Air conditioning system

Abstract

The application discloses an air conditioner system, comprising: a distance measuring module, which comprises: an image acquisition unit comprising a monocular camera, the image acquisition unit is configured to capture an air conditioner room image, the air conditioner room image comprising a target object and a reference object; and a distance generation unit, the distance generation unit is configured to estimate the physical distance of the longitudinal component of a pixel point set on the target object in the physical ground coordinate system based on the position and attitude of the monocular camera; and further estimate the physical distance of the transverse component of the pixel point set on the target object in the physical ground coordinate system based on the vanishing point of the target object and the reference object in the air conditioner room image; estimate the estimated distance between the distance measuring module itself and the target object based on the physical distance of the transverse component and the physical distance of the longitudinal component; wherein the target object in the air conditioner room image is identified by a target detection model. The application has the advantages of fast operation speed, high distance measuring precision and suitability for embedded devices.

Description

Technical Field

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

[0007] An air conditioning system includes: a ranging module, which has: an image acquisition unit, which includes a monocular camera, the image acquisition unit being configured to capture images of the air-conditioned room by taking pictures, the images of the air-conditioned room including a target object and a reference object.

[0008] The ranging module also includes a distance generation unit, which is configured to estimate the physical distance of a set pixel on the target object in the vertical axis component of the physical ground coordinate system based on the position and orientation of the monocular camera; estimate the physical distance of a set pixel on the target object in the horizontal axis component of the physical ground coordinate system based on the vanishing points of the target object and the reference object in the air-conditioned room image; and estimate the estimated distance between the ranging module itself and the target object based on the physical distances of the horizontal and vertical axis components.

[0009] In some embodiments of this application, target objects in an air-conditioned room image are identified using a target detection model.

[0010] In some embodiments of this application, the distance generation unit is configured to perform the following method to estimate the physical distance of a set pixel on a target object in the vertical axis component of the physical ground coordinate system based on the position and orientation of the monocular camera: obtaining the installation height, pitch angle, and mounting angle of the monocular camera; wherein, the mounting angle is the angle between the monocular camera itself and the height direction of the air-conditioned room; estimating the length of the inner edge of the pitch field of view based on the installation height and mounting angle of the monocular camera; estimating the half-axis pitch angle; estimating the length of the center line segment of the pitch field of view based on the half-axis pitch angle and the length of the inner edge of the pitch field of view; and estimating the length of the center line segment of the pitch field of view based on the pitch angle and the inner edge length of the pitch field of view. The process involves calculating the physical distance mapped along the longitudinal axis using the length of the field edge and the semi-axis pitch angle; obtaining the longitudinal pixel distance of a set pixel in the pixel coordinate system; estimating the mapped physical distance of the set pixel based on the longitudinal pixel distance, the semi-axis mapped physical distance, and the semi-axis pixel distance; estimating the pitch angle based on the mapped physical distance of the set pixel and the length of the center line segment of the pitch field of view; and estimating the physical distance of the longitudinal component of the set pixel in the physical ground coordinate system based on the installation height, semi-axis pitch angle, pitch angle, and installation angle of the monocular camera, which is essentially the estimation of the physical distance of the longitudinal component based on the vanishing point method.

[0011] In some embodiments of this application, the distance generation unit is configured to perform the following method to estimate the physical distance of a set pixel on the target object in the physical ground coordinate system based on the vanishing points of the target object and reference objects in the air-conditioned room image: using the intersection point generated by the extension line of the set pixel on the target object and the extension lines of several reference objects as the vanishing point; establishing a calculation coordinate system, the vertical axis of which is a perpendicular line passing through the vanishing point and perpendicular to the length direction of the air-conditioned room image; obtaining the horizontal and vertical pixel distances of the set pixel in the pixel coordinate system; obtaining the vanishing point pixel distance between the vanishing point and the edge of the air-conditioned room image in the length direction away from it; calculating the calculated angle of the set pixel based on the horizontal pixel distance, the vertical pixel distance, and the vanishing point pixel distance; generating a standard reference line in the air-conditioned room image, the standard reference line being a straight line with minimal distortion passing through the extension line; obtaining the standard reference intersection point between the extension line of the set pixel and the standard reference line, and using the distance between the standard reference intersection point and the vertical axis of the calculation coordinate system as the physical distance of the set pixel on the target object in the physical ground coordinate system.

[0012] In some optional embodiments of this application, the distance generation unit is further configured to perform the following method to estimate the physical distance of a set pixel on the target object in the horizontal axis component of the physical ground coordinate system based on the vanishing points of the target object and the reference object in the air-conditioned room image: dividing a standard reference line into several length units based on the physical distance of the reference object; obtaining the unit pixel distance of the corresponding length unit; calculating the ratio of the physical distance of the length unit to the unit pixel distance as the pixel unit; obtaining the pixel distance between the standard reference intersection point and the vertical axis of the calculation coordinate system; and converting the pixel distance between the standard reference intersection point and the vertical axis of the calculation coordinate system into a physical distance using the pixel unit as the physical distance of the set pixel on the target object in the horizontal axis component of the physical ground coordinate system.

[0013] In some optional embodiments of this application, the distance generation unit is further configured to use a neural network to perform distortion correction on the obtained physical distance of the horizontal axis component and the physical distance of the vertical axis component.

[0014] In some optional embodiments of this application, the distance generation unit is further configured to perform the following steps to perform distortion correction on the obtained physical distances of the horizontal and vertical axis components using a neural network: obtaining a true distance matrix; identifying and selecting the human body in N images using a target recognition model, and obtaining the set pixel points corresponding to the center point of the feet of the rectangle; obtaining a deviation value matrix; setting the neural network structure and inputting the deviation value matrix; setting the loss function and optimizer of the neural network; training the neural network and obtaining distortion correction parameters; and using the trained neural network to perform distortion correction on the obtained physical distances of the horizontal and vertical axis components.

[0015] In some alternative embodiments of this application, the target object is a person.

[0016] In some alternative embodiments of this application, the target object is an animal or a stationary object.

[0017] In some optional embodiments of this application, the set pixels of the target object include foot set pixels and head set pixels.

[0018] To achieve intelligent control of the air conditioning system, in some optional embodiments of this application, the distance generation unit is further configured to estimate the height of the target object based on the physical distance of the foot setting pixel in the vertical axis component of the physical ground coordinate system, the physical distance of the head setting pixel in the vertical axis component of the physical ground coordinate system, and the installation height of the monocular camera.

[0019] To achieve intelligent control of the air conditioning system, in some optional embodiments of this application, the distance generation unit is further configured to estimate the estimated distance between the foot-set pixel and the estimation module itself based on the physical distance of the foot-set pixel in the vertical axis component of the physical ground coordinate system and the installation height of the monocular camera.

[0020] To achieve intelligent control of the air conditioning system, in some optional embodiments of this application, the distance generation unit is further configured to estimate the estimated distance between the head-set pixel and the estimation module itself based on the physical distance of the foot-set pixel in the vertical axis component of the physical ground coordinate system, the installation height of the monocular camera, and the height of the target object.

[0021] To achieve intelligent control of the air conditioning system, in some optional embodiments of this application, the distance generation unit is further configured to estimate the head pitch angle based on the physical distance of the foot-set pixel point in the vertical axis component of the physical ground coordinate system, the installation height of the monocular camera, and the height.

[0022] To achieve intelligent control of the air conditioning system, in some optional embodiments of this application, the distance generation unit is further configured to estimate the foot pitch angle based on the physical distance of the foot-set pixel in the vertical axis component of the physical ground coordinate system, the installation height of the monocular camera, and the height.

[0023] To achieve intelligent control of the air conditioning system, in some optional embodiments of this application, the distance generation unit is further configured to estimate the head heading angle based on the physical distance of the foot setting pixel in the vertical axis component of the physical ground coordinate system and the horizontal coordinate of the head setting pixel in the pixel coordinate system.

[0024] To achieve intelligent control of the air conditioning system, in some optional embodiments of this application, the distance generation unit is further configured to estimate the foot heading angle based on the physical distance of the foot setting pixel in the vertical axis component of the physical ground coordinate system and the horizontal coordinate of the foot setting pixel in the pixel coordinate system.

[0025] A second aspect of the present invention provides an air conditioning system, wherein a ranging module is provided, the ranging module being able to estimate the longitudinal distance between a target object and the ranging module itself; the ranging module comprising: an image acquisition unit including a monocular camera, the image acquisition unit being configured to acquire an image of an air-conditioned room by capturing images, the image of the air-conditioned room including the target object; and a distance generation unit configured to perform the following method to estimate the longitudinal distance between a predetermined pixel on the target object and the ranging module based on the position and orientation of the monocular camera, the position and orientation of the monocular camera including the installation height, pitch angle, and mounting angle of the monocular camera, the mounting angle being the angle between the monocular camera itself and the height direction of the air-conditioned room; and estimating the pitch angle based on the installation height and mounting angle of the monocular camera. The process involves: estimating the length of the edge line within the field of view; estimating the half-axis pitch angle; estimating the length of the center line segment of the pitch field of view based on the half-axis pitch angle and the length of the edge line within the pitch field of view; calculating the physical distance of the half-axis mapping in the longitudinal direction based on the length of the edge line within the pitch field of view and the half-axis pitch angle; obtaining the longitudinal pixel distance of a set pixel in the pixel coordinate system; estimating the mapping physical distance of a set pixel based on the longitudinal pixel distance, the physical distance of the half-axis mapping, and the half-axis pixel distance; estimating the pitch angle based on the mapping physical distance of the set pixel and the length of the center line segment of the pitch field of view; estimating the physical distance of the set pixel in the longitudinal component of the physical ground coordinate system based on the installation height, half-axis pitch angle, pitch angle, and installation angle of the monocular camera, and using the physical distance of the longitudinal component as the longitudinal distance between the set pixel and itself.

[0026] A second aspect of the present invention provides an air conditioning system, wherein a ranging module is provided, the ranging module being able to estimate the lateral distance between a target object and the ranging module itself; the ranging module comprising: an image acquisition unit including a monocular camera, the image acquisition unit being configured to acquire an image of an air-conditioned room by capturing images, the image of the air-conditioned room including a target object and reference objects; and a distance generation unit configured to perform the following method to estimate the lateral distance between a set pixel on the target object and the ranging module based on the vanishing points of the target object and reference objects in the image of the air-conditioned room: using the intersection point generated by the extension line of the set pixel on the target object and the extension lines of several reference objects as the vanishing point; establishing a computational coordinate system and calculating... The vertical axis of the coordinate system is a perpendicular line passing through the vanishing point and perpendicular to the length direction of the air-conditioned room image; the horizontal and vertical pixel distances of the set pixel points in the pixel coordinate system are obtained; the vanishing point pixel distance between the vanishing point and the edge of the air-conditioned room image away from it in the length direction is obtained; the calculated angle of the set pixel points is calculated based on the horizontal, vertical, and vanishing point pixel distances; a standard reference line is generated in the air-conditioned room image, which is a straight line with minimal distortion that passes through the extension line; the standard reference intersection point between the extension line passing through the set pixel points and the standard reference line is obtained, and the distance between the standard reference intersection point and the vertical axis of the calculated coordinate system is used as the horizontal distance between the set pixel points on the target object and the ranging module.

[0027] Compared with the prior art, the advantages and positive effects of the present invention are: fast computing speed, high ranging accuracy, and applicability to embedded devices.

[0028] 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

[0029] 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.

[0030] Figure 1 This is a schematic block diagram of the distance measuring module in an air conditioning system provided according to some embodiments of the present invention;

[0031] Figure 2 This is a schematic block diagram of the distance measuring module in an air conditioning system provided according to some embodiments of the present invention;

[0032] Figure 3 A flowchart illustrating the operation performed by the ranging module in an air conditioning system according to some embodiments of the present invention;

[0033] Figure 4 This is a schematic diagram illustrating the principle of the physical ground coordinate system in an air conditioning system according to some embodiments of the present invention;

[0034] Figure 5 This is a schematic diagram of the physical ground coordinate system in an air conditioning system provided according to some embodiments of the present invention;

[0035] Figure 6 A flowchart illustrating the operation performed by the ranging module in an air conditioning system according to some embodiments of the present invention;

[0036] Figure 7 This is a schematic diagram illustrating the principle of a distance measuring module estimating the physical distance of the longitudinal axis component in an air conditioning system according to some embodiments of the present invention.

[0037] Figure 8 This is a schematic diagram illustrating the principle of a ranging module in an air conditioning system according to some embodiments of the present invention when it obtains the vertical axis pixel distance of a set pixel in a pixel coordinate system.

[0038] Figure 9 A flowchart illustrating the operation performed by the ranging module in an air conditioning system according to some embodiments of the present invention;

[0039] Figure 10 Here is an example image of an air-conditioned room, illustrating the location of the vanishing point;

[0040] Figure 11 This is a schematic diagram illustrating the principle of a distance measuring module estimating the physical distance of the longitudinal axis component in an air conditioning system according to some embodiments of the present invention.

[0041] Figure 12 A flowchart illustrating the operation performed by the ranging module in an air conditioning system according to some embodiments of the present invention;

[0042] Figures 13 to 15 Schematic diagrams of different distortion phenomena;

[0043] Figure 16 A schematic diagram of the two-dimensional field of view of the ranging module in an air conditioning system according to some embodiments of the present invention when acquiring the true distance matrix;

[0044] Figure 17 A flowchart illustrating the operation performed by the ranging module in an air conditioning system according to some embodiments of the present invention;

[0045] Figure 18 This is a comparative diagram showing the distortion before and after distortion correction.

[0046] Figure 19This is a schematic diagram illustrating the principle of a distance measuring module in an air conditioning system according to some embodiments of the present invention for estimating the height of a target object. Detailed Implementation

[0047] 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.

[0048] 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.

[0049] 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. Therefore, 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] To address the problems of existing air conditioners that use ultrasonic ranging, which are easily affected by the environment and cannot detect direction, this invention designs and provides an air conditioning system 1.

[0054] First, let's describe the air conditioning system 1. Air conditioning is used to maintain good indoor air conditions to improve and enhance the functionality of a building. Air-conditioned rooms or buildings employing air conditioning technology are comfortable, healthy, and energy-efficient. These 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 sector, maintaining a suitable indoor environment is also crucial for meeting production process requirements, ensuring product quality, and ensuring good air quality free from excessive harmful substances (including microorganisms and volatile organic compounds), while using minimal energy consumption to maintain an optimal indoor environment. Therefore, the air conditioning system 1 is equipment that heats, humidifies, and purifies the air to meet the air supply requirements of the air-conditioned room; this heat and humidity treatment equipment includes, but is not limited to, heating equipment, cooling equipment, humidification equipment, and dehumidification equipment.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] First, refer to Figure 1 and Figure 2 The basic configuration of the ranging module 10 in one embodiment will be described.

[0063] 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.

[0064] From the perspective of functional modules, the ranging module 10 includes an image acquisition unit 11 and a distance generation unit 12.

[0065] 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.

[0066] 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.

[0067] The distance generation unit 12 receives images captured by the image acquisition unit 11, and estimates the physical distance of the set pixel on the target object in the physical ground coordinate system based on the position and attitude of the monocular camera 110 in the image acquisition unit 11; it estimates the physical distance of the set pixel on the target object in the physical ground coordinate system based on the vanishing points of the target object and the reference object in the air-conditioned room image; and it estimates the estimated distance between the ranging module itself and the target object based on the physical distance of the horizontal axis component and the physical distance of the vertical axis component.

[0068] 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.

[0069] 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 enable the distance generation unit 12 to perform corresponding functions by executing a specific program stored in the memory 130.

[0070] 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.

[0071] 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 of the air-conditioned room or to stop acquiring images of the air-conditioned room. The storage unit is also configured to save the images of the air-conditioned room acquired by the image acquisition unit 11 and / or images processed in the intermediate process.

[0072] 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 virtual reference objects and / or target objects and / or images processed in the intermediate process, into the memory card.

[0073] 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.

[0074] 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.

[0075] The following is for reference Figure 3 The flowchart below explains the processing performed by the ranging module 10.

[0076] Step S101: The distance generation unit 12 acquires the position and orientation of the monocular camera 110 in the image acquisition unit 11. 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 later retrieval, or it can be measured and stored in the memory 130 of the ranging module 10 by a position sensor, inertial sensor, etc., for later retrieval. The position and orientation of the monocular camera 110 include, but are not limited to, the mounting height, pitch angle, and mounting angle of the monocular camera 110.

[0077] 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).

[0078] 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.

[0079] 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.

[0080] Exemplary, in some optional embodiments of this application, a position for mounting a monocular camera 110 is provided on the housing of the indoor unit. Taking a wall-mounted indoor unit as an example, in the installed state, the height of the monocular camera 110 from the ground is 2.6 meters, and it is tilted downwards relative to the vertical direction (wall direction) at an angle of 40°. The field of view of the monocular camera 110 can cover the entire air-conditioned room. Exemplary, the horizontal field of view of the monocular camera is 122°, and the pitch field of view angle (hereinafter referred to as the pitch angle, pitch in the z-axis direction) is 67°.

[0081] Images of air-conditioned rooms captured by the monocular camera 110 are stored in image format. Depending on the camera resolution, they can be categorized as 320×240, 640×480, 1024×768, 1280×1024, 1920×1080, etc. The following text uses 1920×1080 as an example.

[0082] Step S102: The distance generation unit 12 acquires the image acquisition unit 11 by capturing an image of the air-conditioned room including the target object, and uses a target detection model to select the target object within it.

[0083] 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 image of an air-conditioned room 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 objects to identify them and determine their locations. Furthermore, the pose of the object can be determined, such as standing, sitting, or lying down. 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. In the following embodiments of this application, sitting and standing poses of the object (a person) are used as examples. The object can also be an animal or other static object.

[0084] Step S103: After selecting the target object using the object detection model, store the pixel coordinates of the starting and ending points of the bounding box containing the target object. The pixel coordinates of the starting point of the target object are denoted as (x...). min y min The pixel coordinates of the endpoint of the target object are (x...). max y max The starting and ending points of the target object are a set of diagonal points of the rectangle containing the target object.

[0085] Step S104: Determine the set pixel points of the target object.

[0086] The set pixel can be any point on the first position of the target object; when the target object is a person, the first position can be the foot of the human body, and the set pixel can be the midpoint of the foot, that is:

[0087]

[0088] The set pixel can also be any set point at the second position of the target object; when the target object is a person, the second position can be the head of the human body, and the set pixel can be the midpoint of the head.

[0089]

[0090] In this embodiment, the midpoint of the foot will be used as the set pixel point for explanation.

[0091] Step S105: The distance generation unit estimates the physical distance of the set pixel on the target object in the vertical axis component of the physical ground coordinate system based on the position and attitude of the monocular camera.

[0092] For a monocular camera, the depth of field and distance cannot be determined solely from the image of an air-conditioned room. However, the angle between a point in the image and the monocular camera, which has a specific position and orientation, is fixed. Based on this, a physical ground coordinate system can be established, the specific principle of which is as follows: Figure 4 and Figure 5 As shown.

[0093] Specifically, in a Cartesian coordinate system, we take three unit vectors i, j, and k, aligned with the x-axis, y-axis, and z-axis respectively, as a basis. Starting from the origin O, we construct vector a. According to the fundamental theorem of space, there exists one and only one set of real numbers x, y, and z such that a = xi + yj + zk. (x, y, z) represents the coordinates of point P, and a is the position vector of point P. Correspondingly, in a physical ground coordinate system, the physical distance of the position vector a along the x-axis is denoted as xbar, and the physical distance of the position vector a along the y-axis is denoted as y... bar In embodiments of the present invention, such as Figure 5 As shown, the left and right directions are defined as the x-axis, the front and back directions as the y-axis, and the height direction as the z-axis.

[0094] Step S106: The distance generation unit estimates the physical distance of the set pixel point on the target object in the physical ground coordinate system based on the vanishing point of the target object and the reference object in the air-conditioned room image.

[0095] Step S107: Estimate the estimated distance between the ranging module itself and the target object based on the physical distance of the horizontal axis component and the physical distance of the vertical axis component.

[0096] This application calculates the physical distance of the target object along the horizontal axis and the physical distance along the vertical axis separately, thereby improving the accuracy of the estimated physical distance. It has the advantages of fast calculation speed and applicability to embedded devices.

[0097] In some optional embodiments of this application, the distance generation unit is configured to perform, as follows: Figure 6 The method shown estimates the physical distance y of a set pixel on a target object in the physical ground coordinate system based on the position and orientation of the monocular camera. bar .

[0098] Step S201: Obtain the installation height, pitch angle, and mounting angle of the monocular camera. The mounting angle is the angle between the monocular camera itself and the height of the air-conditioned room. For example... Figure 7 As shown, the installation height of the monocular camera is represented as: H1 = camera_to_ground = 2.6m; the pitch angle is represented as α = camera_high = 67°; and the installation angle is represented as γ = 40°.

[0099] Step S202: Estimate the length of the edge line within the pitch field of view based on the installation height and angle of the monocular camera. For example... Figure 7 As shown, the length of the inner edge of the monocular camera's pitch field of view is the distance between the monocular camera itself (C) and the first intersection point (P1) when the camera is in its lowest downward-looking posture. The first intersection point is the point where the field of view intersects with the ground in the lowest downward-looking posture. Figure 7 As shown, the length of the edge line within the pitch field of view of a monocular camera is denoted as d, where d = H1 × cosγ.

[0100] Step S203: Estimate the half-axis pitch field of view. The half-axis pitch angle is half of the camera's pitch field of view, such as... Figure 7 As shown, the half-axis pitch angle is represented by α0, α0=π / 360; the half-axis pitch field of view a0=H1×π / 360.

[0101] Step S204: Estimate the length of the center line segment of the pitch field of view based on the half-axis pitch angle and the length of the inner edge of the pitch field of view. For example... Figure 7 As shown, an isosceles triangle is constructed with the length d of the inner edge of the monocular camera's pitch field of view as its leg and the pitch angle α as its vertex. The length of the center line segment of the monocular camera's pitch field of view is the length of the height of this isosceles triangle perpendicular to its base. Figure 7 As shown, the length of the center line segment of the pitch field of view is denoted as e, where e = d × cosα0.

[0102] Step S205: Calculate the physical distance mapped along the longitudinal axis based on the length of the edge line within the pitch field of view and the half-axis pitch angle. According to the principle explained above, the angles of a monocular camera and the range of angle variation are constants. Therefore, the physical distance mapped along the longitudinal axis corresponding to half of the pitch angle can be calculated based on the obtained half-axis pitch angle; that is, half the base of the isosceles triangle. For example... Figure 7 As shown, the physical distance of the half-axis mapping is represented by c, c = d × sinα0. The physical distance of the half-axis mapping c can be used as a conversion unit for converting other pixel distances and physical distances.

[0103] Step S206: Obtain the vertical pixel distance of the designated pixel point A1 in the pixel coordinate system. Calculate the pixel distance of the designated pixel point A1 along the vertical axis in the pixel coordinate system. Based on computer graphics conventions, the origin of the pixel coordinate system is set at the top left corner of the image, with the u-axis horizontal and the v-axis vertical. For ease of semi-axis calculation, it can be understood that the origin of the pixel coordinate system is set at the center of the image during the calculations below, and the directions of the u-axis and v-axis remain unchanged (e.g., ...). Figure 8 (As shown). Based on the pixel coordinate system of the graph, the pixel distance of pixel point A1 along the vertical axis in the pixel coordinate system can be expressed as a, where a = 540 - y. a1 When pixel A1 is set as the midpoint of the foot, y a1 =y max That is, a = 540 - y max .

[0104] Step S207: Estimate the mapped physical distance of the set pixel point based on the vertical axis pixel distance, the half-axis mapped physical distance, and the half-axis pixel distance. In the case of... Figure 7 In the pixel coordinate system shown, the vertical pixel distance corresponds to half of the maximum pixel value in the vertical direction, which is 540 pixels. The physical distance 'a' of the mapped pixel is set. bar It can be calculated using the following formula: a bar = a×c / 540, which is to set the physical distance of the projection of pixel A1 onto the base of the isosceles triangle.

[0105] Step S208: Estimate the pitch angle based on the mapped physical distance of the set pixels and the length of the center line segment of the pitch field of view; such as Figure 7 As shown, the pitch angle is denoted as α1, α1 = arctan(a bar / e).

[0106] Step S209: Based on the installation height, half-axis pitch angle, pitch angle, and installation angle of the monocular camera, estimate the physical distance y of the vertical axis component of the set pixel in the physical ground coordinate system. bar y bar =H1×tan(a0-α1+γ).

[0107] In some optional embodiments of this application, the distance generation unit is configured to perform, as follows: Figure 9 The method shown estimates the physical distance of a set pixel on the target object in the horizontal axis component of the physical ground coordinate system based on the vanishing point of the target object and the reference object in the air-conditioned room image.

[0108] Step S301: Extend the line of the set pixel on the target object (e.g., Figure 11 As shown in Lr) and the intersection points generated by the extension lines of several reference objects are used as vanishing points (e.g., Figure 11 (as shown in Vp).

[0109] like Figure 10 The image shown is an example of an air-conditioned room image captured by a monocular camera. The rectangular frame represents the selected target object, and the square tile in the image serves as a reference image. According to computer graphics, when using a monocular camera, in a two-dimensional image of an air-conditioned room from a monocular perspective, all lines parallel to the vertical axis (the direction along the longitudinal axis) converge at the same point – the vanishing point of the air-conditioned room image. The physical distance from each point on these lines parallel to the vertical axis is equal. That is, as shown in the example image, referring to the reference image, the physical distance from a point on the edge of the same tile to the vertical axis is equal, and the physical distance from each point on the extended line of the target object's set pixel to the vertical axis is also equal. Based on this principle, the physical distance of the set pixel on the target object along the horizontal axis in the physical ground coordinate system can be deduced.

[0110] Step S302: Establish a computational coordinate system and calculate the vertical axis of the coordinate system (e.g., ...). Figure 11 (As shown in Y2′) is an image passing through the vanishing point Vp and perpendicular to the air-conditioned room (e.g., ... Figure 11 (As shown in lmg) The perpendicular line along the length direction.

[0111] Step S303: Obtain the horizontal and vertical pixel distances of a set pixel in the pixel coordinate system (o1-x1y1 coordinate system); taking the human foot as an example, i.e. and y max .

[0112] Step S304: Obtain the vanishing point pixel distance b between the vanishing point Vp and the longitudinal edge of the air-conditioned room image away from itself, where b can be obtained by measurement.

[0113] Step S305: Calculate the angle β of the set pixel based on the horizontal axis pixel distance, vertical axis pixel distance, and vanishing pixel distance, such as... Figure 11 As shown, we have: For ease of calculation, in such Figure 9In the method shown, the origin of the pixel coordinate system is at the top left corner of the image, denoted as o1.

[0114] Step S306: Generate a standard reference line in the image of the air-conditioned room (e.g., Figure 11 L s As shown), the standard reference line is the straight line with the least distortion, passing through the extension of a set pixel point on the target object and the extension of several reference objects. For example, it is the line connecting multiple tiles with the least distortion in the horizontal direction. The standard reference line L... s Consider it perpendicular to the vertical axis of the computational coordinate system. Standard reference line L s It can be measured or specified directly.

[0115] Step S307: Obtain the standard reference intersection point between the extension line passing through the set pixel point and the standard reference line (e.g., Figure 11 As shown in M1, the physical distance between the standard reference intersection point M1 and the vertical axis Y2′ of the calculation coordinate system is used as the physical distance of the horizontal axis component of the set pixel point on the target object in the physical ground coordinate system.

[0116] More specifically, the physical distance between the standard reference intersection point M1 and the vertical axis Y2' of the computational coordinate system can be determined by means of... Figure 12 The method shown is used for calculation.

[0117] Step S401: Divide the standard reference line into several length units based on the physical distance of the reference object; for example, in the real world, the edge length of a tile can be 0.6 meters, 0.8 meters, and 1 meter, etc. When the standard reference line includes several tiles, that is, based on the edge length of the tiles, the standard reference line is divided into several length units, and the physical distance of each length unit is recorded as the edge length of the tile.

[0118] Step S402: Obtain the unit pixel distance for the corresponding length unit. The unit pixel distance for the length unit can be obtained by measurement, as shown in the figure. The unit pixel distance is represented as x. tile .

[0119] Step S403: Calculate the ratio of the physical distance per unit length to the distance per unit pixel as the pixel unit, that is, the real physical distance represented by each pixel.

[0120] Step S404: Obtain the pixel distance between the standard reference intersection point and the vertical axis of the calculated coordinate system, such as... Figure 11 As shown, the pixel distance between the standard reference intersection point and the vertical axis of the computational coordinate system is represented as x. pi ;x pi =tanβ×(bb′); where b′ is the pixel distance between the standard reference line and the edge of the air-conditioned room image far from the vanishing point along the length direction, and b′ can be obtained by measurement.

[0121] Step S405: Using pixel units, calculate the pixel distance x between the standard reference intersection point and the vertical axis of the coordinate system. pi Converted to physical distance as the physical distance x of a set pixel on the target object in the physical ground coordinate system. bar .

[0122] In some embodiments of this application, the distance generation unit is further configured to perform distortion correction on the obtained physical distances of the horizontal axis component and the vertical axis component using a neural network. The physical distances of the horizontal axis component and the vertical axis component are recorded as multiple points in a two-dimensional plane. The distance generation unit corrects the positions of these multiple points to obtain the distortion-corrected multiple points, that is, the distortion-corrected physical distances of the horizontal axis component and the vertical axis component.

[0123] In principle, the distortion in images captured by a monocular camera is caused by lens distortion in the optical components. Common types of distortion include... Figure 13 The barrel distortion shown, such as Figure 14 The pincushion distortion shown and as Figure 15 The distortion shown includes beard-shaped distortion, etc. The lenses procured for monocular cameras are fixed, and the distortion is the same. After obtaining the physical distances of the horizontal and vertical axis components, distortion correction is necessary. Generally, distortion is less on the horizontal and vertical axes, and gradually increases with distance from the center point. The correction effect of the traditional Zhang Zhengyou calibration formula deviates significantly from the agreement with measured data. Therefore, in some embodiments of this application, a neural network is constructed using deep learning methods, and the neural network is trained using known points. After inputting the obtained physical distances of the horizontal and vertical axis components into the trained neural network, automatic distortion correction can be performed.

[0124] Specifically, including, for example Figure 17 The following steps are shown:

[0125] Step S501: Obtain the true distance matrix

[0126] To facilitate obtaining real-world coordinate values, such as Figure 16 As shown, with the area directly below the monocular camera as the origin, the two-dimensional field of view of the monocular camera is divided into N squares with a unit length of 0.8 meters; the unit length can also be other sizes. A person stands successively at the vertex of all the squares and takes N images with the monocular camera. The images obtained are then compared with the coordinates of the person's feet (x, y, y). actx ,y actxThe values ​​are associated with x, where x = 1, 2, ..., N; the true distance matrix of each measurement point is obtained, where repeated vertices are recorded only once.

[0127] Step S502: In the N images captured in step S501, the human body is identified and bounded using the target recognition model, and the set pixel points corresponding to the center point of the feet of the rectangle are obtained. The physical distance (x, y) of the set pixel points on the target object in the physical ground coordinate system is estimated for the horizontal axis component and the vertical axis component. prex y prex ), where x = 1, 2, ..., N; obtain the prediction distance matrix for each prediction point.

[0128] Step S503: Obtain the deviation value matrix: The matrix formed by the deviation values ​​of corresponding matrix elements in the true distance matrix and the predicted distance matrix is ​​used as the deviation value matrix D, D = (d x d y ), where d x =x actx -x prex ;d y =y actx -y prex .

[0129] Step S504: Set up the neural network structure and input the bias value matrix. The neural network structure includes the neural network's input_size, hidden_size, output_size, batch_size, input layer function, activation function, and output layer function.

[0130] Step S505: Set the loss function and optimizer for the neural network.

[0131] Step S506: Train the neural network and obtain distortion correction parameters.

[0132] Step S507: Use the trained neural network to perform distortion correction on the obtained physical distances of the horizontal and vertical axis components. The distribution of vertices before and after correction is as follows: Figure 18 As shown.

[0133] The real distance data is collected using a gridding method and combined with the predicted data obtained by the vanishing point method to form training data, thereby eliminating the influence of distortion and further improving detection accuracy, which is especially suitable for wide-angle lenses.

[0134] In some embodiments of this application, the target object is a person. After identifying the relative distance between the target object and the ranging module, an intelligent air conditioning effect is achieved using an air conditioning system. The target object has a certain set height in the height direction of the air-conditioned room. To achieve more precise control of the air conditioning system, for example, to achieve zoned air supply or to activate indoor fans at different locations based on height.

[0135] In some other embodiments of this application, a foot-setting pixel A1 and a head-setting pixel A2 are determined on the target object in an image of an air-conditioned room. The distance generation unit is further configured to estimate the height of the target object based on the physical distance of the foot-setting pixel in the vertical axis component of the physical ground coordinate system, the physical distance of the head-setting pixel in the vertical axis component of the physical ground coordinate system, and the height of the monocular camera.

[0136] As shown in the figure, the height of the target object is represented by line segment A1A2. According to the similarity of triangles, we have:

[0137] A1A2=H1×(a2-a1) / a2

[0138] Where a2 represents the physical distance of the head-set pixel in the vertical axis component of the physical ground coordinate system, and a1 represents the physical distance of the foot-set pixel in the vertical axis component of the physical ground coordinate system.

[0139] In some embodiments of this application, the distance generation unit is configured to estimate the estimated distance between the foot-set pixel and the estimation module itself, and the estimated distance between the foot-set pixel and the estimation module itself is denoted by distance. foot express:

[0140]

[0141] In some embodiments of this application, the distance generation unit is configured to estimate the estimated distance between the set pixel point of the head and the estimated distance of the estimation module itself, and the estimated distance between the set pixel point of the head and the estimated distance of the estimation module itself is denoted by distance. head express:

[0142]

[0143] In some embodiments of this application, the distance generation unit is configured to estimate the head pitch angle and foot pitch angle based on the physical distance of the foot-set pixel in the vertical axis component of the physical ground coordinate system, the installation height of the monocular camera, and the height.

[0144] Head pitch angle is expressed as: angle pitch_head ;angle pitch_head =arctan(a1 / (H1-A1A2));

[0145] The foot pitch angle is expressed as: angle pitch_foo t; angle pitch_foot =arctan(a1 / H1).

[0146] In some embodiments of this application, the distance generation unit is configured to estimate the head heading angle and foot heading angle based on the physical distance of the foot setting pixel in the physical ground coordinate system, which is the horizontal axis component and the vertical axis component.

[0147] The heading angle is expressed as: angle yaw_head ;angle vaw_head =arctan(x head / a1)+π / 2;

[0148] The foot heading angle is represented as: angle yaw_foot ;angle yaw_foot =arctan(x foot / a1)+π / 2.

[0149] The head pitch angle, foot pitch angle, head yaw angle, and foot yaw angle mentioned above are all expressed in radians. (Based on the estimated distance) foot distance head In addition to head pitch angle, foot pitch angle, head yaw angle, and foot yaw angle, the air guide vanes of the air conditioning vents can achieve more precise control, improving user comfort.

[0150] In some embodiments of this application, the distance generation unit in the air conditioning system can also estimate the longitudinal distance between a set pixel on the target object and the ranging module based solely on the position and orientation of the monocular camera. For example, given a fixed air supply angle, the air conditioning system can precisely adjust the indoor fan speed or the compressor operating frequency based on the longitudinal distance. The position and orientation of the monocular camera include its installation height, pitch angle, and mounting angle. The mounting angle is the angle between the monocular camera itself and the height direction of the air-conditioned room. In this application scenario, the ranging module performs the steps shown in the figure. Detailed descriptions of the various steps in the figure are provided above and will not be repeated here.

[0151] In some embodiments of this application, the distance generation unit of the air conditioning system can also estimate the lateral distance between a set pixel on the target object and the ranging module based solely on the vanishing points of the target object and the reference object in the image of the air-conditioned room. For example, it can further adjust the air guide plate of the air outlet to achieve the control objective of airflow following the user or airflow avoiding the user. In this application scenario, the ranging module performs the steps shown in the figure. For a detailed description of the multiple steps in the figure, please refer to the description above, which will not be repeated here.

[0152] 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.

[0153] 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 system, characterized in that, include: The ranging module has the following features: An image acquisition unit, including a monocular camera, is configured to capture images of an air-conditioned room, the images including a target object and a reference object; and Distance generation unit, the distance generation unit being configured as follows: Based on the position and orientation of the monocular camera, the physical distance of the set pixel on the target object in the vertical axis component of the physical ground coordinate system is estimated. Based on the vanishing points of the target object and the reference object in the image of the air-conditioned room, the physical distance of the set pixel point on the target object in the horizontal axis component of the physical ground coordinate system is estimated; Based on the physical distance of the horizontal axis component and the physical distance of the vertical axis component, the estimated distance between the ranging module itself and the target object is estimated. The target objects in the air-conditioned room images were identified using a target detection model. The distance generation unit is configured to perform the following method to estimate the physical distance of a set pixel on the target object in the physical ground coordinate system based on the vanishing points of the target object and a reference object in the air-conditioned room image: The intersection point formed by the extension lines of the pixels set on the target object and the extension lines of several reference objects is used as the vanishing point; Establish a computational coordinate system, wherein the vertical axis of the computational coordinate system is a perpendicular line passing through the vanishing point and perpendicular to the length direction of the air-conditioned room image; Obtain the horizontal and vertical pixel distances of a specified pixel point in the pixel coordinate system; Obtain the vanishing point pixel distance between the vanishing point and the longitudinal edge of the air-conditioned room image that is far from it; The calculated angle of the set pixel point is calculated based on the horizontal axis pixel distance, the vertical axis pixel distance, and the vanishing point pixel distance. A standard reference line is generated in the image of the air-conditioned room. The standard reference line is a straight line that passes through the extension line and has minimal distortion. Obtain the standard reference intersection point; The distance between the standard reference intersection point and the vertical axis of the calculation coordinate system is used as the physical distance of the horizontal axis component of the set pixel point on the target object in the physical ground coordinate system; wherein, the standard reference intersection point is the intersection point between the extension line passing through the set pixel point and the standard reference line.

2. The air conditioning system according to claim 1, characterized in that, The distance generation unit is configured to perform the following method to estimate the physical distance of a set pixel on the target object in the vertical component of the physical ground coordinate system based on the position and orientation of the monocular camera: Obtain the installation height, pitch angle, and installation angle of the monocular camera; wherein, the installation angle is the angle between the monocular camera itself and the height direction of the air-conditioned room, and the pitch angle is the pitch field of view angle of the monocular camera; The length of the edge line within the pitch field of view is estimated based on the installation height and installation angle of the monocular camera. The estimated half-axis pitch angle is half of the camera's pitch field of view; The length of the center line segment of the pitch field of view is estimated based on the half-axis pitch angle and the length of the inner edge of the pitch field of view. Calculate the physical distance of the semi-axis mapping in the longitudinal direction based on the length of the edge line in the pitch field of view and the semi-axis pitch angle; Obtain the vertical pixel distance of a specified pixel in the pixel coordinate system; The mapping physical distance of a set pixel is estimated based on the vertical axis pixel distance, the half-axis mapped physical distance, and the half-axis pixel distance. The pitch angle is estimated based on the mapped physical distance of the set pixel and the length of the center line segment of the pitch field of view. Based on the installation height of the monocular camera, the half-axis pitch angle, the pitch angle, and the installation angle, the physical distance of the set pixel point in the vertical axis component of the physical ground coordinate system is estimated.

3. The air conditioning system according to claim 1, characterized in that, The distance generation unit is further configured to perform the following method to estimate the physical distance of a set pixel on the target object in the physical ground coordinate system based on the vanishing points of the target object and the reference object in the air-conditioned room image: The standard reference line is divided into several length units based on the physical distance to the reference object; Obtain the unit pixel distance corresponding to the given length unit; The ratio of the physical distance per unit length to the distance per unit pixel is used as the pixel unit. Obtain the pixel distance between the standard reference intersection point and the vertical axis of the computational coordinate system; The pixel distance between the standard reference intersection point and the vertical axis of the computational coordinate system is converted into a physical distance using the pixel unit, which is then used as the physical distance of the set pixel point on the target object in the horizontal axis component of the physical ground coordinate system.

4. The air conditioning system according to any one of claims 1 to 3, characterized in that, The distance generation unit is further configured to use a neural network to perform distortion correction on the obtained physical distances of the horizontal axis component and the vertical axis component.

5. The air conditioning system according to claim 4, characterized in that, The target object is a person; The set pixels of the target object include set pixels for the feet and set pixels for the head; The distance generation unit is further configured to: The height of the target object is estimated based on the physical distance of the vertical axis component of the foot-set pixel in the physical ground coordinate system, the physical distance of the vertical axis component of the head-set pixel in the physical ground coordinate system, and the installation height of the monocular camera. And / or, calculate the estimated distance between the foot-set pixel and the ranging module itself based on the physical distance of the vertical axis component of the foot-set pixel in the physical ground coordinate system and the installation height of the monocular camera; And / or, based on the physical distance of the foot-set pixel in the vertical axis component of the physical ground coordinate system, the installation height of the monocular camera, and the height of the target object, calculate the estimated distance between the head-set pixel and the ranging module itself.

6. The air conditioning system according to claim 5, characterized in that, The distance generation unit is further configured to: The head pitch angle is estimated based on the physical distance of the foot-set pixel in the vertical axis component of the physical ground coordinate system, the installation height of the monocular camera, and the height of the target object. And / or, the foot pitch angle is estimated based on the physical distance of the vertical axis component of the foot-set pixel in the physical ground coordinate system and the installation height of the monocular camera.

7. The air conditioning system according to claim 4, characterized in that, The target object is a person; The set pixels of the target object include set pixels for the feet and set pixels for the head; The distance generation unit is further configured to: The head heading angle is estimated based on the physical distance of the foot-set pixel in the vertical axis component of the physical ground coordinate system and the horizontal coordinate of the head-set pixel in the pixel coordinate system. And / or, the foot heading angle is estimated based on the physical distance of the foot-set pixel in the vertical axis component of the physical ground coordinate system and the horizontal coordinate of the foot-set pixel in the pixel coordinate system.

8. An air conditioning system, characterized in that, include: The ranging module has the following features: An image acquisition unit, including a monocular camera, is configured to acquire images of an air-conditioned room by capturing images of a target object and a reference object; and A distance generation unit is configured to perform the following method to estimate the lateral distance between a set pixel on the target object and the ranging module based on the vanishing points of the target object and a reference object in an image of an air-conditioned room: The intersection point formed by the extension lines of the pixels set on the target object and the extension lines of several reference objects is used as the vanishing point; Establish a computational coordinate system, wherein the vertical axis of the computational coordinate system is a perpendicular line passing through the vanishing point and perpendicular to the length direction of the air-conditioned room image; Obtain the horizontal and vertical pixel distances of a specified pixel point in the pixel coordinate system; Obtain the vanishing point pixel distance between the vanishing point and the longitudinal edge of the air-conditioned room image that is far from it; The calculated angle of the set pixel point is calculated based on the horizontal axis pixel distance, the vertical axis pixel distance, and the vanishing point pixel distance. A standard reference line is generated in the image of the air-conditioned room. The standard reference line is a straight line that passes through the extension line and has minimal distortion. Obtain the standard reference intersection point; The distance between the standard reference intersection point and the vertical axis of the calculation coordinate system is taken as the lateral distance between the set pixel point on the target object and the ranging module; wherein, the standard reference intersection point is the intersection point between the extension line passing through the set pixel point and the standard reference line.

Images