Vibration elimination control method and device for improving radar imaging definition and air conditioner

Abstract

The invention provides a vibration elimination control method and device for improving radar imaging definition and an air conditioner, and is applied to the field of air conditioner control. The method comprises the steps that under the condition that target equipment operates, a first vibration signal of the target equipment is obtained; calculating an average vibration amplitude and an average vibration period of the first vibration signal according to the first vibration signal, and generating a second vibration signal based on the average vibration amplitude and the average vibration period; controlling a vibration generator arranged on a vibration elimination device to vibrate based on the second vibration signal so as to reduce the influence of the vibration of the target equipment on target radar imaging; the vibration eliminating device is arranged on the target equipment, the target radar is arranged on the vibration eliminating device, and the target radar is not in direct contact with the target equipment. The vibration elimination control method and device for improving the radar imaging definition and the air conditioner are used for reducing the influence of vibration of the air conditioner on millimeter wave radar imaging so as to improve the imaging definition of the millimeter wave radar arranged on the air conditioner.

Description

Technical Field

[0001] The present application relates to the field of air conditioner control, and in particular to a vibration elimination control method, device and air conditioner for improving radar imaging clarity. Background Art

[0002] As people's living standards continue to improve and the level of intelligence of home appliances continues to increase, smart home appliances are becoming more and more popular. Users can use air conditioners for heating in winter to increase the indoor temperature, and can also use air conditioners for cooling in summer to reduce the indoor temperature.

[0003] In the related technology, a millimeter-wave radar can be installed on the air conditioner, which can monitor the number of people indoors and their body movements, so that the air conditioner can be controlled accordingly according to the number of people indoors and their body movements, so as to improve the user experience.

[0004] However, since the air conditioner will generate high-frequency vibrations during operation, it can affect the imaging clarity of the millimeter-wave radar to a certain extent, reducing the accuracy of the millimeter-wave radar in recognizing the body movements of indoor people, thereby affecting the control of the air conditioner. Summary of the invention

[0005] The purpose of this application is to provide a vibration elimination control method, device and air conditioner for improving radar imaging clarity, which is used to reduce the impact of the vibration of the air conditioner on millimeter-wave radar imaging, so as to improve the imaging clarity of the millimeter-wave radar installed on the air conditioner.

[0006] The present application provides a vibration elimination control method for improving radar imaging clarity, which is applied to a vibration elimination device. The method comprises:

[0007] When the target device is running, a first vibration signal of the target device is obtained; an average vibration amplitude and an average vibration period of the first vibration signal are calculated according to the first vibration signal, and a second vibration signal is generated based on the average vibration amplitude and the average vibration period; based on the second vibration signal, a vibration generator provided on the vibration elimination device is controlled to vibrate so as to reduce the influence of the vibration of the target device on target radar imaging; wherein the vibration elimination device is provided on the target device, the target radar is provided on the vibration elimination device, and the target radar is not in direct contact with the target device.

[0008] Optionally, obtaining the first vibration signal of the target device includes: obtaining vibration information of the target device; the vibration information includes: the vibration amplitude of each vibration, and the vibration period of each vibration; when the vibration information indicates that the vibration amplitude of the target device is greater than a preset amplitude, and / or the vibration frequency of the target device is greater than a preset frequency, performing vibration sampling on the target device through a vibration sensor provided on the vibration elimination device to obtain the first vibration signal; wherein the first vibration signal includes: vibration information of multiple vibrations of the target device.

[0009] Optionally, calculating the average vibration amplitude and average vibration period of the first vibration signal based on the first vibration signal includes: determining the vibration period of each vibration and the vibration amplitude of each vibration in vibration information of multiple vibrations contained in the first vibration signal; calculating the average vibration period based on the vibration period of each vibration, and calculating the average vibration amplitude based on the vibration amplitude of each vibration.

[0010] Optionally, calculating the average vibration period according to the vibration period of each vibration includes: calculating the average vibration period T according to the following formula 1:

[0011]

[0012] Where n is the number of vibration sampling times; T i is the vibration period of each vibration.

[0013] Optionally, the calculating the average vibration amplitude according to the vibration amplitude of each vibration includes: calculating the average vibration amplitude A according to the following formula 2:

[0014]

[0015] Where n is the number of vibration sampling times; A i It is the maximum displacement of each vibration. One vibration includes the displacement at the peak and the displacement at the trough.

[0016] Optionally, generating a second vibration signal based on the average vibration amplitude and the average vibration period includes: generating a sinusoidal wave fitting signal according to the average vibration amplitude and the average vibration period; offsetting the sinusoidal wave fitting signal according to a target offset to obtain the second vibration signal; wherein the target offset is half of the average vibration period; the vibration amplitude of the second vibration signal is the average vibration amplitude, and the vibration period of the second vibration signal is the average vibration period.

[0017] Optionally, generating a second vibration signal based on the average vibration amplitude and the average vibration period includes: generating a vibration wave fitting signal according to the average vibration amplitude, the average vibration period and the average vibration median; offsetting the vibration wave fitting signal according to a target offset to obtain the second vibration signal; wherein the average vibration median is: an average value calculated based on the median of the offset of each vibration; the target offset is half of the average vibration period; the vibration amplitude of the second vibration signal is the average vibration amplitude, and the vibration period of the second vibration signal is the average vibration period.

[0018] Optionally, a linear motor is provided on the vibration generator; a rotating mechanism for adjusting the angle of the linear motor is also provided on the vibration generator; and controlling the vibration of the vibration generator provided on the vibration elimination device based on the second vibration signal comprises: determining the vibration direction of the target device according to the vibration signal of the target device, and determining the rotation angle and rotation direction of the rotating mechanism according to the vibration direction of the target device, and determining the voltage value and frequency value of the input voltage of the linear motor according to the vibration amplitude and vibration period of the second vibration signal; controlling the rotation of the rotating mechanism according to the rotation angle and rotation direction of the rotating mechanism, and controlling the operation of the linear motor according to the voltage value and frequency value of the input voltage; wherein the rotating mechanism is used to keep the vibration direction of the linear motor consistent with the vibration direction of the target device.

[0019] The present application also provides a vibration elimination control device for improving radar imaging clarity, which is applied to a vibration elimination device, and the device comprises:

[0020] An acquisition module is used to acquire a first vibration signal of the target device when the target device is running; a calculation module is used to calculate an average vibration amplitude and an average vibration period of the first vibration signal according to the first vibration signal; a generation module is used to generate a second vibration signal based on the average vibration amplitude and the average vibration period; a control module is used to control the vibration generator provided on the vibration elimination device to vibrate based on the second vibration signal to reduce the influence of the vibration of the target device on the target radar imaging; wherein the vibration elimination device is provided on the target device, the target radar is provided on the vibration elimination device, and the target radar is not in direct contact with the target device.

[0021] Optionally, the acquisition module is specifically used to acquire vibration information of the target device; the vibration information includes: the vibration amplitude of each vibration, and the vibration period of each vibration; the acquisition module is also specifically used to perform vibration sampling on the target device through a vibration sensor provided on the vibration elimination device to obtain the first vibration signal when the vibration information indicates that the vibration amplitude of the target device is greater than a preset amplitude, and / or the vibration frequency of the target device is greater than a preset frequency; wherein the first vibration signal includes: vibration information of multiple vibrations of the target device.

[0022] Optionally, the device also includes: a determination module; the determination module is used to determine the vibration period of each vibration and the vibration amplitude of each vibration in the vibration information of multiple vibrations contained in the first vibration signal; the calculation device is specifically used to calculate the average vibration period according to the vibration period of each vibration, and calculate the average vibration amplitude according to the vibration amplitude of each vibration.

[0023] Optionally, the calculation module is specifically used to calculate the average vibration period T according to the following formula 1:

[0024]

[0025] Where n is the number of vibration sampling times; T i is the vibration period of each vibration.

[0026] Optionally, the calculation module is specifically used to calculate the average vibration amplitude A according to the following formula 2:

[0027]

[0028] Where n is the number of vibration sampling times; A i It is the maximum displacement of each vibration. One vibration includes the displacement at the peak and the displacement at the trough.

[0029] Optionally, the generating module is specifically used to generate a sinusoidal wave fitting signal according to the average vibration amplitude and the average vibration period; the generating module is also specifically used to offset the sinusoidal wave fitting signal according to a target offset to obtain the second vibration signal; wherein the target offset is half of the average vibration period; the vibration amplitude of the second vibration signal is the average vibration amplitude, and the vibration period of the second vibration signal is the average vibration period.

[0030] Optionally, the generating module is specifically used to generate a vibration wave fitting signal according to the average vibration amplitude, the average vibration period and the average vibration median; the generating module is also specifically used to offset the vibration wave fitting signal according to a target offset to obtain the second vibration signal; wherein the average vibration median is: an average value calculated based on the median of the offset of each vibration; the target offset is half of the average vibration period; the vibration amplitude of the second vibration signal is the average vibration amplitude, and the vibration period of the second vibration signal is the average vibration period.

[0031] Optionally, a linear motor is provided on the vibration generator; a rotating mechanism for adjusting the angle of the linear motor is also provided on the vibration generator; the calculation module is further used to determine the vibration direction of the target device according to the vibration signal of the target device, and determine the rotation angle and rotation direction of the rotating mechanism according to the vibration direction of the target device, and determine the voltage value and frequency value of the input voltage of the linear motor according to the vibration amplitude and vibration period of the second vibration signal; the control module is specifically used to control the rotation of the rotating mechanism according to the rotation angle and rotation direction of the rotating mechanism, and control the operation of the linear motor according to the voltage value and frequency value of the input voltage; wherein the rotating mechanism is used to keep the vibration direction of the linear motor consistent with the vibration direction of the target device.

[0032] The present application also provides an air conditioner, on which a vibration elimination device is provided, and the vibration elimination device can implement the steps of any of the above-mentioned vibration elimination control methods for improving radar imaging clarity.

[0033] The present application also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of any of the above-mentioned vibration elimination control methods for improving radar imaging clarity.

[0034] The present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the vibration elimination control method for improving radar imaging clarity as described in any one of the above are implemented.

[0035] The present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the vibration elimination control method for improving radar imaging clarity as described in any one of the above are implemented.

[0036] The vibration elimination control method, device and air conditioner for improving the clarity of radar imaging provided by the present application first obtain the first vibration signal of the target device when the target device is running; then calculate the average vibration amplitude and average vibration period of the first vibration signal according to the first vibration signal, and generate a second vibration signal based on the average vibration amplitude and the average vibration period; finally, control the vibration generator set on the vibration elimination device to vibrate based on the second vibration signal to reduce the influence of the vibration of the target device on the target radar imaging; wherein the vibration elimination device is set on the target device, the target radar is set on the vibration elimination device, and the target radar is not in direct contact with the target device. In this way, the influence of the vibration of the air conditioner on the millimeter-wave radar imaging can be reduced, and the imaging clarity of the millimeter-wave radar set on the air conditioner can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 It is a schematic diagram of the operating principle of the air conditioner provided by this application;

[0039] Figure 2 It is a structural schematic diagram of the vibration elimination device provided by the present application;

[0040] Figure 3 It is a flow chart of a vibration elimination control method for improving radar imaging clarity provided by the present application;

[0041] Figure 4 is a waveform diagram of the vibration wave generated by the vibration of the air conditioner provided in the present application;

[0042] Figure 5 It is a waveform cancellation schematic diagram provided by the present application;

[0043] Figure 6 It is a structural schematic diagram of a vibration elimination control device for improving radar imaging clarity provided by the present application;

[0044] Figure 7 It is a structural schematic diagram of the electronic device provided by this application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0047] The operating principle of the air conditioner involved in the embodiment of the present application is described in detail below:

[0048] like Figure 1 As shown in the figure, the compressor compresses the refrigerant (coolant) and transports it to the condenser through a pipeline. The high-temperature and high-pressure gaseous refrigerant releases heat in the condenser and becomes a medium-temperature and high-pressure liquid refrigerant. After that, the medium-temperature and high-pressure liquid refrigerant is depressurized by a capillary tube (throttling unit) and becomes a low-temperature and low-pressure liquid refrigerant. The low-temperature and low-pressure liquid refrigerant is transported to the evaporator to evaporate from liquid to gas, and absorbs a large amount of heat during the evaporation process. Finally, the low-temperature and low-pressure gaseous refrigerant in the evaporator is transported to the compressor to participate in the next cycle. When the air conditioner is cooling, the heat exchanger of the outdoor unit is the condenser, and the heat exchanger of the indoor unit is the evaporator; conversely, when the air conditioner is heating, the heat exchanger of the outdoor unit is the evaporator, and the heat exchanger of the indoor unit is the condenser.

[0049] The following is a description of the professional terms involved in the embodiments of the present application:

[0050] Millimeter wave radar: It is a new type of wireless communication technology that has developed rapidly in recent years and is also widely used in human body detection. Millimeter wave radar technology transmits millimeter wave signals to the target object and receives its echo signal. It uses the slight changes in weak signals to extract relevant information of the target object, thereby achieving non-contact and non-invasive measurement and identification of the object.

[0051] Based on the above characteristics of millimeter wave radar, its application in human body detection includes the following aspects:

[0052] Health monitoring: By detecting physiological parameters such as heartbeat, breathing, and body temperature of the human body, it is used for health monitoring and disease prevention. For example, in the medical field, the patient's heart or breathing power can be monitored by millimeter-wave radar, which can allow doctors to understand the patient's health status more accurately. Posture recognition: By detecting and identifying human posture, it can be further applied to human motion analysis, posture correction and other fields, which is of great help to people's physical health and exercise effects. For example, in the gym, millimeter-wave radar can be used to detect whether the athlete's posture is accurate, so as to correct the athlete's wrong posture and reduce sports injuries. Human safety detection: Millimeter-wave radar can perform security checks on the human body, identify and detect dangerous goods and thermal energy materials, such as timely discovering people carrying dangerous goods in airports and large public places to ensure safety. In addition, when it is detected that the human body is in poor condition, the millimeter-wave radar can also automatically send a signal to the emergency personnel to obtain emergency help. In short, millimeter-wave radar has many applications in human detection, which can effectively improve people's quality of life and ensure human safety. Due to the development of millimeter-wave radar technology, future applications will also be more extensive and diversified.

[0053] Compared with traditional infrared sensors, millimeter wave radar has the following advantages:

[0054] Low false touch and wide range: Compared with infrared sensor trigger, it reduces the false touch rate and breaks the limitations of mobile monitoring. Millimeter wave radar can realize the presence perception, trajectory tracking and headcount of target personnel within the scope of office scene area. No privacy leakage risk: Compared with cameras, millimeter wave radar does not involve privacy leakage and complies with relevant privacy regulations. It is more suitable for office scenes where it is not convenient to deploy cameras, such as employee office areas, meeting spaces, open spaces, and even highly sensitive places such as toilets and rest areas. Strong environmental adaptability: Compared with infrared sensing equipment that relies on translucent materials such as glass and plastic as the shell, ultrasonic equipment needs to avoid the shortcomings of obstructions when using it, while millimeter wave radar has fewer limiting factors. It does not need to have a specific shape setting like infrared sensors, nor does it need to be installed in a place with a wide viewing angle like smart cameras. It has penetrating characteristics and can be integrated into different devices as a basic hardware to function.

[0055] In the related art, the air conditioner will generate vibration when it is running, and the vibration will affect the imaging clarity of the millimeter-wave radar installed on the air conditioner, and then affect the operation of the air conditioner. For example, the vibration can affect the judgment of the user's body movements, resulting in reduced accuracy in the recognition of the movements, and the function based on body movement recognition is difficult to trigger.

[0056] In view of the above technical problems existing in the related technologies, Figure 2As shown, an embodiment of the present application provides a vibration elimination device, which includes: a vibration sensor, a millimeter wave radar (or other radars), and a vibration generator. The vibration elimination device is arranged on the air conditioner, and the millimeter wave radar is arranged on the vibration elimination device, and the millimeter wave radar does not directly contact the air conditioner.

[0057] Based on Figure 2 The vibration elimination device shown can detect the vibration information of the air conditioner and generate a vibration signal that can offset the vibration of the air conditioner, so as to reduce the influence of the vibration of the air conditioner on the millimeter-wave radar imaging and improve the imaging clarity of the millimeter-wave radar installed on the air conditioner.

[0058] The vibration elimination control method for improving radar imaging clarity provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0059] like Figure 3 As shown, an embodiment of the present application provides a vibration elimination control method for improving radar imaging clarity, and the method may include the following steps 301 to 303:

[0060] Step 301: When a target device is running, obtain a first vibration signal of the target device.

[0061] Exemplarily, the target device may be an electronic device such as an air conditioner, a range hood, or a freezer that can generate vibrations during operation.

[0062] Specifically, the first vibration signal of the target device may be acquired through the following steps, that is, the above step 301 may include the following steps 301a1 and 301a2:

[0063] Step 301a1: Obtain vibration information of the target device.

[0064] Exemplarily, the vibration information includes: the vibration amplitude of each vibration and the vibration period of each vibration.

[0065] Step 301a2: When the vibration information indicates that the vibration amplitude of the target device is greater than a preset amplitude, and / or the vibration frequency of the target device is greater than a preset frequency, the vibration of the target device is sampled by a vibration sensor provided on the vibration elimination device to obtain the first vibration signal.

[0066] The first vibration signal includes: vibration information of multiple vibrations of the target device.

[0067] Exemplarily, the tiny vibrations generated by the target device will not affect the imaging of the target radar. Therefore, when the vibration amplitude of the target device is greater than a preset amplitude, and / or the vibration frequency of the target device is greater than a preset frequency, the vibration elimination device can be triggered to execute the vibration elimination control method in the present application.

[0068] It should be noted that, taking the above-mentioned target device as an air conditioner as an example, the vibration waveform of the air conditioner is similar to a simple harmonic wave, but the time taken for each vibration of the air conditioner (to complete a reciprocating motion) is not exactly the same (that is, the vibration period is different), and the vibration amplitude of each vibration is not exactly the same. Therefore, in order to offset the impact of the vibration of the air conditioner on the target radar imaging, it is necessary to collect the vibration information generated by multiple vibrations and calculate the average vibration amplitude and the average vibration period, so as to generate an anti-phase vibration wave opposite to the vibration wave of the air conditioner based on the average vibration amplitude and the average vibration period, thereby offsetting the vibration generated by the target device.

[0069] Step 302: Calculate an average vibration amplitude and an average vibration period of the first vibration signal according to the first vibration signal, and generate a second vibration signal based on the average vibration amplitude and the average vibration period.

[0070] Exemplarily, the above average vibration amplitude and average vibration period are obtained by averaging the vibration amplitudes and vibration periods included in the vibration information of multiple vibrations collected in the above steps.

[0071] Specifically, the step 302 of calculating the average vibration amplitude and the average vibration period of the first vibration signal according to the first vibration signal may include the following steps 302a and 302b:

[0072] Step 302a: Determine the vibration period and the vibration amplitude of each vibration in the vibration information of multiple vibrations contained in the first vibration signal.

[0073] Step 302b: Calculate the average vibration period according to the vibration period of each vibration, and calculate the average vibration amplitude according to the vibration amplitude of each vibration.

[0074] For example, taking the target device as an air conditioner, Figure 4 As shown in FIG. 1 , it is a waveform diagram of the vibration wave generated when the air conditioner is running. According to the waveform diagram, it can be seen that the amplitude of each cycle of the vibration wave generated when the air conditioner is running is not completely the same, and there are certain differences. Therefore, in order to facilitate the calculation of the anti-phase vibration wave, the average vibration amplitude and average vibration period of multiple vibrations can be calculated, and then the anti-phase vibration wave can be obtained based on the average vibration amplitude and average vibration period.

[0075] Specifically, the above step 302a may include the following steps 302a1:

[0076] Step 302a1, calculating the average vibration period T according to the following formula 1:

[0077]

[0078] Where n is the number of vibration sampling times; T i is the vibration period of each vibration.

[0079] For example, when calculating the above average vibration period, the n vibration periods obtained by n vibration samplings may be directly added together to obtain the average value.

[0080] Specifically, the above step 302b may include the following steps 302b1:

[0081] Step 302b1, calculate the average vibration amplitude A according to the following formula 2

[0082]

[0083] Where n is the number of vibration sampling times; A i It is the maximum displacement of each vibration. One vibration includes the displacement at the peak and the displacement at the trough.

[0084] Exemplarily, when calculating the above average vibration amplitude, in order to make the average vibration amplitude closer to the actual situation, the above average vibration amplitude can be obtained by averaging the sum of squares of 2n vibration amplitudes obtained by n vibration samplings.

[0085] It is understandable that each vibration includes a maximum positive offset and a maximum negative offset. In order to eliminate the influence of positive and negative values, it is necessary to i Take the square root after finding the square.

[0086] Exemplarily, after obtaining the above average vibration amplitude and average vibration period, waveform fitting can be performed based on the average vibration amplitude and average vibration period to obtain a vibration wave with an anti-phase of the original waveform, that is, the above second vibration signal.

[0087] Illustratively, in the embodiment of the present application, the second vibration signal can be obtained in the following two ways.

[0088] Method 1:

[0089] In method 1, a sine wave can be directly fitted according to the average vibration amplitude and the average vibration period, and the second vibration signal can be obtained based on the sine wave.

[0090] Specifically, the generating of the second vibration signal based on the average vibration amplitude and the average vibration period in the above step 302 may include the following steps 302c1 and 302c2:

[0091] Step 302c1: Generate a sinusoidal wave fitting signal according to the average vibration amplitude and the average vibration period.

[0092] Step 302c2: offset the sinusoidal wave fitting signal according to the target offset to obtain the second vibration signal.

[0093] The target offset is half of the average vibration period; the vibration amplitude of the second vibration signal is the average vibration amplitude, and the vibration period of the second vibration signal is the average vibration period.

[0094] Method 2:

[0095] In mode 2, the number of samples of the original waveform (ie, the first vibration signal) can be increased, and a waveform closer to the vibration wave indicated by the first vibration signal can be fitted based on the average vibration amplitude and the average vibration period.

[0096] Specifically, the generating of the second vibration signal based on the average vibration amplitude and the average vibration period in the above step 302 may include the following steps 302d1 and 302d2:

[0097] Step 302d1, generating a vibration wave fitting signal according to the average vibration amplitude, the average vibration period and the average vibration median.

[0098] Step 302d2: offset the vibration wave fitting signal according to the target offset to obtain the second vibration signal.

[0099] Among them, the average vibration median is: an average value calculated based on the median of the offset of each vibration; the target offset is half of the average vibration period; the vibration amplitude of the second vibration signal is the average vibration amplitude, and the vibration period of the second vibration signal is the average vibration period.

[0100] For example, the average vibration median value B can be calculated by the following formula 3:

[0101]

[0102] Wherein, n is the number of vibration sampling times; B is the median displacement of each vibration, and one vibration includes 4 median displacements.

[0103] It should be noted that, in order to offset the vibration generated by the target device, the trough of the second vibration signal needs to correspond to the peak of the first vibration signal, and the peak of the second vibration signal needs to correspond to the trough of the first vibration signal.

[0104] Step 303: Based on the second vibration signal, control the vibration generator provided on the vibration elimination device to vibrate, so as to reduce the influence of the vibration of the target device on the target radar imaging.

[0105] The vibration elimination device is arranged on the target device, the target radar is arranged on the vibration elimination device, and the target radar is not in direct contact with the target device, that is, the target radar is installed on the target device through the vibration elimination device.

[0106] Exemplarily, the target radar may be not only a millimeter wave radar, but also a laser radar, a time of flight (TOF) camera, an infrared sensing device or an RGB camera, etc.

[0107] For example, Figure 5 As shown, by controlling the vibration generator to generate an anti-phase vibration wave (i.e., the second vibration signal), the original vibration wave (i.e., the first vibration signal) generated by the air conditioner can be offset. Figure 5 As shown, the amplitude of the vibration wave after cancellation is very small and it is difficult to affect the imaging of the target radar.

[0108] Optionally, in the embodiment of the present application, in order for the vibration generator to generate an anti-phase vibration wave that can offset the vibration wave generated by the target device, it is necessary to ensure that the vibration direction of the vibration generator is consistent with the vibration direction of the target device.

[0109] Specifically, the vibration generator is provided with a linear motor; the vibration generator is also provided with a rotation mechanism for adjusting the angle of the linear motor. The above step 303 may also include the following steps 303a1 and 303a2:

[0110] Step 303a1, determine the vibration direction of the target device according to the vibration signal of the target device, determine the rotation angle and rotation direction of the rotating mechanism according to the vibration direction of the target device, and determine the voltage value and frequency value of the input voltage of the linear motor according to the vibration amplitude and vibration period of the second vibration signal.

[0111] Step 303a2: Control the rotation of the rotating mechanism according to the rotation angle and rotation direction of the rotating mechanism, and control the operation of the linear motor according to the voltage value and frequency value of the input voltage.

[0112] The rotating mechanism is used to keep the vibration direction of the linear motor consistent with the vibration direction of the target device.

[0113] It should be noted that the above-mentioned rotating mechanism can rotate in any direction to ensure that any vibration generated by the target device can be offset by the vibration elimination device.

[0114] The vibration elimination control method for improving the clarity of radar imaging provided by the embodiment of the present application is as follows: first, when the target device is running, a first vibration signal of the target device is obtained; then, the average vibration amplitude and average vibration period of the first vibration signal are calculated according to the first vibration signal, and a second vibration signal is generated based on the average vibration amplitude and the average vibration period; finally, based on the second vibration signal, the vibration generator set on the vibration elimination device is controlled to vibrate to reduce the influence of the vibration of the target device on the target radar imaging; wherein the vibration elimination device is set on the target device, the target radar is set on the vibration elimination device, and the target radar is not in direct contact with the target device. In this way, the influence of the vibration of the air conditioner on the millimeter-wave radar imaging can be reduced, and the imaging clarity of the millimeter-wave radar set on the air conditioner can be improved.

[0115] It should be noted that the vibration elimination control method for improving radar imaging clarity provided in the embodiment of the present application can be executed by a vibration elimination control device for improving radar imaging clarity, or a control module in the vibration elimination control device for improving radar imaging clarity for executing the vibration elimination control method for improving radar imaging clarity. In the embodiment of the present application, the vibration elimination control method for improving radar imaging clarity performed by the vibration elimination control device for improving radar imaging clarity is taken as an example to illustrate the vibration elimination control device for improving radar imaging clarity provided in the embodiment of the present application.

[0116] It should be noted that, in the embodiments of the present application, the vibration elimination control method for improving the radar imaging clarity shown in the above-mentioned method drawings is illustrated by taking one of the drawings in the embodiments of the present application as an example. In specific implementation, the vibration elimination control method for improving the radar imaging clarity shown in the above-mentioned method drawings can also be implemented in combination with any other drawings that can be combined as shown in the above-mentioned embodiments, which will not be repeated here.

[0117] The vibration elimination control device for improving radar imaging clarity provided by the present application is described below, and the vibration elimination control method for improving radar imaging clarity described below and above can be referenced to each other.

[0118] Figure 6 A schematic diagram of the structure of a vibration elimination control device for improving radar imaging clarity provided by an embodiment of the present application is shown in FIG. Figure 6 As shown, specifically including:

[0119] An acquisition module 601 is used to acquire a first vibration signal of the target device when the target device is running; a calculation module 602 is used to calculate an average vibration amplitude and an average vibration period of the first vibration signal according to the first vibration signal; a generation module 603 is used to generate a second vibration signal based on the average vibration amplitude and the average vibration period; a control module 604 is used to control the vibration generator provided on the vibration elimination device to vibrate based on the second vibration signal so as to reduce the influence of the vibration of the target device on the target radar imaging; wherein the vibration elimination device is provided on the target device, the target radar is provided on the vibration elimination device, and the target radar is not in direct contact with the target device.

[0120] Optionally, the acquisition module 601 is specifically used to acquire vibration information of the target device; the vibration information includes: the vibration amplitude of each vibration, and the vibration period of each vibration; the acquisition module 601 is also specifically used to perform vibration sampling on the target device through a vibration sensor provided on the vibration elimination device to obtain the first vibration signal when the vibration information indicates that the vibration amplitude of the target device is greater than a preset amplitude, and / or the vibration frequency of the target device is greater than a preset frequency; wherein the first vibration signal includes: vibration information of multiple vibrations of the target device.

[0121] Optionally, the device also includes: a determination module; the determination module is used to determine the vibration period of each vibration and the vibration amplitude of each vibration in the vibration information of multiple vibrations contained in the first vibration signal; the calculation device is specifically used to calculate the average vibration period according to the vibration period of each vibration, and calculate the average vibration amplitude according to the vibration amplitude of each vibration.

[0122] Optionally, the calculation module 602 is specifically configured to calculate the average vibration period T according to the following formula 1:

[0123]

[0124] Where n is the number of vibration sampling times; T i is the vibration period of each vibration.

[0125] Optionally, the calculation module 602 is specifically configured to calculate the average vibration amplitude A according to the following formula 2:

[0126]

[0127] Where n is the number of vibration sampling times; A iIt is the maximum displacement of each vibration. One vibration includes the displacement at the peak and the displacement at the trough.

[0128] Optionally, the generating module 603 is specifically used to generate a sinusoidal wave fitting signal according to the average vibration amplitude and the average vibration period; the generating module 603 is also specifically used to offset the sinusoidal wave fitting signal according to a target offset to obtain the second vibration signal; wherein the target offset is half of the average vibration period; the vibration amplitude of the second vibration signal is the average vibration amplitude, and the vibration period of the second vibration signal is the average vibration period.

[0129] Optionally, the generating module 603 is specifically used to generate a vibration wave fitting signal according to the average vibration amplitude, the average vibration period and the average vibration median; the generating module 603 is also specifically used to offset the vibration wave fitting signal according to a target offset to obtain the second vibration signal; wherein the average vibration median is: an average value calculated based on the median of the offset of each vibration; the target offset is half of the average vibration period; the vibration amplitude of the second vibration signal is the average vibration amplitude, and the vibration period of the second vibration signal is the average vibration period.

[0130] Optionally, a linear motor is provided on the vibration generator; a rotating mechanism for adjusting the angle of the linear motor is also provided on the vibration generator; the calculation module 602 is further used to determine the vibration direction of the target device according to the vibration signal of the target device, and to determine the rotation angle and rotation direction of the rotating mechanism according to the vibration direction of the target device, and to determine the voltage value and frequency value of the input voltage of the linear motor according to the vibration amplitude and vibration period of the second vibration signal; the control module 604 is specifically used to control the rotation of the rotating mechanism according to the rotation angle and rotation direction of the rotating mechanism, and to control the operation of the linear motor according to the voltage value and frequency value of the input voltage; wherein the rotating mechanism is used to keep the vibration direction of the linear motor consistent with the vibration direction of the target device.

[0131] The vibration elimination control device for improving the clarity of radar imaging provided by the present application first obtains the first vibration signal of the target device when the target device is running; then, calculates the average vibration amplitude and average vibration period of the first vibration signal according to the first vibration signal, and generates a second vibration signal based on the average vibration amplitude and the average vibration period; finally, controls the vibration generator provided on the vibration elimination device to vibrate based on the second vibration signal to reduce the influence of the vibration of the target device on the target radar imaging; wherein the vibration elimination device is provided on the target device, the target radar is provided on the vibration elimination device, and the target radar is not in direct contact with the target device. In this way, the influence of the vibration of the air conditioner on the millimeter-wave radar imaging can be reduced, and the imaging clarity of the millimeter-wave radar provided on the air conditioner can be improved.

[0132] Figure 7 The physical structure diagram of an electronic device is shown as an example. The electronic device may be the above-mentioned air conditioner. Figure 7 As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute a vibration elimination control method for improving the clarity of radar imaging, the method comprising: obtaining a first vibration signal of the target device when the target device is running; calculating the average vibration amplitude and the average vibration period of the first vibration signal according to the first vibration signal, and generating a second vibration signal based on the average vibration amplitude and the average vibration period; controlling the vibration generator provided on the vibration elimination device to vibrate based on the second vibration signal to reduce the influence of the vibration of the target device on the target radar imaging; wherein the vibration elimination device is provided on the target device, the target radar is provided on the vibration elimination device, and the target radar is not in direct contact with the target device.

[0133] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0134] On the other hand, the present application also provides a computer program product, which includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the vibration elimination control method for improving radar imaging clarity provided by the above-mentioned methods, the method including: when the target device is running, obtaining a first vibration signal of the target device; calculating the average vibration amplitude and the average vibration period of the first vibration signal according to the first vibration signal, and generating a second vibration signal based on the average vibration amplitude and the average vibration period; controlling the vibration generator provided on the vibration elimination device to vibrate based on the second vibration signal to reduce the influence of the vibration of the target device on the target radar imaging; wherein the vibration elimination device is provided on the target device, the target radar is provided on the vibration elimination device, and the target radar is not in direct contact with the target device.

[0135] On the other hand, the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the above-mentioned vibration elimination control methods for improving radar imaging clarity, the method comprising: when the target device is running, obtaining a first vibration signal of the target device; calculating the average vibration amplitude and the average vibration period of the first vibration signal according to the first vibration signal, and generating a second vibration signal based on the average vibration amplitude and the average vibration period; controlling the vibration generator provided on the vibration elimination device to vibrate based on the second vibration signal to reduce the influence of the vibration of the target device on the target radar imaging; wherein the vibration elimination device is provided on the target device, the target radar is provided on the vibration elimination device, and the target radar is not in direct contact with the target device.

[0136] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0137] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0138] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vibration elimination control method for improving radar imaging clarity, characterized in that: Applied to a vibration elimination device, the method comprises: When the target device is running, obtaining a first vibration signal of the target device; calculating an average vibration amplitude and an average vibration period of the first vibration signal according to the first vibration signal, and generating a second vibration signal based on the average vibration amplitude and the average vibration period; Based on the second vibration signal, the vibration generator provided on the vibration elimination device is controlled to vibrate, so as to reduce the influence of the vibration of the target device on the target radar imaging; The vibration elimination device is arranged on the target device, the target radar is arranged on the vibration elimination device, and the target radar is not in direct contact with the target device.

2. The method according to claim 1, characterized in that The obtaining of the first vibration signal of the target device includes: Acquire vibration information of the target device; the vibration information includes: vibration amplitude of each vibration and vibration period of each vibration; When the vibration information indicates that the vibration amplitude of the target device is greater than a preset amplitude, and / or the vibration frequency of the target device is greater than a preset frequency, sampling the vibration of the target device by a vibration sensor provided on the vibration elimination device to obtain the first vibration signal; The first vibration signal includes: vibration information of multiple vibrations of the target device.

3. The method according to claim 1, characterized in that The step of calculating the average vibration amplitude and the average vibration period of the first vibration signal according to the first vibration signal comprises: Determining the vibration period of each vibration and the vibration amplitude of each vibration in the vibration information of multiple vibrations included in the first vibration signal; The average vibration period is calculated according to the vibration period of each vibration, and the average vibration amplitude is calculated according to the vibration amplitude of each vibration.

4. The method according to claim 3, characterized in that The calculating the average vibration period according to the vibration period of each vibration comprises: The average vibration period T is calculated according to the following formula 1: Where n is the number of vibration sampling times; T i is the vibration period of each vibration.

5. The method according to claim 3, characterized in that: Calculating the average vibration amplitude according to the vibration amplitude of each vibration includes: The average vibration amplitude A is calculated according to the following formula 2: Where n is the number of vibration sampling times; A i It is the maximum displacement of each vibration. One vibration includes the displacement at the peak and the displacement at the trough.

6. The method according to any one of claims 3 to 5, characterized in that The generating a second vibration signal based on the average vibration amplitude and the average vibration period comprises: Generate a sine wave fitting signal according to the average vibration amplitude and the average vibration period; offsetting the sinusoidal wave fitting signal according to a target offset to obtain the second vibration signal; The target offset is half of the average vibration period; the vibration amplitude of the second vibration signal is the average vibration amplitude, and the vibration period of the second vibration signal is the average vibration period.

7. The method according to any one of claims 3 to 5, characterized in that The generating a second vibration signal based on the average vibration amplitude and the average vibration period comprises: generating a vibration wave fitting signal according to the average vibration amplitude, the average vibration period and the average vibration median; offsetting the vibration wave fitting signal according to a target offset to obtain the second vibration signal; Among them, the average vibration median is: an average value calculated based on the median of the offset of each vibration; the target offset is half of the average vibration period; the vibration amplitude of the second vibration signal is the average vibration amplitude, and the vibration period of the second vibration signal is the average vibration period.

8. The method according to claim 1, characterized in that: The vibration generator is provided with a linear motor; the vibration generator is also provided with a rotating mechanism for adjusting the angle of the linear motor; The step of controlling the vibration generator provided on the vibration elimination device to vibrate based on the second vibration signal includes: Determining the vibration direction of the target device according to the vibration signal of the target device, determining the rotation angle and rotation direction of the rotating mechanism according to the vibration direction of the target device, and determining the voltage value and frequency value of the input voltage of the linear motor according to the vibration amplitude and vibration period of the second vibration signal; Controlling the rotation of the rotating mechanism according to the rotation angle and the rotation direction of the rotating mechanism, and controlling the operation of the linear motor according to the voltage value and the frequency value of the input voltage; The rotating mechanism is used to keep the vibration direction of the linear motor consistent with the vibration direction of the target device.

9. A vibration elimination control device for improving radar imaging clarity, characterized in that: Applicable to a vibration elimination device, the device comprising: An acquisition module, used for acquiring a first vibration signal of the target device when the target device is running; a calculation module, configured to calculate an average vibration amplitude and an average vibration period of the first vibration signal according to the first vibration signal; A generating module, configured to generate a second vibration signal based on the average vibration amplitude and the average vibration period; A control module, configured to control the vibration generator provided on the vibration elimination device to vibrate based on the second vibration signal, so as to reduce the influence of the vibration of the target device on the target radar imaging; The vibration elimination device is arranged on the target device, the target radar is arranged on the vibration elimination device, and the target radar is not in direct contact with the target device.

10. An air conditioner, characterized in that: The air conditioner is provided with a vibration elimination device, and the vibration elimination device can implement the steps of the vibration elimination control method for improving radar imaging clarity as claimed in any one of claims 1 to 8.

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