and provides an air conditioning device 1.

[0050] First, the air conditioning unit 1 will be described. Air conditioning is used to maintain good indoor air conditions to improve and enhance the functionality of buildings. Air-conditioned rooms or buildings using air conditioning technology are comfortable, healthy, and energy-efficient. Air-conditioned rooms have a good thermal environment, with suitable parameters such as indoor air temperature, humidity, airflow speed, cleanliness, and freshness to ensure good living and working conditions for occupants. In the industrial field, maintaining a suitable indoor environment is also essential to meet production process requirements, ensure product quality, and ensure good air quality, free from excessive amounts of harmful substances (including microorganisms, volatile organic gases, etc.), while using minimal energy consumption to maintain an optimal indoor environment. Therefore, the air conditioning unit 1 is a device that heats, humidifies, and purifies air to meet the air supply requirements of air-conditioned rooms; the equipment for heat and humidity treatment includes, but is not limited to, heating equipment, cooling equipment, humidification equipment, and dehumidification equipment.

[0051] In this application, an air conditioning system is used as an example for description. A typical air conditioning method involves supplying air with certain parameters into a room (supply air) while simultaneously exhausting a corresponding amount of air from the room (exhaust air). The combined action of supply and exhaust air maintains the indoor air in a required state. The supply air is pre-treated by air handling equipment (e.g., heating, cooling, humidifying, dehumidifying, filtering, and purifying). An air conditioning system includes components such as an air conditioning cold / heat source, air handling, air delivery and distribution, and a controller.

[0052] In this application, the air conditioning system performs a refrigeration cycle by using a compressor, condenser, expansion valve, and evaporator. The refrigeration cycle includes a series of processes involving compression, condensation, expansion, and evaporation to cool or heat an indoor space.

[0053] Low-temperature, low-pressure refrigerant enters the compressor, which compresses it into a high-temperature, high-pressure refrigerant gas and discharges the compressed refrigerant gas. The discharged refrigerant gas flows into the condenser. The condenser condenses the compressed refrigerant into a liquid phase, and the heat is released to the surrounding environment through the condensation process.

[0054] The expansion valve expands the high-temperature, high-pressure liquid refrigerant that condenses in the condenser into a low-pressure liquid refrigerant. The evaporator evaporates the expanded refrigerant in the expansion valve and returns the low-temperature, low-pressure refrigerant gas to the compressor. The evaporator achieves its cooling effect by utilizing the latent heat of refrigerant evaporation to exchange heat with the material being cooled. Throughout the cycle, the air conditioning system regulates the temperature of the indoor space.

[0055] The outdoor unit of an air conditioning system refers to the part of the refrigeration cycle that includes the compressor and the outdoor heat exchanger. The indoor unit of an air conditioning system includes the indoor heat exchanger, and the expansion valve can be provided in either the indoor or outdoor unit.

[0056] The indoor and outdoor heat exchangers function as either condensers or evaporators. When the indoor heat exchanger is used as a condenser, the air conditioner functions as a heater in heating mode; when the indoor heat exchanger is used as an evaporator, the air conditioner functions as a cooler in cooling mode.

[0057] The air conditioning system is equipped with a distance measuring module 10. Hereinafter, an implementation of the air conditioning system equipped with the distance measuring module 10 will be described with reference to the accompanying drawings.

[0058] First, refer to Figure 1 and Figure 2 The basic configuration of the ranging module 10 in one embodiment will be described.

[0059] From a physical perspective, the ranging module 10 can be an independent intelligent camera unit with an integrated processor 120, or an integrated intelligent module with a camera unit, or a combination of an independently set camera unit and a processing unit that communicates with it, or a camera unit built into other intelligent electronic devices and the intelligent electronic devices can be detachably set in the air conditioning system, or used in conjunction with the air conditioning system.

[0060] From the perspective of functional modules, the ranging module 10 includes an image acquisition unit 11 and a distance generation unit 12.

[0061] The image acquisition unit 11 includes at least one monocular camera 110, which can capture images of an air-conditioned room. The image acquisition unit 11 is configured to acquire images of an air-conditioned room by capturing images. The monocular camera 110 can be an RGB monocular camera. Specifically, the monocular camera 110 includes optical components 111 (including optical lenses, filters, and protective films, etc.), an image sensor 112, and a digital signal processing chip 113.

[0062] The image sensor 112 in the monocular camera 110 receives light transmitted from the optical component 111 and performs photoelectric conversion. The image sensor 112 can be a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS). The digital signal processing chip 113 is used to perform post-processing on the signal output from the front-end image sensor 112, including functions such as linear correction, noise removal, bad pixel removal, white balance, and automatic exposure control.

[0063] The distance generation unit 12 receives the image captured by the image acquisition unit 11, and estimates the estimated distance between the ranging module 10 and the target object based on the position and orientation of the monocular camera 110 in the image acquisition unit 11 and the actual distance of the reference object in the image captured by the image acquisition unit 11. The target object is located in the image captured by the image acquisition unit 11.

[0064] The image acquisition unit 11 and the distance generation unit 12 of the ranging module 10 can be integrated or set up independently. When the image acquisition unit 11 and the distance generation unit 12 are set up independently, they are connected to each other to transmit and receive data.

[0065] The distance generation unit 12 includes a processor 120 and a memory 130. The memory 130 includes, but is not limited to, volatile memory 131, non-volatile memory 132, and / or memory card slot 133. The processor 120 can execute a specific program stored in the memory 130 to enable the distance generation unit 12 to perform corresponding functions, namely, to estimate the estimated distance between itself and the target object based on the image captured by the image acquisition unit 11, the position and orientation of the monocular camera 110 in the image acquisition unit 11, and the actual distance of the reference object in the image captured by the image acquisition unit 11.

[0066] The processor 120 is provided with a communication interface 121. When the image acquisition unit 11 and the distance generation unit 12 are set independently, they are connected through the communication interface 121 so that the image acquisition unit 11 and the distance generation unit 12 can communicate with each other to send and receive data. The communication interface 121 can be a wired communication interface 121 or a wireless communication interface 121.

[0067] The processor 120 in the distance generation unit 12 is also configured to control the operation of the image acquisition unit 11, such as controlling the operation of the monocular camera 110. That is, the processor 120 executes a specific program stored in the memory 130 to cause the monocular camera 110 in the image acquisition unit 11 to acquire images including a reference object and / or a target object, or to stop acquiring images. The storage unit is also configured to save the images acquired by the image acquisition unit 11, including the reference object and / or the target object, and / or images processed in the intermediate process.

[0068] The memory card slot 133 can be used to insert removable media such as memory cards. When a memory card is inserted, the processor 120 can perform write or read operations on the memory card. For example, it can store or read images acquired by the image acquisition unit 11, including images of reference objects and / or target objects and / or images processed in the intermediate process, into the memory card.

[0069] In some optional embodiments of this application, the air conditioning system may include one indoor unit; in other optional embodiments, the air conditioning system may include multiple indoor units. The indoor unit may employ a wall-mounted air supply structure, a floor-standing air supply structure, a ducted air supply structure, or an air supply structure embedded in the ceiling, etc. The air supply structure includes a housing, which has a return air inlet for drawing in air and an air supply outlet for delivering treated air into the air-conditioned room. An indoor fan is disposed within the housing. The ranging module 10 is disposed within the indoor unit and may be located within the indoor unit. The monocular camera 110 may be embedded in the housing or extend beyond the housing, or may be used in conjunction with the indoor unit.

[0070] The indoor unit is equipped with an indoor unit control circuit, which preferably includes an indoor controller. The indoor controller is configured to drive the indoor fan, display various parameters on a display panel, provide human-machine interaction, receive and process sampling signals from various sensors, and perform necessary communication functions. The indoor controller communicates with the ranging module 10 to transmit data. The indoor controller can drive the indoor fan to operate in different modes based on the distance estimated by the ranging module 10, or it can communicate with the outdoor controller in the outdoor unit, which in turn drives components in the air conditioning system such as the compressor, expansion valve, and four-way valve.

[0071] The following is for reference Figure 3 The flowchart illustrates the processing performed by the ranging module 10. Figure 3 In the process shown, the distance generation unit 12 is configured to generate the reference object from the image of the air-conditioned room captured by the image acquisition unit 11 based on the position and attitude of the monocular camera 110 and the physical parameters of the air-conditioned room; and to estimate the estimated distance between the ranging module 10 and the target object using the image that includes both the reference object and the target object, as well as the actual distance of the reference object.

[0072] First, the distance generation unit 12 acquires the position and orientation of the monocular camera 110 in the image acquisition unit 11 (step S100). The position and orientation of the monocular camera 110 can be pre-written into the memory 130 of the ranging module 10 by a technician for easy retrieval, or it can be measured by a position sensor, inertial sensor, etc. and stored in the memory 130 of the ranging module 10 for easy retrieval.

[0073] For example, in some optional embodiments of this application, based on the position and orientation of the invoked monocular camera 110, the installer is guided to adjust the position and orientation of the monocular camera 110 in the air-conditioned installation room on-site, ensuring that the position and orientation of the monocular camera 110 are consistent with the values ​​written and stored in advance. The pre-stored position and orientation of the monocular camera 110 can ensure that the captured image can cover the entire floor of the air-conditioned room (or the effective air supply area).

[0074] For example, in some optional embodiments of this application, one or more position sensors are provided on the housing of the indoor unit. The position sensors can detect the position and orientation of the monocular camera 110 relative to the housing of the indoor unit. If the position and orientation of the monocular camera 110 change during use, based on the detection results of the position sensors, the position and orientation of the monocular camera 110 can be adjusted to match the pre-stored position and orientation of the monocular camera 110, ensuring that the ranging module 10 can be used normally.

[0075] For example, in some optional embodiments of this application, an inertial sensor is provided in the ranging module 10. The inertial sensor can detect the position and attitude of the monocular camera 110 relative to the indoor unit housing. If the position and attitude of the monocular camera 110 change during use, based on the detection results of the inertial sensor, the position and attitude of the monocular camera 110 can be adjusted to be consistent with the pre-stored position and attitude of the monocular camera 110, ensuring that the ranging module 10 can be used normally.

[0076] In some optional embodiments of this application, a wall-mounted indoor unit is used as an example. The height of the monocular camera 110 of the image acquisition unit 11 above the ground is 2.6 meters, and it is tilted downwards at an angle of 40° relative to the vertical direction. That is, the angle between the extension line of the monocular camera 110's location and the vertical direction is 40°, and the angle between the extension line of the monocular camera 110's location and the horizontal direction is 50°.

[0077] The distance generation unit 12 acquires the physical parameters of the air-conditioned room (step S101). The physical parameters include the area, length, and width of the effective air-conditioned area of ​​the air-conditioned room. In some optional embodiments of this application, the height of the air-conditioned room may also be included. The physical parameters can be pre-written by a technician into the memory 130 of the distance measuring module 10 for later retrieval.

[0078] After the distance generation unit 12 acquires the position and orientation of the monocular camera 110 in the image acquisition unit 11, as well as the physical parameters of the air-conditioned room, the distance generation unit 12 is configured to perform the following steps to generate a reference object in the image of the air-conditioned room captured by the image acquisition unit 11. Specifically, this includes controlling the image acquisition unit 11 to acquire a first image to determine the two-dimensional field of view (step S102). The two-dimensional field of view (e.g., ...) Figure 5 As shown in Figure 31, it includes the space where the effective air-conditioned area of ​​the air-conditioned room is located, that is, the area where the air conditioning effect can be achieved; and it is stored in units of the maximum number of pixels that can be achieved in the horizontal and vertical directions, such as 320×240, 640×480, 1024×768, 1280×1024, 1920×1080, etc., which is the resolution of a monocular camera.

[0079] The first image 30, also known as the image acquisition unit 11, is an image including the reference object.

[0080] In some embodiments of this application, a two-dimensional unit 32 is used as a reference: specifically, the two-dimensional field of view is divided into multiple two-dimensional units by a set unit (step S 103). The two-dimensional unit is a polygon, that is, the number of sides of any divided two-dimensional unit is greater than or equal to 3. In some optional embodiments of this application, the two-dimensional unit can be a rectangle (e.g., a square), or a regular polygon with other numbers of sides.

[0081] In the first image, multiple two-dimensional corner points are marked, and the pixel coordinates of each corner point in the two-dimensional field of view are stored (step S104). A direct coordinate system in pixels is established with one corner point of the first image as the origin; according to the conventions of computer graphics, an o-uv pixel coordinate system is established with the upper left corner of the first image as the coordinate point (e.g., ...). Figure 4 and Figure 5 (As shown).

[0082] The physical distance between some corner points in multiple two-dimensional units and the projection point of the monocular camera 110 in the image acquisition unit 11 in the ground direction is collected (step S 105), that is, the true distance of the reference object in the image captured by the image acquisition unit 11 is determined. The physical distance can be collected manually, or the acquisition object can be set at the corner point to be collected, and the physical distance can be measured and stored by TOF method such as ultrasound or infrared.

[0083] In one specific embodiment of this application, such as Figure 6 As shown, refer to Figure 6 The flowchart above provides a more detailed explanation of a specific example of the above process.

[0084] Step S200: The distance generation unit 12 acquires the position and orientation of the monocular camera 110 in the image acquisition unit 11. In a specific example, the height of the monocular camera 110 in the image acquisition unit 11 above the ground is 2.6 meters, and the monocular camera 110 in the image acquisition unit 11 is tilted downwards relative to the vertical direction at a tilt angle of 40°.

[0085] Step S 201: The distance generation unit 12 acquires the physical parameters of the air-conditioned room. The physical parameters include the area, length, and width of the air-conditioned room. In some optional embodiments of this application, for example, the area of ​​the air-conditioned room is 100 square meters, the length is 10 meters, and the width is 10 meters.

[0086] Step S202: After the distance generation unit 12 acquires the position and orientation of the monocular camera 110 in the image acquisition unit 11, as well as the physical parameters of the air-conditioned room, the image acquisition unit 11 is controlled to acquire the first image to determine the two-dimensional field of view. The two-dimensional field of view covers the entire ground and the upper space of the effective air-conditioned area in the air-conditioned room, that is, it covers a space range of 10 meters by 10 meters.

[0087] Step S203: Divide the two-dimensional field of view into multiple two-dimensional units using a set unit. The two-dimensional unit is a rectangle. Taking a 1-meter by 1-meter square as an example, the two-dimensional field of view is divided into 100 two-dimensional units of 1 square meter each using the set unit.

[0088] Step S204: Mark the corner points of multiple two-dimensional units in the first image, store the pixel coordinates of each corner point in the two-dimensional field of view, and mark the rows and columns of the two-dimensional units. For example, mark the four corner points of a square two-dimensional unit in the first image, and store the coordinates of the corner points, denoted as:

[0089] {a 11 (x 11 y 11 ), a 12 (x 12 y 12 ), ..., a 1n (x 1n y 1n ), ..., a mn (x mn y mn )}

[0090] Where m = 1, 2, ..., 10; n = 1, 2, ..., 10, m represents the row number of the two-dimensional unit, and n represents the column number of the two-dimensional unit.

[0091] Step S205: Collect the physical distance between some corner points in each square two-dimensional unit and the projection point of the camera in the image acquisition unit 11 in the ground direction. For example, the physical distance between the two corner points far away from the camera in each square two-dimensional unit and the projection point of the monocular camera 110 in the image acquisition unit 11 in the ground direction, and the physical distance between the corner point at the same position closest to the monocular camera 110 and the projection point of the monocular camera 110 in the image acquisition unit 11 in the ground direction.

[0092] The physical distance for each of the above two-dimensional units is denoted as:

[0093] {A 1_left_bottom_distance A 1_right_bottom_distance A 1_right_top_distance};...;{A mn_left_bottom_distance A mn_right_bottom_distance A mn_right_top_distance}

[0094] Step S206: Establish a two-dimensional unit distance table, which includes corner coordinates, partial corner physical distances, and row and column numbers for two-dimensional units. The two-dimensional unit distance table is stored in memory 130 for easy retrieval.

[0095] like Figure 7 As shown, after acquiring the image including the reference object, the position and orientation of the monocular camera 110 in the image acquisition unit 11, and the actual distance of the reference object in the image captured by the image acquisition unit 11, the distance generation unit 12 acquires the image including the target object captured by the monocular camera 110 in the image acquisition unit 11, and determines the position of the target object therein. The distance generation unit 12 specifically performs the following steps: Figure 7 The steps are shown.

[0096] Step S300: The image acquisition unit 11 acquires a second image, which includes the target object. This step is typically used in conjunction with the intelligent functions of the air conditioner, including but not limited to: automatically turning on the air conditioner when a person is detected in the air-conditioned room, automatically turning it off when no one is in the air-conditioned room, and intelligent air supply. The second image and the first image cover the same two-dimensional field of view, and the two-dimensional unit distance table generated in step S206 can be applied.

[0097] Step S301: Use the object detection model to identify the target object in the image containing the target object.

[0098] For example, in some optional embodiments of this application, the object detection model can be YOLO (You Only Look Once), which means that the category and location of objects in an image can be identified after only one viewing. Specifically, the second image is first analyzed using computer graphics (or deep learning) to find several regions where objects may exist. These regions are then cropped into rectangular boxes and placed into an image classifier. The classifier classifies the images, thereby identifying the target objects and determining their locations.

[0099] The training of the object detection model is not the focus of this invention; mature existing technologies are used and will not be described further here.

[0100] Step S302: After identifying the target object in the image containing the target object using the object detection model, a processed second image is obtained. The target object is selected in the processed second image in the form of a rectangular bounding box (e.g., ...). Figure 8 As shown in Figure 35, it stores the pixel coordinates of the starting point and the ending point of the rectangle containing the target object.

[0101] like Figure 8 As shown, the starting point A of the target object S The coordinates are (x min y min The coordinates of the endpoint AT of the target object are (x...). max y max The starting point A of the target object. S The endpoint AT of the target object is a set of diagonal points of the rectangle containing the target object.

[0102] The target object can be a person, an animal, or something similar. In the following embodiments of this application, a person will be used as the target object for further description.

[0103] Step S303: Determine the coordinate points of the target object.

[0104] The distance generation unit 12 estimates the position of the target object based on the relative positional relationship between the target object and each two-dimensional unit, and specifically performs the steps shown in the figure.

[0105] Specifically, this includes: determining the coordinates of the first position; the coordinates can be any set point within the first position, and the coordinates are the pixel coordinates of that point. When the target object is a person, the first position represents the foot of the human body, and the coordinates of the first position are the midpoint of the foot, i.e.:

[0106]

[0107] Step S304: Estimate the relative positional relationship between the labeled coordinate point and the reference object, and determine at least one of the two-dimensional units or the edge of the two-dimensional unit where the labeled coordinate point of the target object is located.

[0108] Specifically, this includes: defining the edge of any two-dimensional unit as multiple edge vectors connected in the same order, establishing a target vector between the corner point of any two-dimensional unit and the labeled coordinate point of the first position, and calculating the cross product of any edge vector and the target vector: when the cross product of all edge vectors and the target vector of the two-dimensional unit is greater than 0, it is presumed that the labeled coordinate point of the first position is located within the corresponding two-dimensional unit.

[0109] When the cross product of one of the edge vectors and the label vector of the two-dimensional unit is equal to 0, it is presumed that the labeled coordinate point is located on the edge of the corresponding two-dimensional unit.

[0110] The following is for reference Figure 9 and Figure 10 The theoretical basis used to determine the two-dimensional unit of the coordinates of the first position is as follows:

[0111] In such Figure 9 In the triangle shown, vectors ab, bc, and ca can be found clockwise.

[0112] Suppose there exists a point p, then there exist vectors ap, bp, and cp.

[0113] According to the left-hand rule, when the following conditions are met simultaneously: ab×ap>0; bc×bp>0; ca×cp>0, that is, if the cross product of ab×ap, bc×bp and ca×cp is greater than 0, we can conclude that point p is located inside the triangle formed by vectors ab, bc and ca.

[0114] If the cross product of ab×ap, bc×bp, and ca×cp is 0, then point p lies on one side of the triangle formed by vectors ab, bc, and ca.

[0115] If the cross product of ab×ap, bc×bp, and ca×cp is less than 0, then point p lies outside the triangle formed by vectors ab, bc, and ca.

[0116] Extending the above rules to quadrilaterals, such as the square corresponding to a two-dimensional unit (e.g., Figure 10 (As shown).

[0117] Then we have: In the square, we can find vectors ab, bc, cd and da in a counterclockwise direction.

[0118] Suppose there is a point p. Then there exist vectors ap, bp, cp and dp. According to the left-hand rule, when the following conditions are met simultaneously: ab×ap>0; bc×bp>0; cd×cp>0; da×dp>0; that is, when the cross product of all vectors is greater than 0, we can conclude that point p is located within the square enclosed by vectors ab, bc, cd and da.

[0119] If the cross product of ab×ap, bc×bp, cd×cp, and da×dp is 0, then point p lies on one side of the square formed by vectors ab, bc, cd, and da.

[0120] If the cross product of ab×ap, bc×bp, cd×cp, and da×dp is less than 0, then point p lies outside the square formed by vectors ab, bc, cd, and da.

[0121] According to the cross product formula for two-dimensional vectors, suppose vector a = (x1, y1) and vector b = (x2, y2),

[0122] Then a×b=x1×y2-x2×y1

[0123] Based on the above theoretical foundation, it can be determined whether the first position is inside, outside or on the edge of any two-dimensional unit.

[0124] Taking a two-dimensional unit as an example, such as Figure 11 As shown, assume the four corner points of the two-dimensional unit are a 11 a 12 a 21 and a 22 As mentioned above, there is a 11 (x 11 y 11 ), a 12 (x 12 y 12 ), a 21 (x 21 y 21 ), a 22 (x 22 y 22 ), where ab, bc, cd, and da are the four edges that enclose a two-dimensional unit.

[0125] With P1(x) x y y Substituting into the above formula, we get:

[0126] Vector ab = (x 12 -x 11 y 12 -y 11), vector ap = (x x -x 11 y y -y 11 );

[0127] Vector bc = (x 22 -x 12 y 22 -y 12 ), vector bp = (x x -x 12 y y -y 12 );

[0128] Vector cd = (x 21 -x 22 y 21 -y 22 ), vector cp = (x x -x 22 y y -y 22 );

[0129] Vector da = (x 11 -x 21 y 11 -y 21 ), vector dp = (x x -x 21 y y -y 21 );

[0130] According to the cross product formula for two-dimensional vectors, we have:

[0131] ab×ap=(x 12 -x 11 )×(y y -y 11 )-(x x -x 11 )×(y 12 -y 11 );

[0132] bc×bp=(x 22 -x 12 )×(y y -y 12 )-(x x -x 12 )×(y 22 -y 12 );

[0133] cd×cp=(x 21 -x 22 )×(y y -y 22)-(x x -x 22 )×(y 21 -y 22 );

[0134] da×dp=(x 11 -x 21 )×(y y -y 21 )-(x x -x 21 )×(y 11 -y 21 );

[0135] If all of the following conditions are met simultaneously: ab×ap>0; bc×bp>0; cd×cp>0; da×dp>0, then the labeled coordinate point at the first position is located inside the two-dimensional unit. If ab×ap=0; bc×bp=0; cd×cp=0 or da×dp=0, then the labeled coordinate point at the first position is located on the edge of the two-dimensional unit. For example, if ab×ap=0, then it is further determined whether the labeled coordinate point at the first position is on the vector ab. If x x In x 11 and x 12 Between, and y y In y 11 and y 12 If the coordinates of the first position are between the two points, then the coordinates of the first position are on the vector ab.

[0136] By comparing the coordinates of the first position with all the two-dimensional units one by one using the above method, it is possible to deduce the two-dimensional unit or the edge of the two-dimensional unit where the coordinates of the first position are located.

[0137] Step S305: Based on the physical distance of some corner points of the corresponding two-dimensional unit and the labeled coordinates of the labeled coordinate points, the distance between the labeled coordinate points and the monocular camera 110 is estimated as the estimated distance between the ranging module 10 and the target object.

[0138] Specifically, such as Figures 12 to 14 As shown, in the two-dimensional field of view, the labeled coordinate point as the first position is a pixel point P1(x). x y y The distance R1 from P1 to the monocular camera 110 can be expressed by the following formula: R1 2 =H 2 +O′P1 2 ;

[0139] Where H is the height between the monocular camera 110 and the ground, O′P1 is the distance between the projection point of the monocular camera 110 on the ground and the pixel point P1 inside the two-dimensional field of view, and O′ is the projection point of the monocular camera 110 on the ground.

[0140] For ease of calculation, assume that the projection point O′ of the monocular camera 110 on the ground is located at the midpoint of the length direction of the two-dimensional field of view. Using the length direction as the x-axis and the width direction as the y-axis, the distance OP between the projection point O′ of the monocular camera 110 on the ground and the point P1 inside the two-dimensional field of view can be expressed as: O′P1 2 =O′A′ 2 +A′P1 2 A′ is the perpendicular point of point P1 along the vertical axis.

[0141] The distance between O′A′ and the coordinates x of pixel P1 x It is linearly correlated, with the linear coefficient denoted by ka; the distance between A′P1 and the coordinates y of pixel P1. y It is linearly dependent, with the linear coefficient denoted by kb, from which we obtain:

[0142] O′P1 2 =0′A′ 2 +A′P1 2 =(ka×x) x ) 2 +(kb×y y ) 2

[0143] Let X1 represent (ka) 2 X2 represents (kb). 2 The fitting formula can be obtained as follows:

[0144] R1 2 =H 2 +O′P1 2 =H 2 +(ka×x x ) 2 +(kb×y y ) 2 =X1×(x x ) 2 +X2×(y y ) 2 +1×X3

[0145] Here, X3 represents H2; however, due to the influence of image distortion, X3 actually represents a high correction coefficient.

[0146] The above equation is solved by fitting X1, X2, and X3:

[0147] Substitute the physical distance of point P1 in a two-dimensional unit and the pixel value of the two-dimensional field of view into the above formula; assume the corner coordinates of point P1 in a two-dimensional unit are a. xx (x xx y xx ), a xy (x xy y xy ), a yx (x yx y yx ), a yy (x yy y yy The corner point with physical distance is a. xx (x xx y xx ), a xy (x xy y xy ) and a yy (x yy y yy );

[0148] The corresponding physical distance is A x_left_bottom_distance A x_right_bottom_distance A x_right_top_distance

[0149] The two-dimensional field of view is 1920×1080. Substituting the above parameters into the formula:

[0150] have:

[0151] D 11 =(x xx -960) 2 ;D 12 =(1080-y xx )2;D 13 =1; b1=(A x_left_bottom_distance ) 2 ;

[0152] D 21 =(x xy -960) 2 ;D 22 =(1080-y xy ) 2 ;D 23 =1; b2=(A x_right_bottom_distance ) 2 ;

[0153] D 31 =(x yy -960) 2 ;D 32 =(1080-y yy ) 2 ;D33 =1; b3=(A x_right_top_distance ) 2

[0154] The following matrix can then be obtained:

[0155]

[0156] This can be further expressed as:

[0157] Dx = b

[0158]

[0159]

[0160] Using Cramer's rule to solve for the determinant of the above matrix, replacing the first, second, and third columns of D with b, we obtain the determinants of D1, D2, and D3. After calculating the value of each determinant, we get:

[0161] X1=D1 / D; X2=D2 / D; X3=D3 / D.

[0162] The distance R between the estimated first position's marked coordinates and the monocular camera 110 in the image acquisition unit 11 is determined. p1 :

[0163] Mark the coordinates of the first position P1(x) x y y ), and substitute the obtained X1, X2 and X3 into the formula

[0164] R1 2 =X1×(x x ) 2 +X2×(y y ) 2 +1×X3

[0165] Solving for the results

[0166]

[0167] This invention uses an array grid to evenly divide the field of view, making the physical grid correspond to the image pixels. Within the subdivided grid, the correspondence between pixels and physical grids can be considered relatively uniform. The cross product of triangles or polygons is used to place the points to be calculated into the corresponding grids. The distance to the target point within the grid is calculated using the functional relationship formed by the vertices of the grid. This invention has the advantages of fast calculation speed, no need for distortion correction, elimination of distortion effects, and high ranging accuracy.

[0168] like Figure 16 and Figure 17As shown, in some embodiments of this application, the target object can be a person or an animal, with a certain set height in the height direction of the air-conditioned room. To achieve more precise control of the air conditioning, for example, zoned air supply or activation of indoor fans at different locations based on height, in other embodiments of this application, the distance generation unit 12 can further estimate the estimated physical distance between itself and the second position of the target object.

[0169] Step S400: Estimate the distance between the marked coordinates of the second location and the monocular camera 110, specifically by performing the following steps:

[0170] Step S401: Determine the coordinates of the first location. See the previous text for details, which will not be repeated here.

[0171] Step S402: Determine the annotation coordinates of the second position; the annotation coordinates can be any set point on the second position, and the annotation coordinates are the pixel coordinates of the annotation coordinates. When the target object is a person, the second position represents the head of the human body, and the annotation coordinates of the second position are the midpoint of the head, that is:

[0172] That is, the first position corresponds to the bottom of the target object in the height direction, and the second position corresponds to the top of the target object in the height direction.

[0173] Step S403: Estimate the relative positional relationship between the labeled coordinate point of the second position and the two-dimensional unit, and estimate the two-dimensional unit or the edge of the two-dimensional unit where the labeled coordinate point of the second position is located.

[0174] Step S404: Based on the physical distance of some corner points of the corresponding two-dimensional unit and the labeled coordinates of the labeled coordinates of the second position, estimate the distance R2 between the labeled coordinates of the second position and the monocular camera 110.

[0175] The specific algorithm for estimating the distance R2 between the marked coordinate point of the second position and the monocular camera 110 in the image acquisition unit 11 is similar to the method for estimating R1 described above, and will not be repeated here.

[0176] Step S405: Based on the labeled coordinates of the first position, the distance R1 between the labeled coordinates of the first position and the monocular camera 110, and the height H of the monocular camera 110, calculate the pitch angle α1 of the labeled coordinates of the first position relative to the monocular camera 110; the pitch angle α1 can be calculated based on the cosine theorem, which will not be described in detail here.

[0177] Step S406: Based on the labeled coordinates of the second position, the distance R2 between the labeled coordinates of the second position and the monocular camera 110, and the height H of the monocular camera 110, calculate the pitch angle α2 of the labeled coordinates of the second position relative to the monocular camera 110; the pitch angle α2 can be calculated based on the cosine theorem, which will not be described in detail here.

[0178] Step S407: Estimate the estimated physical distance D between the second position and the monocular camera 110 d Using a human being as the target object, and assuming the human being has a certain height, when the human being is in an upright position, it is assumed that O′P1 and CP2 are equal as shown in the diagram.

[0179] D d =O'P1 / sin(α2)=R1×sin(α1) / sin(α2).

[0180] Step S408: Estimate the physical distance D between the second position and the monocular camera 110. d After that, intelligent control of the air conditioner can be achieved based on the user's height.

[0181] like Figure 18 As shown in steps S501 to S503, in another embodiment of the present invention, when the target object is a person, it is also possible to determine at least one two-dimensional unit or two-dimensional unit edge of the marked coordinate point of the target object, and use the physical distance of the two-dimensional unit as the estimated distance between the target object and the ranging module 10. The physical distance of the two-dimensional unit can be obtained by converting the pixel coordinates of the two-dimensional unit. This method is a coarse judgment, but it can achieve a faster estimation speed. Similarly, the method of using the cross product result as the judgment method for estimating the two-dimensional unit or two-dimensional unit edge of the marked coordinate point is described above, and will not be repeated here.

[0182] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0183] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An air conditioning device, characterized in that, include: The ranging module has the following features: An image acquisition unit includes a monocular camera configured to acquire images of an air-conditioned room by capturing images; the images may simultaneously include a reference object and a target object; and A distance generation unit is configured to generate the reference object from an image of the air-conditioned room captured by the image acquisition unit based on the position and orientation of the monocular camera and the physical parameters of the air-conditioned room; and to estimate the estimated distance between the ranging module and the target object using an image that simultaneously includes the reference object and the target object, as well as the actual distance of the reference object. The distance generation unit is configured to perform the following steps to generate the reference object from the image of the air-conditioned room captured by the image acquisition unit: The image acquisition unit controls the acquisition of the first image to determine the two-dimensional field of view. The two-dimensional field of view is divided into multiple two-dimensional units based on a set unit, and the two-dimensional units are used as reference objects; wherein, the two-dimensional units are polygons; In the first image, multiple two-dimensional corner points are marked, and the pixel coordinates of each corner point in the two-dimensional field of view are stored; The physical distance between partial corner points of multiple two-dimensional units and the projection point of the monocular camera in the image acquisition unit in the ground direction is used as the real distance of the reference object; A two-dimensional unit distance table is established, which includes the corner coordinates of each two-dimensional unit, the physical distance of some corner points, the row number of the two-dimensional unit, and the column number of the two-dimensional unit.

2. The air conditioning device according to claim 1, characterized in that, The distance generation unit is configured to perform the following steps to estimate the estimated distance between the ranging module and the target object using an image that simultaneously includes a reference object and a target object, as well as the true distance of the reference object: The image acquisition unit captures a second image by taking a picture, and the second image includes the target object; The target object is identified and bounded in an image containing the target object using an object detection model; Determine the coordinates of the target object; The relative positional relationship between the labeled coordinate points and all reference objects is estimated, and the location of the labeled coordinate points of the target object in at least one of the two-dimensional units or the edge of the two-dimensional unit is determined. Based on the physical distance of some corner points of the corresponding two-dimensional unit and the labeled coordinates of the labeled coordinate points, the distance between the labeled coordinate points and the monocular camera is estimated as the estimated distance between the ranging module and the target object.

3. The air conditioning device according to claim 2, characterized in that, The distance generation unit is configured to perform the following steps to determine at least one of the two-dimensional units where the labeled coordinates of the target object are located: The edge of any two-dimensional unit is defined as a plurality of edge vectors connected in the same order. Establish a target vector between any corner point of the two-dimensional unit and the labeled coordinate point; Calculate the cross product of any of the edge vectors and the target vector; When the cross product of all edge vectors and the label vector of the two-dimensional unit is greater than 0, it is presumed that the labeled coordinate point is located within the corresponding two-dimensional unit.

4. The air conditioning device according to claim 2, characterized in that, The distance generation unit is configured to perform the following steps to determine that the labeled coordinates of the target object are on the edge of at least one of the two-dimensional units: The edge of any two-dimensional unit is defined as a plurality of edge vectors connected in the same order. Establish a target vector between any corner point of the two-dimensional unit and the labeled coordinate point; Calculate the cross product of any of the edge vectors and the target vector; When the cross product of one of the edge vectors and the label vector of the two-dimensional unit is equal to 0, it is presumed that the labeled coordinate point is located on the edge of the corresponding two-dimensional unit.

5. The air conditioning device according to claim 2, characterized in that, The distance generation unit is further configured to perform the following steps to estimate the estimated distance between the ranging module and the target object using an image that simultaneously includes a reference object and a target object, and the true distance of the reference object: The target object has a set height in the vertical direction of the air-conditioned room; Determine the coordinates of the first position of the target object, where the first position corresponds to the bottom of the target object in the height direction; Determine the coordinates of the second position of the target object, which corresponds to the top of the target object in the height direction; The relative positional relationship between the marked coordinate point of the first position and all reference objects is estimated, and at least one of the two-dimensional units or the edge of the two-dimensional unit in which the marked coordinate point of the first position is located is determined. The distance between the first position's marked coordinate point and the monocular camera is estimated based on the physical distance of some corner points of the corresponding two-dimensional unit and the marked coordinate point of the first position. The relative positional relationship between the marked coordinate point of the second position and all reference objects is estimated, and at least one of the two-dimensional units or the edge of the two-dimensional unit in which the marked coordinate point of the second position is located is determined; The distance between the labeled coordinate point at the second position and the monocular camera is estimated based on the physical distance of some corner points of the corresponding two-dimensional unit and the labeled coordinate point at the second position. Based on the labeled coordinates of the first position, the distance between the labeled coordinates of the first position and the monocular camera, and the height of the monocular camera, calculate the pitch angle of the labeled coordinates of the first position relative to the monocular camera. Based on the labeled coordinates of the second position, the distance between the labeled coordinates of the second position and the monocular camera, and the height of the monocular camera, calculate the pitch angle of the labeled coordinates of the second position relative to the monocular camera. Estimated physical distance between the second location and the monocular camera; The distance between the marked coordinate point at the first position and the monocular camera, and the physical distance between the second position and the monocular camera are used as the estimated physical distance between the ranging module and the target object.

6. The air conditioning device according to claim 5, characterized in that, The target object is a person; The first position is the foot of the human body, and the marked coordinate point of the first position is the midpoint of the foot; The second position is the head of the human body, and the coordinate point of the second position is the midpoint of the head.

7. An air conditioning device, characterized in that, include: The ranging module has the following features: An image acquisition unit includes a monocular camera, the image acquisition unit being configured to capture a first image and a second image of an air-conditioned room, the second image including a target object, the target object being a person; A distance generation unit configured to perform the following steps to estimate the distance between a target object and a ranging module: Based on the position and orientation of the monocular camera and the physical parameters of the air-conditioned room, the two-dimensional field of view determined based on the first image is divided into multiple two-dimensional units, and the two-dimensional units are used as reference objects, wherein the two-dimensional units are polygons. In the first image, multiple two-dimensional corner points are marked, and the pixel coordinates of each corner point in the two-dimensional field of view are stored; The physical distance between partial corner points of multiple two-dimensional units and the projection point of the monocular camera in the image acquisition unit in the ground direction is used as the real distance of the reference object; Establish a two-dimensional unit distance table, which includes the corner coordinates of each two-dimensional unit, the physical distance of some corner points, the row number of the two-dimensional unit, and the column number of the two-dimensional unit; Determine the coordinates of the target object; The relative positional relationship between the marked coordinate points and all reference objects is estimated, and at least one of the two-dimensional units or the edge of the two-dimensional unit where the marked coordinate points of the target object are located is determined. The physical distance of the two-dimensional unit or the edge of the two-dimensional unit is used as the estimated distance between the target object and the ranging module.

8. The air conditioning device according to claim 7, characterized in that, The distance generation unit is configured to perform the following steps to determine at least one of the two-dimensional units where the labeled coordinates of the target object are located: The edge of any two-dimensional unit is defined as a plurality of edge vectors connected in the same order. Establish a target vector between any corner point of the two-dimensional unit and the labeled coordinate point; Calculate the cross product of any of the edge vectors and the target vector; When the cross product of all edge vectors and the label vector of the two-dimensional unit is greater than 0, it is presumed that the labeled coordinate point is located within the corresponding two-dimensional unit.

9. The air conditioning device according to claim 7, characterized in that, The distance generation unit is configured to perform the following steps to determine that the labeled coordinates of the target object are on the edge of at least one of the two-dimensional units: The edge of any two-dimensional unit is defined as a plurality of edge vectors connected in the same order. Establish a target vector between any corner point of the two-dimensional unit and the labeled coordinate point; Calculate the cross product of any of the edge vectors and the target vector; When the cross product of one of the edge vectors and the label vector of the two-dimensional unit is equal to 0, it is presumed that the labeled coordinate point is located on the edge of the corresponding two-dimensional unit.

Images