Control method and device of movable air conditioner, storage medium and electronic equipment

Abstract

The invention provides a control method and device for a movable air conditioner, a storage medium and electronic equipment, and the method comprises the steps that a first instruction sent by a user is obtained, the user position of the user is determined according to the first instruction, and a sliding structure is controlled to be in a movable state; an initial environment map is constructed, an initial running route of the movable air conditioner is determined according to the initial environment map and the user position, and the initial environment map is a map of the area where the user and the movable air conditioner are located at the initial position; acquiring the positions of a plurality of objects, and correcting the initial running route according to the positions of all the objects to obtain a target running route; and the movable air conditioner is controlled to move according to the target running route so that the movable air conditioner can run to the user position. According to the method, autonomous movement and working state adjustment of the air conditioner are achieved through a voice recognition system, a sound sensing system, a thermal sensing system and the like, and the use comfort of a user and the control freedom degree of the air conditioner are improved.

Description

Technical Field

[0001] The present application relates to the technical field of household appliances, and in particular to a control method for a portable air conditioner, a control device for a portable air conditioner, a computer-readable storage medium, and an electronic device. Background Art

[0002] For mobile air conditioners, mobility is one of the main characteristics of air conditioners. Currently, the mobile air conditioners circulating on the market are mainly portable. Even though the weight of mobile air conditioners has been greatly reduced compared to traditional cabinet air conditioners, the weight reduction of the air conditioner is still limited due to the weight of the compressor itself, and users still have difficulty in carrying the air conditioner. Summary of the invention

[0003] The main purpose of the present application is to provide a control method for a portable air conditioner, a control device for a portable air conditioner, a computer-readable storage medium and an electronic device, so as to at least solve the problem in the prior art that the portable air conditioner needs to be moved manually, resulting in a poor user experience.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a control method for a mobile air conditioner is provided, wherein a sliding structure is installed at the bottom of the mobile air conditioner, and the method comprises: obtaining a first instruction issued by a user, determining the user position of the user according to the first instruction, and controlling the sliding structure to be in a movable state; constructing an initial environmental map, and determining an initial operating route of the mobile air conditioner according to the initial environmental map and the user position, wherein the initial environmental map is a map of the area where the user and the mobile air conditioner are located when they are at an initial position; obtaining the positions of multiple objects, and correcting the initial operating route according to the positions of all the objects to obtain a target operating route; controlling the mobile air conditioner to move according to the target operating route so that the mobile air conditioner runs to the user position.

[0005] Optionally, the portable air conditioner includes an image acquisition device, which corrects the initial operating route according to the positions of all the objects to obtain a target operating route, including: determining whether the objects are located on the initial operating route according to the positions of all the objects; when some of the objects are located on the initial operating route, determining the objects located on the initial operating route as obstacles; using the image acquisition device to acquire environmental image data, and performing point cloud processing on the environmental image data to obtain a three-dimensional point cloud map; using synchronous positioning and map construction technology to construct a real-time environmental map according to the three-dimensional point cloud map, and determine the real-time position data of the portable air conditioner; using a fast exploration random tree algorithm to determine the target operating route according to the real-time environmental map and the real-time position data.

[0006] Optionally, controlling the mobile air conditioner to move according to the target operating route includes: controlling the mobile air conditioner to move according to the target operating route, and determining whether the mobile air conditioner avoids an obstacle; when the mobile air conditioner avoids the obstacle, repeatedly acquiring the target operating route until the mobile air conditioner avoids the obstacle or the number of route acquisitions reaches a preset number, and the number of route acquisitions is the number of times the target operating route is acquired.

[0007] Optionally, after controlling the mobile air conditioner to move according to the target operating route so that the mobile air conditioner runs to the user's location, the method also includes: obtaining a second instruction issued by the user, the second instruction being one of a voice instruction, a button instruction, and a communication instruction; according to the second instruction, determining the operating parameters of the mobile air conditioner, the operating parameters including at least the operating mode, wind speed, and wind direction of the mobile air conditioner, and the operating mode includes a cooling mode or a heating mode.

[0008] Optionally, the mobile air conditioner is equipped with an infrared sensor. After controlling the mobile air conditioner to move according to the target operating route so that the mobile air conditioner runs to the user's position, the method further includes: using the infrared sensor to collect infrared sensor images, and determining the user infrared image of the user from the infrared sensor image; determining the user's current posture information based on the user infrared image; adjusting the air outlet position of the mobile air conditioner based on the user's current posture information so that the air outlet position of the mobile air conditioner is in a straight line with the center point of the user infrared image, and controlling the mobile air conditioner to be in standby mode.

[0009] Optionally, the first instruction is a voice instruction, and the movable air conditioner is equipped with a sound sensing system, which includes multiple microphones. The sound sensing system obtains the first instruction issued by the user and determines the user position of the user based on the first instruction, including: using the microphone to receive the voice instruction issued by the user to obtain voice data, and the voice data corresponds one-to-one with the microphone; determining the time difference between any two of the microphones receiving the voice data; and calculating the sound source position based on all the time differences to obtain the user position.

[0010] Optionally, a support plate is also installed at the bottom of the movable air conditioner to control the sliding structure to be in a movable state, including: controlling the support plate to open to support the movable air conditioner; when the support plate is opened, controlling the sliding structure to adjust from a parallel retracted state to a vertical open state so that the sliding structure is in a movable state.

[0011] According to another aspect of the present application, a control device for a movable air conditioner is provided, wherein a sliding structure is installed at the bottom of the movable air conditioner, and the device comprises: a first acquisition unit, used to acquire a first instruction issued by a user, determine the user position of the user according to the first instruction, and control the sliding structure to be in a movable state; a construction unit, used to construct an initial environment map, and determine the initial operation route of the movable air conditioner according to the initial environment map and the user position, wherein the initial environment map is a map of the area where the user and the movable air conditioner are located when they are at the initial positions; a second acquisition unit, used to acquire the positions of multiple objects, and correct the initial operation route according to the positions of all the objects to obtain a target operation route; and a control unit, used to control the movable air conditioner to move according to the target operation route so that the movable air conditioner runs to the user position.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the control methods for the mobile air conditioner.

[0013] According to another aspect of the present application, a portable air conditioner is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a control method for executing any one of the portable air conditioners.

[0014] Applying the technical solution of the present application, the control method of the above-mentioned portable air conditioner first obtains the first instruction issued by the user, determines the user position of the user according to the first instruction, and controls the sliding structure to be in a movable state; then constructs an initial environmental map, and determines the initial operation route of the portable air conditioner according to the initial environmental map and the user position, and the initial environmental map is a map of the area where the user and the portable air conditioner are located when they are in the initial position; then obtains the positions of multiple objects, and corrects the initial operation route according to the positions of all objects to obtain the target operation route; finally, controls the portable air conditioner to move according to the target operation route, so that the portable air conditioner runs to the user position. This method can realize autonomous search for the user position according to the user's instructions, and completes the autonomous movement of the air conditioner from the current position to the user's position through the image acquisition system, sound sensing, thermal sensing system, etc., thereby improving the user's comfort and freedom of use, and solving the problem that the portable air conditioner in the prior art needs to be moved manually, resulting in a poor user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for executing a control method for a mobile air conditioner provided in an embodiment of the present application is shown;

[0017] Figure 2 A flow chart of a control method for a mobile air conditioner provided according to an embodiment of the present application is shown;

[0018] Figure 3 The overall structure diagram of a movable air conditioner provided according to an embodiment of the present application is shown;

[0019] Figure 4 A structural diagram of a base of a movable air conditioner provided according to an embodiment of the present application is shown;

[0020] Figure 5 A schematic diagram showing the positions of various systems on the air outlet side of a mobile air conditioner provided according to an embodiment of the present application;

[0021] Figure 6 A schematic diagram of the working logic of an image acquisition system provided according to an embodiment of the present application is shown;

[0022] Figure 7 A schematic flow chart of another method for controlling a mobile air conditioner provided according to an embodiment of the present application is shown;

[0023] Figure 8 A structural block diagram of a control device for a mobile air conditioner provided according to an embodiment of the present application is shown.

[0024] The above drawings include the following reference numerals:

[0025] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] As introduced in the background technology, the mobile air conditioners currently circulated on the market are mainly portable. Even though the weight of mobile air conditioners has been greatly reduced compared to traditional cabinet air conditioners, the weight reduction of the air conditioner is always limited due to the weight of the compressor itself, and users still have difficulty in lifting the air conditioner. In order to solve the problem in the prior art that the portable air conditioner needs to be moved manually, resulting in a poor user experience, the embodiments of the present application provide a control method for a portable air conditioner, a control device for a portable air conditioner, a computer-readable storage medium and an electronic device.

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0031] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a control method for a mobile air conditioner according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0032] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the control method of the portable air conditioner in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0033] In this embodiment, a control method for a portable air conditioner running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0034] Figure 2 FIG. 1 is a flow chart of a control method of a mobile air conditioner according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0035] Step S201, obtaining a first instruction issued by a user, determining a user position of the user according to the first instruction, and controlling the sliding structure to be in a movable state;

[0036] Specifically, a sliding structure, such as a pulley, is installed at the bottom of the movable air conditioner, which is easy to move and carry, improves the portability of the air conditioner, and provides convenience for users.

[0037] The first instruction is a voice instruction, the portable air conditioner is equipped with a sound sensing system, the sound sensing system includes a plurality of microphones, obtaining the first instruction issued by the user, and determining the user position of the user according to the first instruction, including the following steps:

[0038] Step S301, using the microphone to receive the voice command issued by the user to obtain voice data, wherein the voice data corresponds to the microphone one by one;

[0039] Step S302, determining the time difference between any two of the microphones receiving the voice data;

[0040] Step S303: Calculate the sound source position based on all the above time differences to obtain the above user position.

[0041] Specifically, Figure 3 The overall structural diagram of the mobile air conditioner is given. An image acquisition system, a voice recognition system, a sound sensing system, a thermal sensing system, etc. are installed inside the air conditioner. The sound sensing system is used to receive the first instruction issued by the user, so as to automatically and accurately identify the user's position, thereby determining the movement route of the mobile air conditioner.

[0042] Obtaining instructions and locating users through the sound sensing system is based on TDOA technology. TDOA (Time Difference of Arrival) positioning technology is a method of determining the location of a signal source by measuring the time difference between signals arriving at different receivers. There are multiple microphones inside the sound sensing system, and the time difference between the sound arriving at different microphones is used to calculate the location of the sound source.

[0043] The bottom of the movable air conditioner is also provided with a support plate, and the sliding structure is controlled to be in a movable state, which includes the following steps:

[0044] Step S401, controlling the support plate to open to support the movable air conditioner;

[0045] Step S402, when the support plate is opened, controlling the sliding structure to adjust from a parallel retracted state to a vertical open state, so that the sliding structure is in a movable state.

[0046] Specifically, the pulley structure of the movable air conditioner realizes the functions of autonomous movement and adjustment of working state of the air conditioner. Figure 4As shown, a lifting plate and a pulley are designed at the bottom of the air conditioner. When not in operation, the support plate (i.e., the lifting plate) is retracted and the pulley is in a folded state. When the air conditioner receives an instruction, the support plate is lifted to leave rotation space for the pulley, so that the pulley can be unfolded from the folded state. When the pulley rotates to be perpendicular to the ground, the support plate is retracted again.

[0047] Step S202, constructing an initial environment map, and determining an initial operation route of the portable air conditioner according to the initial environment map and the user's position, wherein the initial environment map is a map of the area where the user and the portable air conditioner are located when they are at their initial positions;

[0048] Specifically, the environment map of the room is collected to construct an initial environment map, which provides basic information for subsequent positioning, path planning and decision-making, and improves the efficiency, accuracy and reliability of the system. The environment map can be composed of only a number of straight lines.

[0049] Step S203, obtaining the positions of multiple objects, and correcting the initial running route according to the positions of all the objects to obtain a target running route;

[0050] Specifically, the initial operation route is corrected to improve the precision and accuracy of the operation route, thereby achieving adjustment of the working state of the mobile air conditioner and more effectively improving the user's comfort and the control freedom of the air conditioner.

[0051] The mobile air conditioner includes an image acquisition device, and the initial operation route is corrected according to the positions of all the objects to obtain a target operation route, including the following steps:

[0052] Step S2031, determining whether the object is located on the initial running route according to the positions of all the objects;

[0053] Step S2032, in the case where some of the objects are located on the initial running route, determining the objects located on the initial running route as obstacles;

[0054] Step S2033, using the above-mentioned image acquisition device to acquire environmental image data, and performing point cloud processing on the above-mentioned environmental image data to obtain a three-dimensional point cloud map;

[0055] Step S2034, using a synchronous positioning and map building technology to build a real-time environment map based on the three-dimensional point cloud map, and determine the real-time location data of the portable air conditioner;

[0056] Step S2035, using a fast exploration random tree algorithm, according to the real-time environment map and the real-time location data, to determine the target running route.

[0057] Specifically, when all of the above objects are not located on the above initial operation route, the above initial operation route is determined as the above target operation route; when some of the above objects are located on the above initial operation route, the initial operation route needs to be corrected to obtain the target operation route.

[0058] Among them, some objects located on the initial running route are identified as obstacles. Through the image acquisition system located in front of the air inlet, combined with synchronous positioning and map construction technology and rapid exploration random tree algorithm, obstacles in front of the moving path are identified and avoided.

[0059] There are multiple depth cameras in the image acquisition system. Different cameras shoot the same scene from different angles, calculate the depth information through triangulation, and determine the position of the target object.

[0060] Simultaneous Localization and Mapping (SLAM) is a technology that uses sensor data to build real-time maps and self-positioning. SLAM technology is widely used in unmanned systems, robots, augmented reality and other fields, and can help devices locate and navigate in unknown environments.

[0061] The Rapidly-exploring Random Tree algorithm (RRT) is an algorithm for path planning, especially for motion planning problems in high-dimensional space. The algorithm builds a tree through random sampling and rapid exploration to find the path from the starting point to the target point. The main idea of ​​the RRT algorithm is to select a random point in the node of the tree in each iteration, and expand the tree through local search until a part of the tree is connected to the target point. Through continuous iterations, the RRT algorithm can quickly search for a feasible path in high-dimensional space. The RRT algorithm has good real-time and robustness, and is widely used in robot path planning, autonomous driving and other fields.

[0062] Step S204, controlling the movable air conditioner to move according to the target operation route, so that the movable air conditioner operates to the user's location.

[0063] Specifically, the air conditioner can autonomously move and adjust its working state according to the user's position through voice recognition system, sound sensing, thermal sensing system, etc., which improves the user's comfort and the control freedom of the air conditioner.

[0064] Figure 5The position of each of the above systems on the air outlet side of the movable air conditioner is shown. The air outlet side of the movable air conditioner is provided with a sound sensing system, a thermal sensing system, an image acquisition system and a voice recognition module. When the air conditioner is in standby mode, the user issues a first command. When the voice recognition module receives the first command, the air conditioner support plate rises, the pulley extends and enters a movable state. The air conditioner can locate the user through the sound sensing system and determine the movement route. During the movement, the air conditioner identifies obstacles in front of the movement path through the image acquisition system on the front side of the air inlet. The air conditioner makes autonomous route judgments. If the obstacles can be avoided, the air conditioner will autonomously bypass the obstacles and continue to move. When the obstacles cannot be bypassed, the route will be re-planned. The number of re-planning routes shall not exceed five times. When it reaches five times, the image acquisition system of the air conditioner will be shut down and restored to standby mode and stop working. When the air conditioner reaches the user's location, the air conditioner will find the user's direction through the infrared thermal sensing system and automatically adjust one side of the air outlet to the user's direction.

[0065] Wherein, controlling the above-mentioned movable air conditioner to move according to the above-mentioned target operation route comprises the following steps:

[0066] Step S2041, controlling the movable air conditioner to move according to the target operation route, and determining whether the movable air conditioner avoids obstacles;

[0067] Step S2042, when the movable air conditioner avoids the obstacle, repeatedly obtains the target running route until the movable air conditioner avoids the obstacle or the number of route acquisitions reaches a preset number, where the number of route acquisitions is the number of times the target running route is acquired.

[0068] Specifically, the image acquisition device is used to capture the current visible moving route, and the positioning sensor is used to locate the obstacle in front, and then judge whether the obstacle affects the movement of the air conditioner. When the obstacle is not on the moving air conditioner's moving route, the air conditioner continues to move along the predetermined route; when the obstacle is on the air conditioner's moving route, the air conditioner makes further judgments. If the obstacle can be avoided, it will autonomously bypass the obstacle and continue to move. When the obstacle cannot be bypassed, the route is re-planned. Every time an unavoidable obstacle is encountered, the number of re-planning routes shall not exceed five times. When it reaches five times, the air conditioner image acquisition system is shut down and restored to standby mode, and stops working. The above process is Figure 6 Given, the air conditioner can accurately avoid obstacles and achieve autonomous movement.

[0069] After controlling the movable air conditioner to move according to the target operation route so that the movable air conditioner runs to the user's location, the method further includes the following steps:

[0070] Step S501, obtaining a second instruction issued by the user, wherein the second instruction is one of a voice instruction, a key instruction and a communication instruction;

[0071] Step S502: determining the operating parameters of the portable air conditioner according to the second instruction, wherein the operating parameters at least include the operating mode, wind speed, and wind direction of the portable air conditioner, and the operating mode includes a cooling mode or a heating mode.

[0072] Specifically, when the air conditioner reaches the user's location, the air conditioner finds the user's direction through the infrared thermal sensing system and automatically adjusts one side of the air outlet to the user's direction. At this time, the air conditioner returns to standby mode. The user can manually control the air conditioner through mechanical buttons or issue voice commands. The voice recognition module follows up on the user's commands to convert the air conditioner status, wind speed, and air outlet direction. After being controlled by mechanical control or voice commands, the image acquisition system automatically closes, the support plate is lifted again, and the pulley rotates and folds.

[0073] In addition, when the user is far away from the air conditioner and the sound sensing system cannot collect sound information, the user can issue instructions to the mobile air conditioner through the mobile network.

[0074] The above-mentioned movable air conditioner is equipped with an infrared sensor. After controlling the above-mentioned movable air conditioner to move according to the above-mentioned target operation route so that the above-mentioned movable air conditioner runs to the above-mentioned user position, the above-mentioned method further includes the following steps:

[0075] Step S601, using the infrared sensor to collect infrared sensor images, and determining the user infrared image of the user from the infrared sensor images;

[0076] Step S602, determining the current posture information of the user according to the infrared image of the user;

[0077] Step S603, adjusting the air outlet position of the portable air conditioner according to the current posture information of the user, so that the air outlet position of the portable air conditioner is in a straight line with the center point of the infrared image of the user, and controlling the portable air conditioner to be in a standby state.

[0078] Specifically, by using infrared sensors to collect infrared sensing images, the user's body contour can be identified according to the user's height and posture, and the user's current posture information can be obtained, so as to more accurately adjust one side of the air outlet to the direction of the user, which is more intelligent and provides personalized services.

[0079] The control method of the above-mentioned portable air conditioner of the present application first obtains the first instruction issued by the user, determines the user position of the user according to the first instruction, and controls the sliding structure to be in a movable state; then constructs an initial environmental map, and determines the initial operation route of the portable air conditioner according to the initial environmental map and the user position, the initial environmental map being a map of the area where the user and the portable air conditioner are located when they are in the initial position; then obtains the positions of multiple objects, and corrects the initial operation route according to the positions of all the objects to obtain the target operation route; finally controls the portable air conditioner to move according to the target operation route, so that the portable air conditioner runs to the user position. This method can realize autonomous search for the user position according to the user's instructions, and complete the autonomous movement of the air conditioner from the current position to the user's position through the image acquisition system, the thermal sensing system, etc., thereby improving the user's comfort and freedom of use, and solving the problem that the portable air conditioner in the prior art needs to be moved manually, resulting in a poor user experience.

[0080] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the control method of the portable air conditioner of the present application will be described in detail below in combination with specific embodiments.

[0081] This embodiment relates to a specific control method for a mobile air conditioner, such as Figure 7 As shown, the steps include: when the air conditioner is in the standby state, the user issues a first command, and when the voice recognition module receives the above-mentioned first command, the air conditioner support plate rises, the pulley extends to enter the movable state, and the air conditioner can locate the user through the sound sensing system to determine the movement route; during the movement, the air conditioner identifies the obstacles in front of the movement path through the image acquisition system on the front side of the air inlet, and the air conditioner makes an autonomous route judgment. If the obstacle can be avoided, it will autonomously bypass the obstacle and continue to move. When the obstacle cannot be bypassed, the route is re-planned; the number of re-planning routes shall not exceed five times. When it reaches five times, the image acquisition system of the air conditioner is turned off and restored to the standby state and stops working; when the air conditioner reaches the user's location, the air conditioner finds the user's direction through the infrared thermal sensing system, automatically adjusts one side of the air outlet to the user's direction, and performs secondary voice recognition, and converts the air conditioner state, wind speed, and air outlet direction according to the user's command, and the user can also make manual adjustments; after being controlled by the user's command, the image acquisition system is automatically turned off, the support plate is raised again, the pulley rotates and folds, and returns to the standby state.

[0082] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0083] The embodiment of the present application also provides a control device for a mobile air conditioner. It should be noted that the control device for a mobile air conditioner in the embodiment of the present application can be used to execute the control method for a mobile air conditioner provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0084] The following is an introduction to the control device of the mobile air conditioner provided in the embodiment of the present application.

[0085] Figure 8 Schematic diagram of a control device for a mobile air conditioner according to an embodiment of the present application. Figure 8 As shown, the device includes: a first acquisition unit 10, a construction unit 20, a second acquisition unit 30 and a control unit 40, the first acquisition unit 10 is used to acquire a first instruction issued by a user, and determine the user position of the user according to the first instruction, and control the sliding structure to be in a movable state; the construction unit 20 is used to construct an initial environment map, and determine the initial operation route of the movable air conditioner according to the initial environment map and the user position, and the initial environment map is a map of the area where the user and the movable air conditioner are located when they are at the initial position; the second acquisition unit 30 is used to acquire the positions of multiple objects, and correct the initial operation route according to the positions of all the objects to obtain a target operation route; the control unit 40 is used to control the movable air conditioner to move according to the target operation route, so that the movable air conditioner runs to the user position.

[0086] The control device of the above-mentioned movable air conditioner of the present application includes: a first acquisition unit, a construction unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used to acquire a first instruction issued by a user, and determine the user position of the user according to the first instruction, and control the sliding structure to be in a movable state; the construction unit is used to construct an initial environment map, and determine the initial operation route of the movable air conditioner according to the initial environment map and the user position, and the initial environment map is a map of the area where the user and the movable air conditioner are located when they are at the initial position; the second acquisition unit is used to acquire the positions of multiple objects, and correct the initial operation route according to the positions of all objects to obtain the target operation route; the control unit is used to control the movable air conditioner to move according to the target operation route, so that the movable air conditioner runs to the user position. The device autonomously finds the user position according to the user's instruction, and completes the autonomous movement of the air conditioner from the current position to the user's position through an image acquisition system, a sound sensing system, a thermal sensing system, etc., thereby improving the user's comfort and freedom of use, and solving the problem that the movable air conditioner in the prior art needs to be moved manually, resulting in a poor user experience.

[0087] In some examples, the first acquisition unit includes a first acquisition module, a second acquisition module and a third acquisition module. The first acquisition module is used to use the microphone to receive the voice command issued by the user to obtain voice data, and the voice data corresponds to the microphone one by one. The second acquisition module is used to determine the time difference between any two microphones receiving the voice data. The third acquisition module is used to calculate the sound source position based on all the time differences to obtain the user position. The sound sensing system is used to receive the first command issued by the user, so as to automatically and accurately identify the user position, thereby determining the movement route of the movable air conditioner.

[0088] In some examples, the first acquisition unit further includes a fourth acquisition module and a fifth acquisition module, wherein the fourth acquisition module is used to control the support plate to open to support the movable air conditioner; the fifth acquisition module is used to control the sliding structure to adjust from a parallel stowed state to a vertical open state when the support plate is opened, so that the sliding structure is in a movable state. The pulley structure of the movable air conditioner realizes the functions of autonomous movement of the air conditioner and adjustment of the working state.

[0089] In some examples, the second acquisition unit includes a sixth acquisition module, a seventh acquisition module, an eighth acquisition module, a ninth acquisition module and a tenth acquisition module, the sixth acquisition module is used to determine whether the above-mentioned object is located on the above-mentioned initial operation route according to the positions of all the above-mentioned objects; the seventh acquisition module is used to determine the above-mentioned objects located on the above-mentioned initial operation route as obstacles when some of the above-mentioned objects are located on the above-mentioned initial operation route; the eighth acquisition module is used to use the above-mentioned image acquisition device to acquire environmental image data, and perform point cloud processing on the above-mentioned environmental image data to obtain a three-dimensional point cloud map; the ninth acquisition module is used to use the synchronous positioning and map construction technology to construct a real-time environmental map according to the above-mentioned three-dimensional point cloud map, and determine the real-time position data of the above-mentioned movable air conditioner; the tenth acquisition module is used to use the fast exploration random tree algorithm to determine the above-mentioned target operation route according to the above-mentioned real-time environmental map and the above-mentioned real-time position data. The initial operation route is corrected to improve the precision and accuracy of the operation route.

[0090] In some examples, the control unit includes a first control module and a second control module, the first control module is used to control the above-mentioned movable air conditioner to move according to the above-mentioned target operation route and determine whether the above-mentioned movable air conditioner avoids obstacles; the second control module is used to repeatedly obtain the above-mentioned target operation route when the above-mentioned movable air conditioner avoids the above-mentioned obstacles until the above-mentioned movable air conditioner avoids the above-mentioned obstacles or the number of route acquisitions reaches a preset number, and the number of route acquisitions is the number of times the above-mentioned target operation route is acquired. In this way, the air conditioner can effectively avoid obstacles during movement.

[0091] In some examples, the control unit includes a third control module and a fourth control module, the third control module is used to obtain the second instruction issued by the user, the second instruction is one of a voice instruction, a key instruction and a communication instruction; the fourth control module is used to determine the operating parameters of the movable air conditioner according to the second instruction, the operating parameters at least include the operating mode, wind speed and wind direction of the movable air conditioner, and the operating mode includes a cooling mode or a heating mode. The air conditioner can move autonomously and adjust its working state according to the user's position through a voice recognition system, a sound sensor, a thermal sensor system, etc., thereby improving the user's comfort and the control freedom of the air conditioner.

[0092] In some examples, the control unit further includes a fifth control module, a sixth control module and a seventh control module. The fifth control module is used to collect infrared sensor images using the infrared sensor and determine the user infrared image of the user from the infrared sensor image; the sixth control module is used to determine the current posture information of the user based on the user infrared image; the seventh control module is used to adjust the air outlet position of the movable air conditioner based on the current posture information of the user, so that the air outlet position of the movable air conditioner is in a straight line with the center point of the user infrared image, and the movable air conditioner is controlled to be in standby mode. Based on the infrared sensor, the user position can be more accurately located to improve the user's comfort.

[0093] The control device of the mobile air conditioner includes a processor and a memory. The first acquisition unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0094] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problem that the portable air conditioner in the prior art needs to be moved manually, resulting in a poor user experience.

[0095] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0096] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method of the mobile air conditioner.

[0097] Specifically, the control method of the mobile air conditioner includes:

[0098] Step S201, obtaining a first instruction issued by a user, determining a user position of the user according to the first instruction, and controlling the sliding structure to be in a movable state;

[0099] Specifically, a sliding structure, such as a pulley, is installed at the bottom of the movable air conditioner, which is easy to move and carry, improves the portability of the air conditioner, and provides convenience for users.

[0100] Step S202, constructing an initial environment map, and determining an initial operation route of the portable air conditioner according to the initial environment map and the user's position, wherein the initial environment map is a map of the area where the user and the portable air conditioner are located when they are at their initial positions;

[0101] Specifically, the environment map of the room is collected to construct an initial environment map, which provides basic information for subsequent positioning, path planning and decision-making, and improves the efficiency, accuracy and reliability of the system. The environment map can be composed of only a number of straight lines.

[0102] Step S203, obtaining the positions of multiple objects, and correcting the initial running route according to the positions of all the objects to obtain a target running route;

[0103] Specifically, the initial operation route is corrected to improve the precision and accuracy of the operation route, thereby achieving adjustment of the working state of the mobile air conditioner and more effectively improving the user's comfort and the control freedom of the air conditioner.

[0104] Step S204, controlling the movable air conditioner to move according to the target operation route, so that the movable air conditioner operates to the user's location.

[0105] Specifically, the air conditioner can autonomously move and adjust its working state according to the user's position through voice recognition system, sound sensing, thermal sensing system, etc., which improves the user's comfort and the control freedom of the air conditioner.

[0106] Optionally, the above-mentioned portable air conditioner includes an image acquisition device, which corrects the above-mentioned initial operating route according to the positions of all the above-mentioned objects to obtain a target operating route, including: determining whether the above-mentioned objects are located on the above-mentioned initial operating route according to the positions of all the above-mentioned objects; when some of the above-mentioned objects are located on the above-mentioned initial operating route, the above-mentioned objects located on the above-mentioned initial operating route are determined as obstacles; using the above-mentioned image acquisition device to obtain environmental image data, and performing point cloud processing on the above-mentioned environmental image data to obtain a three-dimensional point cloud map; using synchronous positioning and map construction technology to construct a real-time environmental map according to the above-mentioned three-dimensional point cloud map, and determine the real-time position data of the above-mentioned portable air conditioner; using a fast exploration random tree algorithm to determine the above-mentioned target operating route according to the above-mentioned real-time environmental map and the above-mentioned real-time position data.

[0107] Optionally, controlling the above-mentioned mobile air conditioner to move according to the above-mentioned target operating route includes: controlling the above-mentioned mobile air conditioner to move according to the above-mentioned target operating route, and determining whether the above-mentioned mobile air conditioner avoids the above-mentioned obstacle; in case that the above-mentioned mobile air conditioner avoids the above-mentioned obstacle, repeatedly obtaining the above-mentioned target operating route until the above-mentioned mobile air conditioner avoids the above-mentioned obstacle or the number of route acquisitions reaches a preset number, and the above-mentioned number of route acquisitions is the number of times the above-mentioned target operating route is acquired.

[0108] Optionally, after controlling the above-mentioned movable air conditioner to move according to the above-mentioned target operating route so that the above-mentioned movable air conditioner runs to the above-mentioned user position, the above-mentioned method also includes: obtaining a second instruction issued by the above-mentioned user, the above-mentioned second instruction is one of a voice instruction, a button instruction and a communication instruction; according to the above-mentioned second instruction, determining the operating parameters of the above-mentioned movable air conditioner, the above-mentioned operating parameters at least include the operating mode, wind speed, and wind direction of the above-mentioned movable air conditioner, and the above-mentioned operating mode includes a cooling mode or a heating mode.

[0109] Optionally, the above-mentioned movable air conditioner is equipped with an infrared sensor. After controlling the above-mentioned movable air conditioner to move according to the above-mentioned target operation route so that the above-mentioned movable air conditioner runs to the above-mentioned user position, the above-mentioned method also includes: using the above-mentioned infrared sensor to collect infrared sensor images, and determining the user infrared image of the above-mentioned user from the above-mentioned infrared sensor image; determining the current posture information of the above-mentioned user according to the above-mentioned user infrared image; adjusting the air outlet position of the above-mentioned movable air conditioner according to the above-mentioned user's current posture information, so that the air outlet position of the above-mentioned movable air conditioner is in a straight line with the center point of the above-mentioned user infrared image, and controlling the above-mentioned movable air conditioner to be in standby state.

[0110] Optionally, the first instruction is a voice instruction, and the movable air conditioner is equipped with a sound sensing system, which includes multiple microphones. The first instruction issued by the user is obtained, and the user position of the user is determined based on the first instruction, including: using the microphone to receive the voice instruction issued by the user to obtain voice data, and the voice data corresponds one-to-one with the microphone; determining the time difference between any two of the microphones receiving the voice data; and calculating the sound source position based on all the time differences to obtain the user position.

[0111] Optionally, a support plate is also installed at the bottom of the above-mentioned movable air conditioner to control the above-mentioned sliding structure to be in a movable state, including: controlling the above-mentioned support plate to open to support the above-mentioned movable air conditioner; when the above-mentioned support plate is opened, controlling the above-mentioned sliding structure to adjust from a parallel retracted state to a vertical open state, so that the above-mentioned sliding structure is in a movable state.

[0112] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the control method of the movable air conditioner is executed when the program is run.

[0113] Specifically, the control method of the mobile air conditioner includes:

[0114] Step S201, obtaining a first instruction issued by a user, determining a user position of the user according to the first instruction, and controlling the sliding structure to be in a movable state;

[0115] Specifically, a sliding structure, such as a pulley, is installed at the bottom of the movable air conditioner, which is easy to move and carry, improves the portability of the air conditioner, and provides convenience for users.

[0116] Step S202, constructing an initial environment map, and determining an initial operation route of the portable air conditioner according to the initial environment map and the user's position, wherein the initial environment map is a map of the area where the user and the portable air conditioner are located when they are at their initial positions;

[0117] Specifically, the environment map of the room is collected to construct an initial environment map, which provides basic information for subsequent positioning, path planning and decision-making, and improves the efficiency, accuracy and reliability of the system. The environment map can be composed of only a number of straight lines.

[0118] Step S203, obtaining the positions of multiple objects, and correcting the initial running route according to the positions of all the objects to obtain a target running route;

[0119] Specifically, the initial operation route is corrected to improve the precision and accuracy of the operation route, thereby achieving adjustment of the working state of the mobile air conditioner and more effectively improving the user's comfort and the control freedom of the air conditioner.

[0120] Step S204, controlling the movable air conditioner to move according to the target operation route, so that the movable air conditioner operates to the user's location.

[0121] Specifically, the air conditioner can autonomously move and adjust its working state according to the user's position through voice recognition system, sound sensing, thermal sensing system, etc., which improves the user's comfort and the control freedom of the air conditioner.

[0122] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0123] Step S201, obtaining a first instruction issued by a user, determining a user position of the user according to the first instruction, and controlling the sliding structure to be in a movable state;

[0124] Specifically, a sliding structure, such as a pulley, is installed at the bottom of the movable air conditioner, which is easy to move and carry, improves the portability of the air conditioner, and provides convenience for users.

[0125] Step S202, constructing an initial environment map, and determining an initial operation route of the portable air conditioner according to the initial environment map and the user's position, wherein the initial environment map is a map of the area where the user and the portable air conditioner are located when they are at their initial positions;

[0126] Specifically, the environment map of the room is collected to construct an initial environment map, which provides basic information for subsequent positioning, path planning and decision-making, and improves the efficiency, accuracy and reliability of the system. The environment map can be composed of only a number of straight lines.

[0127] Step S203, obtaining the positions of multiple objects, and correcting the initial running route according to the positions of all the objects to obtain a target running route;

[0128] Specifically, the initial operation route is corrected to improve the precision and accuracy of the operation route, thereby achieving adjustment of the working state of the mobile air conditioner and more effectively improving the user's comfort and the control freedom of the air conditioner.

[0129] Step S204, controlling the movable air conditioner to move according to the target operation route, so that the movable air conditioner operates to the user's location.

[0130] Specifically, the air conditioner can autonomously move and adjust its working state according to the user's position through voice recognition system, sound sensing, thermal sensing system, etc., which improves the user's comfort and the control freedom of the air conditioner.

[0131] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0132] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0133] Step S201, obtaining a first instruction issued by a user, determining a user position of the user according to the first instruction, and controlling the sliding structure to be in a movable state;

[0134] Specifically, a sliding structure, such as a pulley, is installed at the bottom of the movable air conditioner, which is easy to move and carry, improves the portability of the air conditioner, and provides convenience for users.

[0135] Step S202, constructing an initial environment map, and determining an initial operation route of the portable air conditioner according to the initial environment map and the user's position, wherein the initial environment map is a map of the area where the user and the portable air conditioner are located when they are at their initial positions;

[0136] Specifically, the environment map of the room is collected to construct an initial environment map, which provides basic information for subsequent positioning, path planning and decision-making, and improves the efficiency, accuracy and reliability of the system. The environment map can be composed of only a number of straight lines.

[0137] Step S203, obtaining the positions of multiple objects, and correcting the initial running route according to the positions of all the objects to obtain a target running route;

[0138] Specifically, the initial operation route is corrected to improve the precision and accuracy of the operation route, thereby achieving adjustment of the working state of the mobile air conditioner and more effectively improving the user's comfort and the control freedom of the air conditioner.

[0139] Step S204, controlling the movable air conditioner to move according to the target operation route, so that the movable air conditioner operates to the user's location.

[0140] Specifically, the air conditioner can autonomously move and adjust its working state according to the user's position through voice recognition system, sound sensing, thermal sensing system, etc., which improves the user's comfort and the control freedom of the air conditioner.

[0141] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0142] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0143] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0144] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0145] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0146] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0147] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0148] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0149] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0150] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0151] 1) The control method of the above-mentioned portable air conditioner of the present application first obtains the first instruction issued by the user, determines the user position of the user according to the first instruction, and controls the sliding structure to be in a movable state; then constructs an initial environmental map, and determines the initial operation route of the portable air conditioner according to the initial environmental map and the user position, and the initial environmental map is a map of the area where the user and the portable air conditioner are located when they are in the initial position; then obtains the positions of multiple objects, and corrects the initial operation route according to the positions of all objects to obtain the target operation route; finally controls the portable air conditioner to move according to the target operation route, so that the portable air conditioner runs to the user position. This method can realize autonomous search for the user position according to the user's instructions, and complete the autonomous movement of the air conditioner from the current position to the user's position through the image acquisition system, sound sensing, thermal sensing system, etc., improves the user's comfort and freedom of use, and solves the problem that the portable air conditioner in the prior art needs to be moved manually, resulting in poor user experience.

[0152] 2) The control device of the above-mentioned movable air conditioner of the present application includes: a first acquisition unit, a construction unit, a second acquisition unit and a control unit. The first acquisition unit is used to acquire the first instruction issued by the user, determine the user position of the user according to the first instruction, and control the sliding structure to be in a movable state; the construction unit is used to construct an initial environment map, and determine the initial operation route of the movable air conditioner according to the initial environment map and the user position. The initial environment map is a map of the area where the user and the movable air conditioner are located when they are in the initial position; the second acquisition unit is used to acquire the positions of multiple objects, and correct the initial operation route according to the positions of all objects to obtain the target operation route; the control unit is used to control the movable air conditioner to move according to the target operation route, so that the movable air conditioner runs to the user position. The device autonomously finds the user position according to the user's instruction, and completes the autonomous movement of the air conditioner from the current position to the user's position through the image acquisition system, sound sensing, thermal sensing system, etc., which improves the user's comfort and freedom of use, and solves the problem that the movable air conditioner in the prior art needs to be moved manually, resulting in poor user experience.

[0153] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a mobile air conditioner, characterized in that: The bottom of the movable air conditioner is provided with a sliding structure, and the method comprises: Acquire a first instruction issued by a user, determine a user position of the user according to the first instruction, and control the sliding structure to be in a movable state; Constructing an initial environment map, and determining an initial operation route of the portable air conditioner according to the initial environment map and the user's position, wherein the initial environment map is a map of the area where the user and the portable air conditioner are located when they are at an initial position; Acquire the positions of multiple objects, and modify the initial running route according to the positions of all the objects to obtain a target running route; The movable air conditioner is controlled to move according to the target operation route so that the movable air conditioner operates to the user's location.

2. The method according to claim 1, characterized in that The portable air conditioner includes an image acquisition device, The initial running route is corrected according to the positions of all the objects to obtain a target running route, including: Determining whether the object is located on the initial running route according to the positions of all the objects; In the case where part of the objects are located on the initial operation route, determining the objects located on the initial operation route as obstacles; Acquire environmental image data using the image acquisition device, and perform point cloud processing on the environmental image data to obtain a three-dimensional point cloud map; Using synchronous positioning and map building technology to build a real-time environmental map based on the three-dimensional point cloud map, and determine the real-time location data of the mobile air conditioner; A fast exploration random tree algorithm is used to determine the target running route according to the real-time environment map and the real-time position data.

3. The method according to claim 1, characterized in that Controlling the movable air conditioner to move according to the target operation route includes: controlling the movable air conditioner to move according to the target operation route, and determining whether the movable air conditioner avoids obstacles; In the case where the mobile air conditioner avoids the obstacle, the target running route is repeatedly obtained until the mobile air conditioner avoids the obstacle or the route is obtained a preset number of times, where the route is obtained a preset number of times.

4. The method according to claim 1, characterized in that: After controlling the movable air conditioner to move according to the target operation route so that the movable air conditioner operates to the user's location, the method further includes: Acquire a second instruction issued by the user, where the second instruction is one of a voice instruction, a key instruction, and a communication instruction; According to the second instruction, the operating parameters of the portable air conditioner are determined, and the operating parameters at least include the operating mode, wind speed, and wind direction of the portable air conditioner, and the operating mode includes a cooling mode or a heating mode.

5. The method according to claim 1, characterized in that The movable air conditioner is equipped with an infrared sensor. After controlling the movable air conditioner to move according to the target operation route so that the movable air conditioner operates to the user's location, the method further includes: Using the infrared sensor to collect infrared sensing images, and determining a user infrared image of the user from the infrared sensing images; Determining current posture information of the user according to the infrared image of the user; The air outlet position of the portable air conditioner is adjusted according to the current posture information of the user so that the air outlet position of the portable air conditioner is aligned with the center point of the infrared image of the user, and the portable air conditioner is controlled to be in a standby state.

6. The method according to claim 1, characterized in that The first instruction is a voice instruction, the portable air conditioner is equipped with a sound sensing system, the sound sensing system includes a plurality of microphones, the first instruction issued by the user is acquired, and the user position of the user is determined according to the first instruction, including: Using the microphone to receive the voice command issued by the user to obtain voice data, wherein the voice data corresponds to the microphone one by one; Determine the time difference between any two microphones receiving the voice data; According to all the time differences, the sound source position is calculated to obtain the user position.

7. The method according to claim 1, characterized in that The bottom of the movable air conditioner is also equipped with a support plate to control the sliding structure to be in a movable state, including: Controlling the support plate to open so as to support the movable air conditioner; When the support plate is opened, the sliding structure is controlled to be adjusted from a parallel retracted state to a vertical open state, so that the sliding structure is in a movable state.

8. A control device for a mobile air conditioner, characterized in that: The movable air conditioner is provided with a sliding structure at the bottom, and the device comprises: A first acquisition unit, configured to acquire a first instruction issued by a user, determine a user position of the user according to the first instruction, and control the sliding structure to be in a movable state; A construction unit, configured to construct an initial environment map, and determine an initial operation route of the portable air conditioner according to the initial environment map and the user's position, wherein the initial environment map is a map of an area where the user and the portable air conditioner are located when they are at an initial position; A second acquisition unit is used to acquire positions of multiple objects, and to correct the initial running route according to the positions of all the objects to obtain a target running route; A control unit is used to control the movable air conditioner to move according to the target operation route so that the movable air conditioner can operate to the user's location.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method of the mobile air conditioner according to any one of claims 1 to 7.

10. A portable air conditioner, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing the control method of the mobile air conditioner described in any one of claims 1 to 7.

Images