Human body sensing and energy-saving control method for terminal device of variable air volume air conditioning system

Abstract

The application discloses a kind of variable air volume air conditioning system terminal device human response and energy-saving control method, it is related to air conditioning control technical field, including variable air volume terminal controller and human response device, air volume terminal controller includes terminal regulating module and control module, and terminal regulating module is preset with minimum working threshold;The human response device includes: infrared temperature measurement unit, obtains multiple sets of temperature data of corresponding area by time series, and uploads multiple sets of temperature data to control module;Distance identification unit periodically carries out distance measurement to area by multiple ranging channels to obtain multiple ranging values, and each ranging value obtained each time is added timestamp and uploaded to control module.The application realizes the accurate detection of indoor personnel activity by the collaborative perception of infrared temperature measurement unit and distance identification unit, combined with time series analysis and spatial coordinate matching.Compared with traditional single infrared sensing or simple thermal imaging scheme.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of air conditioner control, in particular to a human body sensing and energy-saving control method for terminal device of variable air volume air conditioning system. BACKGROUND

[0002] Variable air volume air conditioning system is a central air conditioning system in which air is uniformly supplied by air cabinet and air volume is adjusted by terminal device. It is a full air conditioning system that adjusts indoor temperature by changing air supply. The variable air volume air conditioning system is composed of air handling unit, air supply system, terminal device and automatic control device. The terminal device and the automatic control device are the key equipment of the variable air volume system. They can receive the instructions of the room temperature regulator and automatically adjust the air supply according to the room temperature to meet the demand of indoor load.

[0003] The main energy consumption of the system comes from the operation of the air cabinet fan. Therefore, how to reduce the energy consumption of the air cabinet is the key to the energy saving of the variable air volume air conditioning system. Therefore, the reasonable operation of the variable air volume terminal device is the fundamental of reducing the energy consumption of the air cabinet.

[0004] According to the search, a variable air volume air conditioning pressure independent type terminal device control system and method are disclosed in Chinese patent (publication number: CN103353161B). The temperature sensor detects the temperature of the controlled object environment to obtain the temperature measured value. The first controller outputs the first control signal based on the mathematical model determined by Lyapunov stability theory. The temperature controller compares the temperature measured value with the set temperature to obtain the temperature difference value, and performs operation according to the temperature difference value and the first control signal, and outputs the adjustment signal according to the operation result. The output air volume of the variable air volume terminal is adjusted according to the adjustment signal.

[0005] In the prior art, the terminal device controls the opening of the air valve by modifying the set temperature and collecting the measured temperature, which affects the flow air volume of the terminal and thus affects the overall air supply of the system to change the operating frequency of the air cabinet. In daily use, the central air conditioning system almost never operates at full load, that is, there will always be no one in the air conditioning use area. However, due to the absence of human intervention, the set temperature will always remain at a low temperature, resulting in a high air supply of the terminal, and the air cabinet almost operates at a high frequency all day long. The existence of exhaust air also leads to the waste of chilled water.

[0006] And the current variable air volume air conditioning control system, in view of the above situation, generally has two kinds of solving methods, one is through setting human body sensing device mode to detect the personnel activity situation in the area, when monitoring no personnel activity, output signal, and according to the system month preset program to issue control instruction to improve the set temperature, this method needs to rely on the field equipment network, the human body sensing device and variable air volume terminal device are connected, at the same time, the preset program in the host computer software can realize the process from receiving signal to issuing signal, when network problem or host computer equipment failure, it can not be realized, two is directly through the variable air volume terminal device field control panel button to realize, need to be operated by artificial switching. The above two methods cannot have the characteristics of reliable stability and automation at the same time, therefore, the present application proposes a kind of variable air volume air conditioning system terminal device human body sensing and energy saving control method. SUMMARY

[0007] The present application provides a kind of variable air volume air conditioning system terminal device human body sensing and energy saving control method to solve the problems mentioned in the above background art.

[0008] The present application can be realized by the following technical scheme: a kind of variable air volume air conditioning system terminal device human body sensing and energy saving control method, including variable air volume terminal controller and human body sensing device, and variable air volume terminal controller includes terminal adjustment module and control module;

[0009] The human body sensing device includes infrared temperature measurement unit and distance identification unit;

[0010] The infrared temperature measurement unit obtains a plurality of temperature data of the corresponding area by time series, and uploads the plurality of temperature data to the control module, wherein the temperature data includes temperature value and temperature distribution of the corresponding area;

[0011] The control module calculates the temperature matrix in the corresponding area after receiving each temperature data, to extract the temperature profile of each object in the corresponding area, to distinguish different objects and their temperature change characteristics, and the control module identifies the dynamic change of each object temperature profile based on time series, to obtain the motion trajectory of the corresponding object;

[0012] The distance identification unit periodically measures the distance of the area through a plurality of ranging channels to obtain a plurality of ranging values, and the distance identification unit uses ToF for ranging when ranging, and the distance identification unit uploads each ranging value added with a time stamp to the control module each time;

[0013] The control module establishes a space coordinate system based on each ranging value with the same time stamp each time the ranging value is received, to represent the object distribution in the corresponding area;

[0014] And the control module judges the personnel activity in the corresponding area by analyzing the motion trajectory of each object in the corresponding area and the dynamic change of each space coordinate system in the time sequence;

[0015] The end regulation module is preset with a minimum working threshold, and when the end regulation module is adjusted to the minimum working threshold, the minimum fresh air demand of the corresponding area is ensured, and the air volume demand is reduced, thereby controlling the overall energy consumption of the air conditioning system;

[0016] The minimum working threshold of the end regulation module includes the air supply volume of the end regulation module and the minimum refrigeration or heating temperature;

[0017] When the control module judges that there is no personnel activity in the corresponding area, a delay adjustment instruction is sent to the end regulation module, and the end regulation module adjusts the air volume to the minimum working threshold after a corresponding delay time based on the delay adjustment instruction;

[0018] And if the control module judges that there is personnel activity in the corresponding area during the delay time, the delay adjustment instruction is cancelled, the control module judges to immediately switch to the normal use mode, that is, the original temperature set point can be automatically restored for refrigeration / heating, and the whole process does not depend on the field network, the upper computer software and human intervention, and can be independently and automatically operated.

[0019] Further technical improvements of the present application are that the control module calculates and obtains the motion trajectory of the corresponding object, and the method comprises the following steps:

[0020] A1, the control module continuously receives temperature data from the infrared temperature measurement unit, and if the infrared temperature measurement unit adopts an array sensor, the temperature data is directly stored as a two-dimensional matrix;

[0021] If the infrared temperature measurement unit is a single-point temperature measurement, the matrix is filled according to the sensor coordinates;

[0022] Then the control module initializes a two-dimensional array of a fixed size, and maps the single-point data to the temperature matrix;

[0023] Then the missing temperature points are filled using bilinear interpolation or nearest neighbor interpolation, and the abnormal temperature values (such as high-temperature electrical appliances and environmental noise) are filtered, and the temperature range is normalized to obtain the temperature matrix;

[0024] A2, the control module uses Sobel operator or Canny algorithm to obtain the temperature change boundary in the temperature matrix, and the control module judges whether there is a temperature hot spot area in the temperature matrix by analyzing the temperature change boundary and combining the preset temperature threshold, to confirm whether there is an object in the temperature matrix;

[0025] A3, after the control module judges that the corresponding area exists an object, the control module further calculates the center of mass and the bounding box of the object, so as to track the target position subsequently;

[0026] Wherein, the center of mass is used to represent the center position of the target object, and the calculation method adopts:

[0027] ; Wherein, And is the pixel coordinate of the object, is the temperature value of the corresponding pixel point, is the center of mass of the object;

[0028] The method for obtaining the object bounding box comprises:

[0029] The control module obtains all pixel coordinates from the extracted temperature change boundary, and obtains the minimum and maximum indexes in the X direction and the Y direction of the temperature change boundary, so as to form a rectangular bounding box, which is used to identify the object in the target area;

[0030] A4, the center of mass and the coordinate information of the bounding box of each object are recorded to obtain the coordinate file corresponding to the time;

[0031] A5, the control module analyzes the center of mass and the bounding box coordinates of each object in the coordinate file through time sequence to obtain the moving track of the corresponding object;

[0032] A6, if the center of mass and the bounding box of the object continuously move in the time sequence, the control module judges that there is personnel activity in the corresponding area;

[0033] If the center of mass and the bounding box of the object stay at the same position or move in a range less than a preset range in the time sequence, the control module marks the area as a to-be-detected area.

[0034] Further technical improvement of the application is that: the control module establishes a human body feature mapping table based on human body features, wherein the human body features include morphological features (aspect ratio, area, contour convexity), temperature features (average temperature, temperature distribution, temperature centroid height), boundary features (temperature change boundary, convex hull area) and motion features (displacement, speed, direction angle);

[0035] And the control module calculates the length and width, area, contour convexity, average temperature, temperature centroid height, target centroid displacement, target speed and motion direction angle of the object bounding box;

[0036] Length and width: ; Wherein, , are the upper and lower boundaries of the object bounding box respectively; , Respectively, left and right boundaries of the object bounding box;

[0037] Area: ;

[0038] Contour convexity: ; In the formula, A is the area of the target object, is the area covered by the minimum circumscribed convex hull of the target object;

[0039] Average temperature: ; In the formula, N is the total number of pixels in the target object; is the temperature value of each pixel;

[0040] Temperature centroid height: ;

[0041] Centroid displacement: ; In the formula, is the position of the centroid of the target object at the current time; is the position of the centroid of the target object at the previous time;

[0042] Motion direction angle: ;

[0043] And the control module counts the matching result of the human body feature and the human body feature mapping table, and calculates the matching score P through the formula: ; In the formula, is the weight corresponding to the human body feature, is the matching result;

[0044] Finally, the control module compares the matching score P with the preset matching threshold value, if the matching score P is greater than or equal to the matching threshold value, the control module judges the object as a human body.

[0045] Further technical improvements of the present application are that: the method for the control module to analyze the dynamic changes of each spatial coordinate system comprises the following steps:

[0046] Y1, the control module records as when receiving the ranging value of the same timestamp sent by the distance recognition unit each time, so as to obtain the spatial coordinate system corresponding to the timestamp, wherein, represents the ranging value of the ranging channel i at time T;

[0047] Y2, the distance recognition unit performs multiple ranging at different times T, and the control module records as ;

[0048] And the control module calculates the ranging change amount between adjacent time points , ​Compared with the preset variation threshold d, if the ranging variation is greater than the variation threshold d, it indicates that the ranging value detected by the ranging channel has changed.

[0049] Y3, the control module calculates the number of ranging values that have changed in the N ranging channels , and the formula used is: ; in the formula, is the number of values that have changed in this detection; is an indicator function, which takes 1 when is true, and 0 otherwise;

[0050] and the control module calculates the proportion of ranging values that have changed , ;

[0051] Y4, the control module calculates the average variation of the ranging values that have changed :

[0052] ;

[0053] Y5, the control module compares the proportion of ranging values with the preset proportion threshold P, and compares the average variation with the preset variation threshold D;

[0054] When is greater than P, and is greater than D, the control module determines that there is personnel movement in the corresponding area.

[0055] A further technical improvement of the present application is that the control module collects the temperature matrix and spatial coordinate system of the corresponding area within a preset specific time period (such as at night or during a system-identified period of no activity) and stores them as environmental reference data;

[0056] In subsequent detection processes, the control module compares the real-time acquired temperature matrix and spatial coordinate system with the reference data to determine whether there is personnel movement or new temperature variation abnormalities in the space.

[0057] A further technical improvement of the present application is that the comparison step of the control module between the real-time acquired data and the reference data includes:

[0058] Q1, the infrared temperature measurement unit detects the corresponding area within the collection time period to obtain the temperature data of the corresponding area and uploads it to the control module;

[0059] The distance recognition unit performs ranging on the area through multiple ranging channels within the collection time period to obtain multiple ranging values and uploads them to the control module.

[0060] Q2, the temperature matrix in the corresponding area is generated based on the temperature data received by the control module in the collection time period, and the temperature profile of the object in the corresponding area is obtained, and the control module marks the temperature profile of the object in the collection time period as a static object profile;

[0061] The control module obtains the corresponding space coordinate system based on the ranging values received in the collection time period, and the control module marks it as a static space coordinate system;

[0062] Q3, the control module stores the static object profile and the static space coordinate system in the cache;

[0063] Q4, when the control module analyzes the real-time temperature profile and the real-time space coordinate system of the object in the corresponding area, the real-time temperature profile and the real-time space coordinate system are compared with the static object profile and the static space coordinate system respectively;

[0064] Q5, the control module calculates the part with difference in the real-time temperature profile and the static object profile and the real-time space coordinate system and the static space coordinate system to reduce the calculation difficulty.

[0065] Compared with the prior art, the present application has the following beneficial effects:

[0066] The present application realizes the accurate detection of indoor personnel activities through the cooperative perception of the infrared temperature measurement unit and the distance recognition unit, combined with time series analysis and space coordinate matching. Compared with the traditional single infrared induction or simple thermal imaging scheme, the present application not only can monitor the temperature change in real time, but also can combine the space coordinate change to effectively distinguish the personnel movement, the environmental temperature fluctuation and the heat source interference of the fixed object. By establishing the temperature matrix and the space coordinate system, and collecting the static environment reference data in the preset non-personnel activity time period, the system can intelligently compare during real-time detection, thereby reducing false alarms and improving the accuracy and stability of personnel detection;

[0067] And the present application realizes the intelligent air volume adjustment based on the personnel activity state, ensures to reduce the air volume when there is no one, reduces the energy consumption, and quickly restores the normal set point when detecting the personnel, to provide a comfortable indoor environment, the human feature mapping table in the present application further improves the recognition accuracy, so that the system can judge the user activity state according to the human posture (standing, sitting, lying), and optimize the air volume of the air conditioner accordingly, to further improve the energy saving effect. At the same time, the present application can be widely applied to intelligent buildings, office space management, security monitoring and other fields, to realize automatic, high-precision and low-energy-consumption personnel sensing and environment adjustment, and has good market application value;

[0068] On the other hand, the application reduces the calculation burden, improves the real-time performance of the system, and accurately identifies the object shape by extracting the change area for key calculation instead of performing redundant analysis on the entire monitoring range, and the control module combines the centroid calculation and the bounding box extraction. BRIEF DESCRIPTION OF DRAWINGS

[0069] In order to facilitate the understanding of those skilled in the art, the application will be further described below in conjunction with the drawings.

[0070] Figure 1 The system block diagram of the application is shown in the figure.

[0071] Figure 2 The flow of the application is shown in the figure. DETAILED DESCRIPTION

[0072] In order to further illustrate the technical means and effects adopted by the application to achieve the predetermined application purpose, the specific embodiments, structures, features and effects of the application are described in detail below in conjunction with the drawings and preferred embodiments.

[0073] Referring to Figures 1-2 The application provides a human body sensing and energy-saving control method for a variable air volume air conditioning system terminal device, which comprises a variable air volume terminal controller and a human body sensing device, and the variable air volume terminal controller comprises a terminal adjustment module and a control module.

[0074] The human body sensing device comprises an infrared temperature measurement unit and a distance recognition unit.

[0075] The infrared temperature measurement unit obtains multiple sets of temperature data of the corresponding area through time series, and uploads the multiple sets of temperature data to the control module, wherein the temperature data comprises the temperature value and the temperature distribution of the corresponding area.

[0076] The control module calculates the temperature matrix in the corresponding area after receiving each temperature data, to extract the temperature profile of each object in the corresponding area, to distinguish different objects and their temperature change characteristics, and the control module identifies the dynamic change of the temperature profile of each object based on time series, to obtain the motion trajectory of the corresponding object.

[0077] The distance recognition unit periodically measures the distance of the area through multiple distance measurement channels to obtain multiple distance measurement values, and the distance recognition unit uses ToF for distance measurement when measuring the distance, and the distance recognition unit uploads each distance measurement value added with a time stamp to the control module.

[0078] The control module establishes a spatial coordinate system based on each ranging value with the same timestamp each time the ranging value is received, to represent the object distribution in the corresponding area;

[0079] The control module analyzes the motion trajectory of each object in the corresponding area and the dynamic change of each spatial coordinate system in the time sequence to determine the personnel activity in the corresponding area;

[0080] The terminal adjustment module is pre-set with a minimum working threshold, and when the terminal adjustment module is adjusted to the minimum working threshold, it ensures the minimum fresh air requirement of the corresponding area and reduces the air volume requirement to control the overall energy consumption of the air conditioning system;

[0081] The minimum working threshold of the terminal adjustment module includes the air supply volume of the terminal adjustment module and the minimum cooling or heating temperature;

[0082] When the control module determines that there is no personnel activity in the corresponding area, a delay adjustment instruction is sent to the terminal adjustment module, and the terminal adjustment module adjusts the air volume to the minimum working threshold after a corresponding delay time based on the delay adjustment instruction;

[0083] And if the control module determines that there is personnel activity in the corresponding area during the delay time, the delay adjustment instruction is cancelled, the control module determines to immediately switch to the normal use mode, i.e. the original temperature set point is automatically restored for cooling / heating, and the whole process does not depend on the field network, upper computer software and human intervention, and can be independently and automatically operated.

[0084] The control module calculates the method for obtaining the motion trajectory of the corresponding object, including the following steps:

[0085] A1, the control module continuously receives temperature data from the infrared temperature measurement unit, and if the infrared temperature measurement unit uses an array sensor, it is directly stored as a two-dimensional matrix;

[0086] If the infrared temperature measurement unit is a single-point temperature measurement, the matrix is filled according to the sensor coordinates;

[0087] Then the control module initializes a two-dimensional array of fixed size, and maps the single-point data to the temperature matrix;

[0088] Then the missing temperature points are filled using bilinear interpolation or nearest neighbor interpolation, and the abnormal temperature values (such as high-temperature electrical appliances and environmental noise) are filtered, and the temperature range is normalized to obtain the temperature matrix;

[0089] A2, the control module uses Sobel operator or Canny algorithm to obtain the temperature change boundary in the temperature matrix, and the control module analyzes the temperature change boundary and combines the pre-set temperature threshold to determine whether there is a temperature hot spot area in the temperature matrix to confirm whether there is an object in the temperature matrix;

[0090] A3、In the control module determines that the corresponding area exists object, the control module further calculates the mass center and the bounding box of the object, so as to track the target position subsequently;

[0091] Wherein, the mass center is used to represent the center position of the target object, and the calculation method adopts:

[0092] In the formula, And Is the pixel coordinate of the object, Is the temperature value of the corresponding pixel point, Is the mass center of the object;

[0093] The object bounding box acquisition method comprises:

[0094] The control module obtains all pixel coordinates from the extracted temperature change boundary and obtains the minimum and maximum indexes in the X direction and the Y direction of the temperature change boundary, so as to form a rectangular bounding box, which is used to identify the object in the target area;

[0095] A4、The mass center and the coordinate information of the bounding box of each object are recorded to obtain the coordinate file of the corresponding time;

[0096] A5、The control module analyzes the mass center and the bounding box coordinates of each object in the coordinate file through time sequence to obtain the moving track of the corresponding object;

[0097] A6、If the mass center and the bounding box of the object continuously move in the time sequence, the control module judges that there is personnel activity in the corresponding area;

[0098] If the mass center and the bounding box of the object stay at the same position or move in a range smaller than a preset range in the time sequence, the control module marks the area as a to-be-detected area;

[0099] The control module establishes a human feature mapping table based on human features, wherein the human features include morphological features (aspect ratio, area, contour convexity), temperature features (average temperature, temperature distribution, temperature mass center height), boundary features (temperature change boundary, convex hull area) and motion features (displacement, speed, direction angle);

[0100] For example, in this embodiment, the human feature mapping table comprises:

[0101] Feature class Standing pose Sitting pose Lying pose Aspect ratio 1.8-3.5 1.0-1.8 0.3-1.0 Area 50-2000 1000-3000 3000-5000 Contour convexity ＞0.9 ＞0.9 ＞0.9 Mean temperature 30℃-37℃ 30℃-37℃ 30℃-37℃ Temperature centroid height High Medium Low Bounding box shape Narrow high rectangle Approximately square Flat rectangle Centroid displacement Significant movement Small range movement Nearly stationary Motion direction angle Predominantly vertical motion Light variation Predominantly horizontal motion

[0102] And the control module calculates the length and width, area, contour convexity, average temperature, temperature mass center height, target mass center displacement, target speed and motion direction angle of the object bounding box;

[0103] Length and width: In the formula, respectively, the upper and lower boundaries of the object bounding box; respectively, the left and right boundaries of the object bounding box;

[0104] Area: ;

[0105] Contour convexity: In the formula, A is the area of the target object, is the area covered by the minimum circumscribed convex hull of the target object;

[0106] Average temperature: In the formula, N is the total number of pixels in the target object; is the temperature value of each pixel;

[0107] Temperature centroid height: ;

[0108] Centroid displacement: In the formula, is the position of the centroid of the target object at the current time; is the position of the centroid of the target object at the previous time;

[0109] Motion direction angle: ;

[0110] And the control module counts the matching results of the human body features and the human body feature mapping table, and calculates the matching score P through the formula:

[0111] Finally, the control module compares the matching score P with the preset matching threshold value, if the matching score P is greater than or equal to the matching threshold value, the control module judges the object as a human body.

[0112] The method for the control module to analyze the dynamic changes of each spatial coordinate system comprises the following steps:

[0113] Y1, the control module records each time it receives the ranging value of the distance recognition unit with the same timestamp as to obtain the spatial coordinate system corresponding to the timestamp, wherein wei represents the ranging value of the ranging channel i at time T;

[0114] Y2, the distance recognition unit performs multiple ranging at different times T, and the control module records it in time sequence as ;

[0115] And the control module calculates the ranging change amount between adjacent time points , , the control module calculates the ranging change amount ​Compared with the preset variation threshold d, if the distance variation is greater than the variation threshold d, it indicates that the distance value detected by the distance channel changes;

[0116] Y3, the control module calculates the number of distance values that change in the N distance channels , and the formula used is: ; In the formula, is the number of values that change in this detection; is an indicator function, which takes 1 when is true, otherwise it takes 0;

[0117] And the control module calculates the proportion of distance values that change , ;

[0118] Y4, the control module calculates the average variation of the distance values that change :

[0119] ;

[0120] Y5, the control module compares the distance value proportion with the preset proportion threshold P, and compares the average variation with the preset variation threshold D;

[0121] When is greater than P, and is greater than D, the control module determines that there is personnel movement in the corresponding area, otherwise the control module determines that there is no personnel movement in the corresponding area;

[0122] When the marker is a to-be-detected area and is determined by the control module based on the dynamic change of the spatial coordinate system to have no personnel movement, the control module determines to send a delay adjustment instruction to the end adjustment module. Embodiment 2

[0123] A variable air volume air conditioning system end device human sensing and energy saving control method, comprising a variable air volume end controller and a human sensing device, and the variable air volume end controller comprises an end adjustment module and a control module;

[0124] The human sensing device comprises an infrared temperature measurement unit and a distance recognition unit;

[0125] The infrared temperature measurement unit obtains multiple sets of temperature data of the corresponding area through time series, and uploads the multiple sets of temperature data to the control module, wherein the temperature data comprises temperature values and temperature distribution of the corresponding area;

[0126] The control module calculates the temperature matrix in the corresponding area after receiving each temperature data, extracts the temperature profile of each object in the corresponding area, distinguishes different objects and their temperature change characteristics, and controls the dynamic change of each object temperature profile based on time sequence to obtain the motion trajectory of the corresponding object;

[0127] The distance recognition unit periodically measures the distance of the area through multiple ranging channels to obtain multiple ranging values, and the distance recognition unit uploads each ranging value obtained to the control module after adding a time stamp;

[0128] The control module establishes a spatial coordinate system based on each ranging value with the same time stamp each time it receives a ranging value to represent the object distribution in the corresponding area;

[0129] And the control module judges the personnel activity in the corresponding area by analyzing the motion trajectory of each object in the corresponding area and the dynamic change of each spatial coordinate system in the time sequence;

[0130] The end adjustment module is pre-set with a minimum working threshold, and the end adjustment module ensures the minimum fresh air demand of the corresponding area and reduces the air volume demand when it is adjusted to the minimum working threshold, thereby controlling the overall energy consumption of the air conditioning system;

[0131] When the control module determines that there is no personnel activity in the corresponding area, it sends a delay adjustment instruction to the end adjustment module, and the end adjustment module adjusts the air volume to the minimum working threshold after the corresponding delay time based on the delay adjustment instruction;

[0132] And if the control module determines that there is personnel activity in the corresponding area during the delay time, it cancels this delay adjustment instruction, and the control module determines to immediately switch to the normal use mode.

[0133] Compared with embodiment 1, the control module in embodiment 2 collects the temperature matrix and spatial coordinate system of the corresponding area in a pre-set specific time period (for example, at night or during the time when the system identifies no one is active), and stores it as environmental reference data;

[0134] In the subsequent detection process, the control module compares the real-time obtained temperature matrix and spatial coordinate system with the reference data to determine whether there is movement or new temperature change abnormality in the space.

[0135] The comparison step of the control module with the reference data includes:

[0136] Q1, a pre-set collection time period, the infrared temperature measurement unit detects the corresponding area in the collection time period, obtains the temperature data of the corresponding area, and uploads it to the control module;

[0137] The distance recognition unit performs distance measurement on the region through multiple distance measurement channels in the collection time period to obtain multiple distance measurement values and uploads the distance measurement values to the control module;

[0138] Q2, the control module generates a temperature matrix in the corresponding region based on the temperature data received in the collection time period, and obtains a temperature profile of an object in the corresponding region, and the control module marks the temperature profile of the object in the collection time period as a static object profile;

[0139] The control module obtains a corresponding space coordinate system based on the distance measurement values received in the collection time period, and the control module marks it as a static space coordinate system;

[0140] Q3, the control module stores the static object profile and the static space coordinate system in the cache;

[0141] Q4, the control module compares the real-time temperature profile and the real-time space coordinate system of the object in the corresponding region with the static object profile and the static space coordinate system when analyzing the real-time temperature profile and the real-time space coordinate system of the object in the corresponding region;

[0142] Q5, the control module calculates the part with difference in the real-time temperature profile and the static object profile and the real-time space coordinate system and the static space coordinate system to reduce the calculation difficulty.

[0143] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the present application has been disclosed as above with a preferred embodiment, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content without departing from the scope of the present application, and any simple modification, equivalent change and modification of the above embodiment based on the technical essence of the present application are still within the scope of the present application.

Claims

1. A method for human body sensing and energy-saving control of a variable air volume (VAV) air conditioning system terminal device, comprising a VAV terminal controller and a human body sensing device, wherein the VAV terminal controller includes a terminal adjustment module and a control module, and the terminal adjustment module is preset with a minimum operating threshold, characterized in that: The human body sensing device includes: The infrared temperature measurement unit acquires multiple sets of temperature data for the corresponding area through time series and uploads these multiple sets of temperature data to the control module. The distance recognition unit periodically measures the distance of the area through multiple ranging channels to obtain multiple ranging values, and uploads each obtained ranging value to the control module after adding a timestamp. After receiving various temperature data, the control module calculates the temperature matrix within the corresponding area to extract the temperature profile of each object within the corresponding area. Furthermore, the control module identifies the dynamic changes in the temperature profile of each object based on the time series to obtain the motion trajectory of the corresponding object. Each time the control module receives a ranging value, it establishes a spatial coordinate system based on the various ranging values ​​at the same timestamp. Furthermore, the control module analyzes the motion trajectory of each object within the corresponding area and the dynamic changes of each spatial coordinate system in the time series to determine the activity of people in the corresponding area. The method for the control module to calculate and obtain the motion trajectory of the corresponding object includes the following steps: A1. The control module continuously receives temperature data from the infrared temperature measurement unit; A2. The control module uses the Sobel operator or Canny algorithm to obtain the temperature change boundary in the temperature matrix. The control module analyzes the temperature change boundary and combines it with the preset temperature threshold to determine whether there is a temperature hotspot region in the temperature matrix, so as to confirm whether there is an object in the temperature matrix. A3. After the control module determines that there is an object in the corresponding area, the control module calculates the centroid and bounding box of the object. A4. Record the coordinate information of the centroid and bounding box of each object to obtain the coordinate file for the corresponding time. A5. The control module analyzes the centroid and bounding box coordinates of each object in the coordinate file through time series analysis to obtain the movement trajectory of the corresponding object. A6. If the centroid and bounding box of an object move continuously in the time series, the control module determines that there is human activity in the corresponding area. If the centroid and bounding box of an object remain at the same position or move within a preset range in the time series, the control module marks the region as the region to be detected. Its characteristic is that the centroid is calculated using the following method: wherein, and is the pixel coordinate of the object, is the temperature value of the corresponding pixel point, , is the centroid of the object; Methods for obtaining object bounding boxes include: The control module obtains the coordinates of all pixels from the extracted temperature change boundary, and obtains the minimum and maximum indices in the X and Y directions of the temperature change boundary to form a rectangular bounding box for identifying objects in the target area. The control module establishes a human feature mapping table based on human features, which includes morphological features, temperature features, boundary features and motion features; And the control module statistics human characteristics and human characteristics mapping table matching results, and through the formula: Calculate the matching score P; In the formula, is the weight corresponding to the human feature, is the matching result; Finally, the control module compares the matching score P with the preset matching threshold. If the matching score P ≥ the matching threshold, the control module determines the object to be human-shaped. When the control module determines that there is no human activity in the corresponding area, it sends a delay adjustment command to the terminal adjustment module. Based on the delay adjustment command, the terminal adjustment module adjusts the air volume to the minimum working threshold after the corresponding delay time. Furthermore, if the control module determines that there is personnel activity in the corresponding area within the delay period, it cancels the delay adjustment instruction and immediately switches to normal use mode. The method for the control module to analyze the dynamic changes of each spatial coordinate system includes the following steps: Y1, each time the control module receives the ranging value with the same timestamp from the distance identification unit, it is recorded as follows: To obtain the spatial coordinate system corresponding to the timestamp, where... This represents the ranging value of ranging channel i at time T; Y2, the distance recognition unit performs multiple distance measurements at different times T, and the control module records these measurements according to the time sequence. ; Furthermore, the control module calculates the distance change between adjacent time points. , The control module will measure the change in distance. Compare with the preset change threshold d, if the distance measurement change If the preset change threshold d is reached, it indicates that the ranging value detected by the ranging channel has changed; Y3. The control module calculates the number of distance measurement values ​​that change in the N distance measurement channels, and then calculates the proportion of distance measurement values ​​that change. Y4. The control module calculates the average change in the measured distance values. Y5. The control module compares the proportion of the changing ranging values ​​with the preset proportion threshold, and compares the average change with the preset change threshold D. When the proportion of changing ranging values ​​is greater than the preset proportion threshold, and the average change is greater than the preset change threshold D, the control module determines that there is personnel movement in the corresponding area.

2. The method for human body sensing and energy-saving control of a variable air volume air conditioning system terminal device according to claim 1, characterized in that, The control module collects the temperature matrix and spatial coordinate system of the corresponding area within a preset specific time period and stores them as environmental reference data. During subsequent detection, the control module will acquire the temperature matrix and spatial coordinate system in real time and compare them with the baseline data to determine whether anyone has moved in the space or whether there are any new abnormal temperature changes.

3. The method for human body sensing and energy-saving control of a variable air volume air conditioning system terminal device according to claim 2, characterized in that, The control module compares the real-time acquired data with the baseline data in the following steps: Q1. The infrared temperature measurement unit detects the corresponding area within the preset collection time period, obtains the temperature data of the corresponding area, and uploads it to the control module. During the data collection period, the distance recognition unit measures the distance of the area through multiple ranging channels to obtain multiple ranging values, which are then uploaded to the control module. Q2. Based on the temperature data received during the acquisition period, the control module generates a temperature matrix within the corresponding area and obtains the temperature profile of the object in the corresponding area. The control module also marks the temperature profile of the object within the acquisition period as a static object profile. The control module receives each ranging value based on the acquisition time period, obtains the corresponding spatial coordinate system, and marks it as a static spatial coordinate system. Q3. The control module stores the static object outline and static spatial coordinate system in the cache; Q4. When the control module analyzes the real-time temperature profile and real-time spatial coordinate system of the object in the corresponding area, it compares the real-time temperature profile and real-time spatial coordinate system with the static object profile and static spatial coordinate system respectively. Q5. The control module calculates the differences between the real-time temperature profile and the static object profile, as well as the differences between the real-time spatial coordinate system and the static spatial coordinate system, in order to reduce the computational difficulty.

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