Control method of environment adjusting equipment, environment adjusting equipment and storage medium

Abstract

The invention discloses a control method of environment adjusting equipment, the environment adjusting equipment and a storage medium. The method comprises the following steps: acquiring human body motion information in an adjusting space of the environment adjusting equipment; determining movement control parameters of the environment adjusting equipment according to the human body movement information; and controlling the environment adjusting equipment to operate according to the movement control parameters. The invention aims to improve the convenience of mobile control of the environment adjusting equipment and ensure that user requirements are met in time.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental equipment, and in particular to a control method of an environmental conditioning device, an environmental conditioning device and a storage medium. Background Art

[0002] Environmental adjustment devices are more and more widely used in daily life, and their functions are becoming more and more abundant. At present, some environmental adjustment devices can be moved to a desired position to adjust the indoor environment.

[0003] However, when the movable environmental adjustment device needs to be moved to the position required by the user, it can generally only be pushed manually by the user, which is inconvenient to operate and cannot meet the user's needs in a timely manner. Summary of the invention

[0004] The main purpose of the present invention is to provide a control method for an environmental conditioning device, an environmental conditioning device and a storage medium, aiming to improve the convenience of mobile control of the environmental conditioning device and ensure that user needs are met in a timely manner.

[0005] To achieve the above object, the present invention provides a control method for an environment conditioning device, the control method for the environment conditioning device comprising the following steps:

[0006] Acquire human movement information in the space regulated by the environmental regulation device;

[0007] Determining movement control parameters of the environment adjustment device according to the human body movement information;

[0008] The environment adjustment device is controlled to operate according to the movement control parameter.

[0009] Optionally, the human body motion information includes human body action information, and the step of determining the movement control parameter of the environment adjustment device according to the human body motion information includes:

[0010] The movement control parameter is determined according to the human body motion information, and the movement control parameter includes one of the following parameters:

[0011] The environmental adjustment device starts to move;

[0012] The environment adjustment device follows the movement of the human body corresponding to the human body movement information;

[0013] The environmental conditioning device stops moving.

[0014] Optionally, the step of determining the movement control parameter according to the human body motion information includes:

[0015] When the human motion information includes walking motion information, determining the movement control parameter includes the environment adjustment device following the movement of the human body corresponding to the walking motion information.

[0016] Optionally, the step of determining the movement control parameter according to the human body motion information includes:

[0017] When the human body motion information includes hand motion information, one of starting the movement of the environment adjustment device and stopping the movement of the environment adjustment device is determined as the movement control parameter according to the hand motion information.

[0018] Optionally, the step of determining, according to the hand motion information, one of starting the movement of the environment adjustment device and stopping the movement of the environment adjustment device as the movement control parameter comprises:

[0019] When the hand motion information is a waving motion, determining that the environment adjustment device stops moving is the movement control parameter;

[0020] When the hand motion information is a waving motion, determining that the environment adjustment device is turned on is the motion control parameter.

[0021] Optionally, the step of controlling the operation of the environment adjustment device according to the movement control parameter includes:

[0022] When the movement control parameter includes the environment adjustment device following the movement of the human body corresponding to the human body motion information, the environment adjustment device is controlled to follow the movement of the human body so that the distance between the environment adjustment device and the human body reaches a target distance range.

[0023] Optionally, the step of controlling the environment adjustment device to follow the movement of the human body so that the distance between the environment adjustment device and the human body reaches a target distance range includes:

[0024] Acquiring the actual distance between the environment adjustment device and the human body;

[0025] determining a moving speed of the environment conditioning device according to the actual distance and the target distance range;

[0026] The environment adjustment device is controlled to follow the movement of the human body at the moving speed.

[0027] Optionally, the step of controlling the operation of the environment adjustment device according to the movement control parameter includes:

[0028] When the movement control parameter includes the movement of the human body corresponding to the human body movement information followed by the environment adjustment device, obtaining the movement direction of the human body relative to the environment adjustment device or the offset direction of the human body relative to the preset direction of the environment adjustment device;

[0029] Controlling the environment adjustment device to rotate in situ toward the moving direction of the human body or the offset direction;

[0030] The environment adjustment device is controlled to move forward and follow the movement of the human body.

[0031] Optionally, the step of controlling the operation of the environment adjustment device according to the movement control parameter includes:

[0032] When the movement control parameter includes the environment adjustment device following the human body movement corresponding to the human body motion information, if there is no human body information in the detection area of ​​the environment adjustment device, the environment adjustment device is controlled to stop moving and output prompt information.

[0033] In addition, in order to achieve the above-mentioned purpose, the present application also proposes an environment adjustment device, which includes:

[0034] Mobile devices;

[0035] A control device, the mobile device is connected to the control device, the control device includes: a memory, a processor, and a control program of an environmental conditioning device stored in the memory and executable on the processor, the control program of the environmental conditioning device, when executed by the processor, implements the steps of the control method of the environmental conditioning device as described in any one of the above items.

[0036] In addition, in order to achieve the above-mentioned purpose, the present application also proposes a storage medium, on which a control program of an environmental conditioning device is stored. When the control program of the environmental conditioning device is executed by a processor, the steps of the control method of the environmental conditioning device as described in any of the above items are implemented.

[0037] The present invention proposes a control method for an environment conditioning device. The method determines movement control parameters according to human body movement information in an adjustment space of the environment conditioning device to control the operation of the environment conditioning device. In this process, the movement control of the environment conditioning device does not require the user to push it himself, and can move autonomously according to the indoor user's use requirements of the environment conditioning device represented by the identified human body movement information, thereby improving the convenience of the movement control of the environment conditioning device and ensuring that user needs are met in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the hardware structure involved in the operation of an embodiment of an environment adjustment device of the present invention;

[0039] Figure 2 A schematic flow chart of an embodiment of a control method for an environment conditioning device of the present invention;

[0040] Figure 3 A schematic flow chart of another embodiment of a control method for an environment conditioning device of the present invention;

[0041] Figure 4 A flow chart of another embodiment of the control method of the environment conditioning device of the present invention;

[0042] Figure 5 The figure is a flow chart of another embodiment of the control method of the environment conditioning device of the present invention.

[0043] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0045] The embodiment of the present invention provides an environment regulating device, which includes but is not limited to: a mobile air conditioner, a dehumidifier, a humidifier, a heater, an air purifier, an air sterilizer, and any other device used to regulate an indoor environment.

[0046] In the embodiment of the present invention, refer to Figure 1 The environment conditioning device includes a control device 100, a mobile device 200 and an air processing device 300. The air processing device 300 and the mobile device 200 are both connected to the control device 100.

[0047] The air treatment device 300 can be used to treat indoor air to meet the user's environmental requirements. The air treatment device 300 may include one or more of a heat pump system, a humidity control module, a humidification module, a heater, a disinfection module, and the like.

[0048] The mobile device 200 is used for autonomous movement of the environment conditioning device. The mobile device 200 may include casters and a drive module (such as a drive motor, etc.) connected to the casters. The drive module is connected to the control device 100, and the drive module can operate according to the instructions of the control device 100 to drive the operation of the casters.

[0049] Further, see Figure 1The environment adjustment device further includes a human motion recognition device 400, which is used to detect human motion information, and the human motion recognition device 400 is connected to the control device 100. In this embodiment, the human motion recognition device 400 is a video recognition device. In other embodiments, the human motion recognition device 400 may also be other types of devices with human recognition functions, such as radar, etc.

[0050] Further, see Figure 1 The environment conditioning device further includes a distance measuring device 500, which is used to detect the distance between the human body and the environment conditioning device, and the distance measuring device 500 is connected to the control device 100. In this embodiment, the distance measuring device 500 is an ultrasonic distance measuring device. In other embodiments, the distance measuring device 500 may also be other types of devices with distance measuring functions, such as radar.

[0051] In the embodiment of the present invention, refer to Figure 1 The control device 100 of the environmental conditioning device includes: a processor 1001, such as a CPU, a memory 1002, and a timer 1003. Among them, these components are connected and communicated through a communication bus. The memory 1002 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1002 can also be a storage device independent of the aforementioned processor 1001.

[0052] Those skilled in the art will understand that Figure 1 The device structure shown in the figure does not constitute a limitation of the device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0053] like Figure 1 As shown, the memory 1002 as a computer storage medium may include a control program of the environment conditioning device.

[0054] exist Figure 1 In the device shown, the processor 1001 can be used to call the control program of the environmental conditioning device stored in the memory 1002 and execute the relevant step operations of the control method of the environmental conditioning device in the following embodiments.

[0055] An embodiment of the present invention further provides a control method for an environmental conditioning device, which is applied to the above-mentioned environmental conditioning device.

[0056] Reference Figure 2 , an embodiment of a control method of an environmental conditioning device of the present application is proposed. In this embodiment, the control method of the environmental conditioning device includes:

[0057] Step S10, obtaining human body movement information in the space adjusted by the environment adjustment device;

[0058] In this embodiment, the human motion information is obtained by image recognition by the human motion recognition device. In other embodiments, the human motion information can also be detected by a detection module outside the environment adjustment device and located in the space where the environment adjustment device is located.

[0059] After the environment adjustment device is powered on, the human body movement information here can be detected at intervals of a preset time or in real time. Alternatively, when the environment adjustment device is in the environment adjustment state, the human body movement information here can be detected at intervals of a preset time or in real time.

[0060] The human motion information may be the operating state information of the human body as a whole and / or the motion state information of a part of the human body. The human motion information includes human motion information and / or movement information of the human body relative to the environment adjustment device (movement direction and / or movement speed and / or movement distance, etc.) and / or human motion type (e.g., static state and / or moving state, etc.).

[0061] Among them, it can be first identified whether there is a human body in the environment adjustment device space. When a human body exists or when a human body exists and the human body is a target user, the motion state information of the human body can be further identified as human body motion information.

[0062] In this embodiment, multiple scene images continuously captured by the environmental adjustment device are obtained, and it is identified whether there are human body images in the multiple scene images. When human body images exist, position information of key joints in the human body images is identified. The position information of the key joints in the multiple scene images determines a human body posture sequence, and the human body posture sequence is compared with a training model sequence obtained by training image data corresponding to a preset human body posture. The human body posture is identified based on the similarity obtained by the comparison to obtain the human body movement information here.

[0063] Step S20, determining the movement control parameters of the environment adjustment device according to the human body movement information;

[0064] The movement control parameters are specifically related parameters used to control the movement control of the environment adjustment device. The movement control parameters include but are not limited to at least one of the following parameters: start movement, stop movement, follow human movement, movement direction, movement speed, target movement position, etc.

[0065] The correspondence between human motion information and mobile control parameters can be a pre-set fixed correspondence, or user set parameters can be obtained. The correspondence is determined based on the user set parameters. The identity information of the user in the space adjusted by the environmental adjustment device can also be identified, and the correspondence is obtained based on the identity information, and so on.

[0066] The movement control parameter corresponding to the current human body movement information can be determined based on the corresponding relationship between the human body movement information and the movement control parameter.

[0067] Different human body motion information corresponds to different movement control parameters. When the human body motion information includes the first motion, starting movement is determined as the movement control parameter; when the human body motion information includes the second motion, stopping movement is determined as the movement control parameter; when the human body motion information includes the third motion, moving toward the first direction is determined as the movement control parameter; when the human body motion information includes the fourth motion, moving toward the second direction is determined as the movement control parameter.

[0068] Different directions of human body movement correspond to different movement control parameters of the environment adjustment device. When the human body movement direction is a third direction relative to the environment adjustment device, moving toward the third direction is determined as the movement control parameter; when the human body movement direction is a fourth direction relative to the environment adjustment device, moving toward the fourth direction is determined as the movement control parameter.

[0069] Different human body movement speeds correspond to different movement control parameters of the environment adjustment device. The movement speed of the environment adjustment device is determined as the movement control parameter according to the human body movement speed.

[0070] Step S30: Controlling the operation of the environment adjustment device according to the movement control parameter.

[0071] The movement control parameters include that when the movement is turned on, the environment adjustment device can be controlled to move toward the position of the human body or move according to the preset movement parameters.

[0072] The movement control parameters include that when the movement stops, the environment adjustment device can be controlled to stop moving.

[0073] The movement control parameters include controlling the environment adjustment device to move with the human body when the human body moves, controlling the environment adjustment device to move when the human body moves, and controlling the environment adjustment device to stop when the human body stops; or controlling the distance between the environment adjustment device and the human body to be maintained within a target distance range.

[0074] When the movement control parameter includes a movement direction, the environment adjustment device may be controlled to move toward the movement direction.

[0075] When the movement control parameter includes a target movement position, the environment adjustment device may be controlled to move to the target movement position.

[0076] A control method for an environmental conditioning device is proposed in an embodiment of the present invention. The method determines movement control parameters according to human body movement information in an adjustment space of the environmental conditioning device to control the operation of the environmental conditioning device. During this process, the movement control of the environmental conditioning device does not require the user to push it himself, and can adapt to the autonomous movement of indoor users' use needs of the environmental conditioning device represented by the identified human body movement information, thereby improving the convenience of the movement control of the environmental conditioning device and ensuring that user needs are met in a timely manner.

[0077] Furthermore, in this embodiment, the human body motion information recognition process is as follows:

[0078] Obtain the video captured in the human motion recognition device, detect the moving human target in the video, extract the skeleton features of the moving human body, establish a human motion model, track and identify the moving human target through background modeling, record the human motion information and trajectory, and identify the human motion behavior.

[0079] Specifically, the human joint image is obtained from the video depth image, and the human posture is identified by identifying the key points of the human body, such as the position of the head, hand, elbow, shoulder, knee, foot and other key points. Then, based on the human motion feature model, more than 30 key nodes such as knee joints, elbow joints, shoulder joints, hip joints, ankle joints, wrist joints, and finger joints are tracked and segmented, and feature extraction and behavior recognition are performed. Through key point estimation, posture estimation, action recognition, etc., the posture of the human body in three-dimensional space is identified, and the posture here includes information such as the direction, angle, and posture of the human body. Furthermore, the human posture sequence obtained by video analysis is analyzed and continuously tracked, so as to realize the recognition, tracking and analysis of human body movements (such as walking, running, waving, beckoning, etc.), including the use of Kalman filtering technology for posture tracking, combined with time series analysis and deep learning models, such as recurrent neural networks and convolutional neural networks for training. The static features of the human body (including shape, outline, color) are analyzed by the posture estimation method, the motion features of the human body (including speed, acceleration, curvature, trajectory, direction) are analyzed by the bottom tracking method and the optical flow calculation method, the spatiotemporal features (including moment shape, moment information, moment interest points) are analyzed by the image processing method, and the descriptive features (including objects, postures, scenes, attributes) are analyzed by the machine learning method. The air treatment equipment of the present invention obtains the three-dimensional information of multiple joints corresponding to the moving human body through human body detection in the video, human body three-dimensional skeleton analysis, and obtains the main joint information of the left knee joint, right knee joint, single elbow joint, etc. of the human body, selects the characteristic joint angle, and extracts the joint characteristic information quaternion (quaternion is a complex expression of rotation in a three-dimensional space. Quaternion uses the method of numerical transformation and vector rotation to convert a vector in a three-dimensional space into another vector. In terms of describing rotation, quaternion is more intuitive, has higher solution accuracy, faster speed, and is more robust). Taking the knee joint as an example, the quaternion of the joint point in each frame of the image is obtained, and a parameterized time series of feature points is formed, and a posture library is gradually established (thigh top joint, knee joint, ankle joint). The video human motion recognition in the present invention obtains a preset number of frames (for example, 30 frames) of effective video data per second, generates a parameterized time series of feature points, and performs posture recognition analysis based on the posture sequence.

[0080] By intelligently understanding and analyzing human behaviors in the video, the human skeleton and key joints are obtained. By identifying key point information including wrists, elbows, shoulders, heads, hips, knees and ankles, the human skeleton combination is tracked to confirm and identify pedestrian postures and movements, and to analyze and determine whether the human body is walking. Through human body detection and human body 3D skeleton analysis, the main joint information of the left knee joint, right knee joint and elbow joint of the human body is obtained, the characteristic joint angle is selected, and the joint characteristic information quaternion is extracted. Taking the knee joint as an example, the quaternion of the joint point in each frame of the image is obtained, and a parameterized time series of characteristic points is formed. After extracting the quaternion of joint feature information, a posture library is established, and the feature vector test set is compared with the training set. Time series analysis and deep learning models such as recurrent neural networks and convolutional neural networks are combined for training. Model training and parameter optimization are carried out through a large amount of training data. Video structuring technology, motion detection algorithm, image comparison algorithm, human tracking algorithm and other technologies are used to deeply analyze the basic information of human movements in the video, extract corresponding features in the video, and compare them with the training model sequence features, so as to achieve accurate recognition and analysis of human posture, and recognize human walking movements and hand movements. Leg movement recognition focuses on identifying knee joints, ankle joints, and hip joints; hand movements obtain data during hand movement by locating the hand joints such as elbows, wrists, and fingers, and then capture hand movements. In short, classification is carried out according to different needs and scenarios, and appropriate algorithms and models are selected for research and application.

[0081] The present invention detects moving human targets in a video, extracts the underlying features of the moving human body, establishes a human motion model, and identifies human motion behavior. The shoulder joint, knee joint, hip joint, wrist joint, etc. are tracked, and based on the human motion feature model, the motion posture recognition is realized by comparing the features of the training model sequence and the photographed posture model sequence. When the previous set of data is compared with the latter set of data, the human walking motion behavior sequence is viewed as the transition between multiple different states, and the continuous motion of the human body is segmented and recognized. The recognition of the behavior posture is realized by estimating the similarity probability between the input walking motion posture sequence and the state model. By continuously tracking the human posture sequence, the tracking and analysis of the human walking behavior is realized.

[0082] Further, based on the above embodiment, another embodiment of the control method of the environment adjustment device of the present application is proposed. In this embodiment, the human body motion information includes human body action information, referring to Figure 3 , the step S20 comprises:

[0083] Step S21, determining the movement control parameter according to the human body motion information, wherein the movement control parameter includes one of the following parameters:

[0084] Parameter 1, the environmental adjustment device starts moving;

[0085] Parameter 2, the environment adjustment device follows the movement of the human body corresponding to the human body movement information;

[0086] Parameter 3, the environmental conditioning device stops moving.

[0087] The human motion information is specifically motion feature information obtained by identifying human limb motions and / or head motions and / or hand motions.

[0088] Regarding parameter 1, the enabling of movement here specifically refers to enabling the autonomous movement function of the environment adjustment device, and the autonomous movement function specifically refers to the function of the environment adjustment device to adapt to human body movement information and autonomously move. When the autonomous movement function is turned off, the environment adjustment device stops adapting to human body movement information and autonomously moves.

[0089] Regarding parameter 2, the environment adjustment device can detect the position or movement information of the human body in real time, and control the environment adjustment device to follow the movement of the human body according to the information collected in real time.

[0090] Regarding parameter 3, stopping movement may be pausing movement or turning off the autonomous movement function.

[0091] The human body motion information includes different human body motion features, which correspond to the above-mentioned different movement control parameters.

[0092] When the human body motion information includes human limb movements, different types of human body limb movements correspond to the above-mentioned different movement control parameters. For example, when the human body motion information includes the first limb movement, the movement control parameters are determined to include parameter 1; when the human body motion information includes the second limb movement, the movement control parameters are determined to include parameter 2; when the human body motion information includes the third limb movement, the movement control parameters are determined to include parameter 3.

[0093] When the human body motion information includes human body hand motion, different types of human body hand motions correspond to different movement control parameters. For example, when the human body motion information includes the first hand motion, the movement control parameters are determined to include parameter 1; when the human body motion information includes the second hand motion, the movement control parameters are determined to include parameter 2; when the human body motion information includes the third hand motion, the movement control parameters are determined to include parameter 3.

[0094] When the human body motion information includes human head motion, different types of human head motions correspond to different movement control parameters. For example, when the human body motion information includes the first head motion, the movement control parameters are determined to include parameter 1; when the human body motion information includes the second head motion, the movement control parameters are determined to include parameter 2; when the human body motion information includes the third head motion, the movement control parameters are determined to include parameter 3.

[0095] In this embodiment, when the user in the adjustment space of the environmental adjustment device performs different actions, the environmental adjustment device can be controlled to automatically move, start and stop, or follow the movement of the human body. The user does not need to touch the environmental adjustment device, thereby further effectively improving the convenience of the environmental adjustment device in adapting to the user's needs when moving.

[0096] In other embodiments, the movement can be started by the user through a button or a remote control, or the movement can be stopped by the user through a case or a remote control.

[0097] Further, in this embodiment, step S21 includes: when the human motion information includes walking motion information, determining that the movement control parameter includes the environment adjustment device following the human body movement corresponding to the walking motion information.

[0098] The walking motion information includes the motions of a person walking slowly, walking fast, jogging, etc., specifically, the motions of a person's legs crossing each other and moving forward, leftward, or rightward.

[0099] When the human motion information includes walking motion information, movement parameters (such as movement speed and / or movement direction, etc.) can be determined based on the walking motion information, and determining the movement control parameters includes the environment adjustment device following the human body movement corresponding to the walking motion information according to the movement parameters.

[0100] In this embodiment, when the user walks, the environment adjustment device can follow the user to the area where the user is located, thereby ensuring that the adjustment area of ​​the environment adjustment device can accurately meet the user's needs.

[0101] Further, in this embodiment, step S21 includes: when the human motion information includes hand motion information, determining one of starting the movement of the environment adjustment device and stopping the movement of the environment adjustment device as the movement control parameter according to the hand motion information.

[0102] When the hand motion information includes a first hand motion, the environment conditioning device can be controlled to start moving, and when the hand motion information includes a second hand motion, the environment conditioning device can be controlled to stop moving.

[0103] In this embodiment, when the hand motion information is a waving motion, determining that the environmental conditioning device stops moving is the movement control parameter; when the hand motion information is a beckoning motion, determining that the environmental conditioning device starts moving is the movement control parameter. The beckoning motion is an action of moving fingers toward the palm, such as the action of bending two to five fingers of a human hand toward the palm. The waving motion is an action of swinging the palm between a first direction and a second direction, where the first direction and the second direction are two relatively set directions, such as forward and backward directions, left and right directions, and so on.

[0104] For example, waving refers to a waving motion in which a person's palm moves left and right or back and forth, for example, with the palm extended, the back of the hand and the arm approximately 120 degrees, and the palm moving left and right; or with the palm extended, the back of the hand and the arm approximately 120 degrees, and the palm moving back and forth (pushing hands) motion.

[0105] In this embodiment, the user can control the environmental conditioning device to start or stop moving through hand movements, such as waving and beckoning, thereby improving the convenience of the mobile opening and closing control of the environmental conditioning device.

[0106] In other embodiments, when the hand motion information is a waving motion, determining that the environment adjustment device starts moving is the movement control parameter; when the hand motion information is a waving motion, determining that the environment adjustment device stops moving is the movement control parameter.

[0107] Further, in this embodiment, during the execution of step S20, when the autonomous movement function is not turned on, when the human body motion information includes a first hand motion (such as a waving motion), it is determined that turning on the movement is a movement control parameter;

[0108] When the autonomous movement function is turned on and the environment adjustment device is not in a state of following the movement of a human body, when the human body motion information includes walking motion information, determining that the environment adjustment device follows the movement of a human body is a movement control parameter;

[0109] When the autonomous movement function is turned on and the environment adjustment device is in a state of following the movement of the human body, when the human body movement information includes a second hand movement (such as a waving movement), stopping the movement is determined as the movement control parameter.

[0110] Further, based on any of the above embodiments, another embodiment of the control method of the environmental conditioning device of the present application is proposed. Figure 4 , the step S30 comprises:

[0111] Step S31, when the movement control parameter includes the environment adjustment device following the movement of the human body corresponding to the human body movement information, controlling the environment adjustment device to follow the movement of the human body so that the distance between the environment adjustment device and the human body reaches a target distance range.

[0112] The target distance range may be a distance range that needs to be achieved between the air outlet of the environmental conditioning device and the middle area of ​​the human body.

[0113] In this embodiment, the target distance range is a pre-set fixed range, for example, 20 cm to 100 cm, and optionally 30 cm to 60 cm. In other embodiments, the target distance range can also be determined according to the actual operating state of the environmental conditioning device. For example, when the environmental conditioning device is currently operating in cooling mode or heating mode, when the ambient temperature does not reach the set temperature, the minimum critical value of the target distance range here can be determined according to the temperature difference between the ambient temperature and the set temperature. The temperature difference is negatively correlated with the minimum critical value of the target distance range. Based on this, the temperature comfort of the user's movement process can be effectively guaranteed. For another example, when the environmental conditioning device is currently in a purification state, the concentration difference between the pollutant concentration and the set concentration is obtained, and the minimum critical value of the target distance range here is determined according to the concentration difference. The concentration difference is positively correlated with the minimum critical value of the target distance range, so as to effectively ensure the air freshness during the user's movement process.

[0114] In this embodiment, the environmental adjustment device maintains a target distance range while following the movement of the human body, ensuring that the environmental adjustment device is neither too far away from the environmental adjustment device nor too close to the human body, thereby avoiding affecting the user's autonomous activities and following the user's movement in a timely manner without losing the user, thereby ensuring that the movement can accurately meet the user's needs.

[0115] Furthermore, in this embodiment, step S31 includes: obtaining the actual distance between the environmental conditioning device and the human body; determining the moving speed of the environmental conditioning device according to the actual distance and the target distance range; and controlling the environmental conditioning device to follow the human body at the moving speed.

[0116] In an implementation of this embodiment, when the actual distance is greater than the maximum critical value of the target distance range, the first speed is determined as the moving speed; when the actual distance is within the target distance range, the second speed is determined as the moving speed; when the actual distance is less than the minimum critical value of the target distance range, the third speed is determined as the moving speed. The first speed is greater than the second speed, and the second speed is greater than the third speed. In this embodiment, the third speed is 0.

[0117] In another implementation of this embodiment, the moving speed is calculated based on the distance difference between the actual distance and the target distance (mean value, minimum value, or maximum value) within the target distance range.

[0118] In this embodiment, the moving speed of the environmental mobile device following the movement of the human body is determined according to the actual distance and the target distance range, thereby ensuring that the distance between the human body and the environmental adjustment device can accurately reach the target distance range, further ensuring that the movement of the environmental adjustment device matches the user's needs.

[0119] Further, based on any of the above embodiments, another embodiment of the control method of the environmental conditioning device of the present application is proposed. Figure 5 , step S30 comprises:

[0120] Step S301, when the movement control parameter includes the movement of the human body corresponding to the human body movement information followed by the environment adjustment device, obtaining the movement direction of the human body relative to the environment adjustment device or the offset direction of the human body relative to the preset direction of the environment adjustment device;

[0121] Here, the preset direction is specifically the direction pointed by the center line of the detection area of ​​the human motion recognition device.

[0122] Step S302, controlling the environment adjustment device to rotate in situ toward the direction of movement of the human body or the direction of deviation;

[0123] When the direction of movement or offset of the human body is to the left, the environment adjustment device is controlled to rotate in the left direction; when the direction of movement or offset of the human body is to the right, the environment adjustment device is controlled to rotate in the right direction.

[0124] In this embodiment, the angle of rotation of the environment conditioning device is a preset angle. In other embodiments, the angle of rotation of the environment conditioning device can also be determined according to the direction of the current air outlet in the environment conditioning device, the moving speed of the human body, and the deviation angle of the direction of the air outlet relative to the preset direction.

[0125] Step S303: Control the environment adjustment device to move forward and follow the movement of the human body.

[0126] The moving speed of the environment adjustment device during the process of moving forward and following the human body can be determined according to the above step S31 and its refinement. In other embodiments, the moving speed of the environment adjustment device during the process of moving forward and following the human body can also be a fixed speed.

[0127] In this embodiment, the moving direction of the environment conditioning device is controlled in the above manner, thereby ensuring that the moving direction of the environment conditioning device can accurately move toward the human body, ensuring that the movement control of the environment conditioning device accurately meets user needs.

[0128] Further, based on any of the above embodiments, in this embodiment, the step of controlling the operation of the environmental conditioning device according to the mobile control parameters includes: when the mobile control parameters include the environmental conditioning device following the human body movement corresponding to the human body motion information, if there is no human body information in the detection area of ​​the environmental conditioning device, the environmental conditioning device is controlled to stop moving and output a prompt message.

[0129] The detection area here is specifically the effective area recognized by the above-mentioned human motion recognition device. In other embodiments, the detection area also refers to the indoor space regulated by the environment regulation device.

[0130] The prompt information can be output in one or more forms such as sound, light, vibration, message push, etc.

[0131] When human body information exists in the detection area of ​​the environment adjustment device, the environment adjustment device can be controlled to follow the movement of the human body according to the above steps S31 and / or steps S301 to S303, and return to execute the above step S10 during the process of following the movement of the human body.

[0132] In this embodiment, when the environmental adjustment device needs to follow the movement of the human body, and the environmental adjustment device fails to detect human body information, it stops moving and outputs a prompt message, so that the user can promptly discover the abnormality of the following movement of the environmental adjustment device, and the environmental adjustment device will not move to a position that the user does not need at will, thereby facilitating the movement control of the environmental adjustment device while ensuring that the movement of the environmental adjustment device can accurately meet the user's needs.

[0133] In addition, an embodiment of the present invention further proposes a storage medium, on which a control program of an environmental conditioning device is stored. When the control program of the environmental conditioning device is executed by a processor, the relevant steps of any embodiment of the control method of the environmental conditioning device as described above are implemented.

[0134] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0135] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0136] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, an environmental conditioning device, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0137] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A control method for an environmental conditioning device, characterized in that: The control method of the environmental conditioning device comprises the following steps: Acquire human movement information in the space regulated by the environmental regulation device; Determining movement control parameters of the environment adjustment device according to the human body movement information; The environment adjustment device is controlled to operate according to the movement control parameter.

2. The control method of the environmental conditioning device according to claim 1, characterized in that: The human body motion information includes human body action information, and the step of determining the movement control parameter of the environment adjustment device according to the human body motion information includes: The movement control parameter is determined according to the human body motion information, and the movement control parameter includes one of the following parameters: The environmental conditioning device starts to move; The environment adjustment device follows the movement of the human body corresponding to the human body movement information; The environmental conditioning device stops moving.

3. The control method of the environmental conditioning device according to claim 2, characterized in that: The step of determining the movement control parameter according to the human body motion information comprises: When the human motion information includes walking motion information, determining the movement control parameter includes the environment adjustment device following the movement of the human body corresponding to the walking motion information.

4. The control method of the environmental conditioning device according to claim 2, characterized in that: The step of determining the movement control parameter according to the human body motion information comprises: When the human body motion information includes hand motion information, one of starting the movement of the environment adjustment device and stopping the movement of the environment adjustment device is determined as the movement control parameter according to the hand motion information.

5. The control method of the environment conditioning device according to claim 4, characterized in that: The step of determining, according to the hand motion information, one of starting the movement of the environment adjustment device and stopping the movement of the environment adjustment device as the movement control parameter comprises: When the hand motion information is a waving motion, determining that the environment adjustment device stops moving is the movement control parameter; When the hand motion information is a waving motion, determining that the environment adjustment device is turned on is the motion control parameter.

6. The control method of the environment conditioning device according to claim 1, characterized in that: The step of controlling the operation of the environment adjustment device according to the movement control parameter comprises: When the movement control parameter includes the environment adjustment device following the movement of the human body corresponding to the human body motion information, the environment adjustment device is controlled to follow the movement of the human body so that the distance between the environment adjustment device and the human body reaches a target distance range.

7. The control method of the environment conditioning device according to claim 6, characterized in that: The step of controlling the environment adjustment device to follow the movement of the human body so that the distance between the environment adjustment device and the human body reaches a target distance range comprises: Acquiring the actual distance between the environment adjustment device and the human body; determining a moving speed of the environment conditioning device according to the actual distance and the target distance range; The environment adjustment device is controlled to follow the movement of the human body at the moving speed.

8. The control method of the environmental conditioning device according to any one of claims 1 to 7, characterized in that: The step of controlling the operation of the environment adjustment device according to the movement control parameter comprises: When the movement control parameter includes the movement of the human body corresponding to the human body movement information followed by the environment adjustment device, obtaining the movement direction of the human body relative to the environment adjustment device or the offset direction of the human body relative to the preset direction of the environment adjustment device; Controlling the environment adjustment device to rotate in situ toward the moving direction of the human body or the offset direction; The environment adjustment device is controlled to move forward and follow the movement of the human body.

9. The control method of the environmental conditioning device according to any one of claims 1 to 7, characterized in that: The step of controlling the operation of the environment adjustment device according to the movement control parameter comprises: When the movement control parameter includes the environment adjustment device following the human body movement corresponding to the human body motion information, if there is no human body information in the detection area of ​​the environment adjustment device, the environment adjustment device is controlled to stop moving and output prompt information.

10. An environmental conditioning device, characterized in that: The environmental conditioning equipment comprises: Mobile devices; A control device, the mobile device is connected to the control device, the control device comprises: a memory, a processor and a control program of an environmental conditioning device stored in the memory and executable on the processor, the control program of the environmental conditioning device, when executed by the processor, implements the steps of a control method of an environmental conditioning device as described in any one of claims 1 to 9.

11. A storage medium, characterized in that: The storage medium stores a control program of an environmental conditioning device, and when the control program of the environmental conditioning device is executed by a processor, the steps of the control method of the environmental conditioning device according to any one of claims 1 to 9 are implemented.

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