Circulating fan teleoperation method and device based on remote controller

Abstract

The invention discloses a recirculating fan teleoperation method and device based on a remote controller, and the method comprises the steps: responding to a teleoperation starting instruction, sending a first message to a recirculating fan, and indicating the recirculating fan to be in a preset initial direction; determining an effective three-dimensional operation angle range of the remote controller according to the initial direction and the motion angle range of the circulating fan and the motion angle range of the remote controller; collecting monitoring data of the gyroscope in the process of executing the teleoperation on the target blowing area by the user, and determining a three-dimensional angular velocity and a three-dimensional angular acceleration of the remote controller according to the monitoring data; if it is detected that the remote controller moves within the effective three-dimensional operation angle range, a target PWM signal corresponding to a steering motor of the circulating fan is determined according to the first preset relation, the second preset relation and the three-dimensional angular speed and the three-dimensional angular acceleration of the remote controller, so that the circulating fan accurately moves along with the track of the remote controller. The teleoperation data processing method and device are beneficial to improving the comprehensiveness and real-time performance of teleoperation data processing in the teleoperation scene.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent control of circulation fans, and in particular to a remote control-based circulation fan remote control method and device. Background Art

[0002] For the existing shaking function of the circulating fan, such as the control of the shaking angle, there are already solutions based on the trajectory detection device set on the fan body or the trajectory detection device built into the remote control. From the perspective of hardware equipment, the solution of setting the trajectory detection device based on the fan body usually relies on sensors installed on the fan casing or key rotating parts, and can only recognize user action instructions in a specific small space. The solution of using the built-in trajectory detection device in the remote control mostly uses inertial sensors such as accelerometers and gyroscopes to recognize user gestures. However, the existing algorithms are mainly used to recognize simple and specific gestures, such as drawing circles and sliding in a straight line. However, when actually using the circulating fan, users expect to achieve richer and freer trajectory control through the remote control, such as simulating the random swing of natural wind, customizing complex blowing trajectories according to the distribution of people in the room, etc. These requirements far exceed the capabilities of the existing solution of built-in trajectory detection device in the remote control.

[0003] From the perspective of software algorithms, existing algorithms for controlling the shaking angle are often designed based on fixed parameters and rules. In the fan body trajectory detection device solution, the algorithm usually presets a fixed shaking angle range and speed mode, and cannot be adjusted in real time according to the operating habits and usage scenarios of different users. In the remote control built-in trajectory detection device solution, the algorithm's action mapping after gesture recognition is too simple, and can only correspond to limited fan operation functions, and cannot achieve precise control and diversified settings of the non-fixed shaking trajectory of the circulating fan. Summary of the invention

[0004] The present application provides a remote control-based circulating fan remote control method and device, wherein the controller of the remote control calculates the angular velocity and angular acceleration of the remote control based on the gyroscope sensor data, and calculates the duty cycle of the drive signal of the circulating fan side steering motor based on the angular velocity and angular acceleration of the remote control, thereby being able to achieve a more precise, smooth and low-latency control state in the dynamic response dimension and consistency dimension of the trajectory following of the circulating fan, which is beneficial to improving the comprehensiveness and real-time performance of remote control data processing in remote control scenarios.

[0005] In a first aspect, the present application provides a remote control-based circulation fan remote control method, which is applied to a controller of the remote control, wherein the remote control has a built-in gyroscope, and the method comprises: In response to the remote operation start instruction, a first message is sent to the circulation fan, wherein the first message is used to indicate that the circulation fan is in a preset initial orientation, wherein the initial orientation includes an initial direction and an initial position relative to a target blowing area; Determine an effective three-dimensional operating angle range of the remote controller according to the initial direction, the movement angle range of the circulation fan, and the movement angle range of the remote controller; Collecting monitoring data of the gyroscope during the user's remote operation of the target blowing area, and determining the three-dimensional angular velocity and three-dimensional angular acceleration of the remote controller according to the monitoring data, wherein the three-dimensional angular velocity and three-dimensional angular acceleration include a first angular velocity and a first angular acceleration on the X-axis, a second angular velocity and a second angular acceleration on the Y-axis, and a third angular velocity and a third angular acceleration on the Z-axis; If it is detected that the remote control moves within the effective three-dimensional operating angle range, the target PWM signal corresponding to the steering motor of the circulating fan is determined according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote control, so as to enable the circulating fan to move along the trajectory of the remote control. The first preset relationship represents the relationship between the rotational speed of the steering motor and the three-dimensional angular velocity of the remote control, and the second preset relationship represents the relationship between the acceleration of the steering motor and the three-dimensional angular acceleration of the remote control.

[0006] In a second aspect, an embodiment of the present application provides a remote control-based circulating fan remote control device, which is applied to a controller of the remote control, wherein the remote control has a built-in gyroscope, and the device includes: a response unit, configured to send a first message to the circulation fan in response to a remote operation start instruction, wherein the first message is used to indicate that the circulation fan is in a preset initial orientation, wherein the initial orientation includes an initial direction and an initial position relative to a target blowing area; a first determining unit, configured to determine an effective three-dimensional operating angle range of the remote controller according to the initial direction, the movement angle range of the circulation fan, and the movement angle range of the remote controller; a second determination unit, for collecting monitoring data of the gyroscope during the user's remote operation of the target blowing area, and determining the three-dimensional angular velocity and three-dimensional angular acceleration of the remote controller according to the monitoring data, wherein the three-dimensional angular velocity and three-dimensional angular acceleration include a first angular velocity and a first angular acceleration on the X-axis, a second angular velocity and a second angular acceleration on the Y-axis, and a third angular velocity and a third angular acceleration on the Z-axis; A processing unit is used to determine a target PWM signal corresponding to the steering motor of the circulation fan according to a first preset relationship, a second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote control if it is detected that the remote control moves within the effective three-dimensional operating angle range, so as to enable the circulation fan to move along the trajectory of the remote control, wherein the first preset relationship represents the relationship between the rotational speed of the steering motor and the three-dimensional angular velocity of the remote control, and the second preset relationship represents the relationship between the acceleration of the steering motor and the three-dimensional angular acceleration of the remote control.

[0007] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program / instruction stored thereon, which is executed by a processor to implement the steps of the method described in the first aspect above.

[0008] It can be seen that in the embodiment of the present application, the controller of the remote control sends a first message to the circulation fan in response to the remote operation start instruction, and the first message is used to indicate that the circulation fan is in a preset initial orientation; the monitoring data of the gyroscope during the user's remote operation of the target blowing area is collected, and the three-dimensional angular velocity and three-dimensional angular acceleration of the remote control are determined according to the monitoring data; if the remote control is detected to move within the effective three-dimensional operation angle range, the target PWM signal corresponding to the steering motor of the circulation fan is determined according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and three-dimensional angular acceleration of the remote control, so as to realize the movement of the circulation fan following the trajectory of the remote control. In this way, compared with the existing track detection device based on the fan body or the track detection device built into the remote control, the present application can adjust the speed and acceleration of the steering motor of the circulation fan in real time according to the subtle movement changes of the remote control, so that the track following of the circulation fan can achieve accurate and smooth control in the dynamic response dimension and consistency dimension, meeting the user's usage needs in various scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 It is a structural schematic diagram of a circulating fan remote operation system provided in an embodiment of the present application; Figure 2 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application; Figure 3 This is a structural block diagram of a circulating fan remote operation system provided by an embodiment of the present application; Figure 4 It is a flowchart of the steps of a remote control-based circulation fan remote control method provided in an embodiment of the present application; Figure 5 It is an overall flow chart of a remote control-based circulation fan remote control method provided in an embodiment of the present application; Figure 6 It is an overall flow chart of a circulating fan timing execution remote operation method provided by an embodiment of the present application; Figure 7 It is a schematic diagram of an interface showing the movement angle range of a circulation fan on the z-axis provided by an embodiment of the present application; Figure 8 It is a schematic diagram of an interface showing the movement angle range of a circulation fan on the x-axis provided in an embodiment of the present application; Fig. 9 This is an application scenario diagram of a remote control-based circulating fan remote control method provided in an embodiment of the present application; Fig.10 This is an application scenario diagram of another remote control-based circulating fan remote control method provided in an embodiment of the present application; Fig.11 is a schematic diagram of a circulating fan terminal interface provided in an embodiment of the present application; Fig.12 It is a functional module diagram of a remote control-based circulating fan remote control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0011] 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 are within the scope of protection of this application.

[0012] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0013] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0014] In the embodiments of the present application, "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist at the same time; B exists alone. Among them, A and B can be singular or plural.

[0015] In the embodiment of the present application, the symbol " / " can indicate that the objects associated with each other are in an "or" relationship. In addition, the symbol " / " can also indicate a division sign, that is, performing a division operation. For example, A / B can indicate A divided by B.

[0016] In the embodiments of the present application, "at least one item" or similar expressions refer to any combination of these items, including any combination of single items or plural items, and refer to one or more, and multiple refers to two or more. For example, at least one item of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0017] In the embodiments of the present application, "equal to" can be used in conjunction with greater than, and is applicable to the technical solution adopted when greater than, and can also be used in conjunction with less than, and is applicable to the technical solution adopted when less than. When equal to is used in conjunction with greater than, it is not used in conjunction with less than; when equal to is used in conjunction with less than, it is not used in conjunction with greater than.

[0018] Existing solutions for the shaking function of the shaking fan, such as the control of the shaking angle, already exist based on the trajectory detection device set on the fan body or the trajectory detection device built into the remote control. The trajectory detection device set on the fan body can only recognize user action commands within a fixed range, and the range is limited. The solution with the trajectory detection device built into the remote control is only used to recognize specific user manual gestures such as drawing circles. For the user-side customization and remote operation function of the non-fixed shaking trajectory of the circulating fan, the existing solutions cannot meet the user's demand for this function.

[0019] In response to the above problems, an embodiment of the present application provides a remote control-based circulation fan remote control method and device. The embodiment of the present application is described in detail below in conjunction with the accompanying drawings.

[0020] See also Figure 1, Figure 1 Schematic diagram of a circulating fan remote control system provided by an embodiment of the present application. Figure 1 As shown, the circulating fan remote operation system includes a remote controller 101, a circulating fan 102 and a terminal device 103.

[0021] The remote controller 101 is connected to the circulation fan 102 and the terminal device 103 via wireless signals. The user can send commands through the buttons on the remote controller 101, such as adjusting the wind speed, controlling the shaking angle, switching the working mode, etc., so as to achieve close control of the circulation fan 102.

[0022] Among them, the circulation fan 102 is used to receive wireless signals from the remote control 101 and the terminal device 103, so as to execute corresponding instructions; the built-in control module of the circulation fan 102 analyzes and processes the signals, and drives the motor and other components to realize operation; the surface of the circulation fan 102 includes a control panel, and the user can adjust the operating status by directly clicking the buttons on the control panel, such as adjusting the wind speed, changing the horizontal or pitch shaking angle.

[0023] Among them, the terminal device 103 can realize rich control functions, such as remote control of the circulation fan, setting of scheduled tasks, adjustment of detailed parameters, etc. It can also display the working status, movement trajectory and other information of the circulation fan for user monitoring.

[0024] See also Figure 2 , Figure 2 is a structural block diagram of an electronic device provided in an embodiment of the present application, for executing Figure 1 The circulating fan remote control system in Figure 2 As shown, the electronic device 20 may include one or more of the following components: a memory 23, a processor 21, a communication bus 30, a communication interface 22, and one or more programs 231. The one or more programs 231 are stored in the memory 23 and are configured to be executed by the processor 21. The one or more programs 231 include instructions for executing any step in the following method embodiments. In a specific implementation, the processor 21 is used to execute any step in the following method embodiments, and when performing data transmission such as sending, the communication interface 22 may be selectively called to complete the corresponding operation.

[0025] See also Figure 3 , Figure 3 is a structural block diagram of a circulating fan remote operation system provided by an embodiment of the present application, such as Figure 3 As shown, the circulating fan remote operation system includes a circulating fan, a remote controller and a terminal device, wherein the remote controller includes a gyroscope 311 and a controller 312 .

[0026] The gyroscope 311 can detect the rotation angle and angular velocity of the remote controller in three-dimensional space in real time, such as detecting changes in the yaw angle, pitch angle and roll angle of the remote controller. These data provide a basis for determining the motion trajectory of the remote controller, thereby enabling the circulation fan to adjust accordingly following the movement of the remote controller.

[0027] The controller 312 is used to process the data detected by the gyroscope 311 and the instructions from the terminal device. It converts these data and instructions into executable signals and sends them to the circulating fan to control the motor speed, shaking angle and other parameters of the circulating fan. For example, the controller 312 calculates the motor speed control signal (duty cycle) and the acceleration control signal (duty cycle change rate) based on the detection data of the gyroscope 311, and then obtains the PWM signal corresponding to the steering motor, and then outputs the signal to achieve precise control of the circulating fan.

[0028] It can be seen that in this embodiment, the circulation fan receives instructions from different devices and feeds back the status. The remote control can send its own motion data to the circulation fan and the terminal device, and the terminal device can also send control instructions to the remote control and the circulation fan, such as trajectory optimization instructions, timing operation instructions, etc., thereby realizing the coordinated work of the entire system and meeting the diverse operational needs of users.

[0029] See also Figure 4 , Figure 4 This is a flowchart of a remote control method for remotely operating a circulating fan provided by an embodiment of the present application, which is applied to Figure 3 The controller 312 in Figure 4 As shown, the method comprises the following steps: Step S401, in response to a remote operation start instruction, sending a first message to the circulation fan, wherein the first message is used to indicate that the circulation fan is in a preset initial position, and the initial position includes an initial direction and an initial position relative to a target blowing area.

[0030] Among them, the initial direction of the circulation fan can be aimed at the object with blowing needs in the target blowing area, and the object with blowing needs can be a user, pet, clothes or other people with blowing needs; the initial position of the circulation fan can be located in the middle area of ​​the target blowing area.

[0031] In a possible embodiment, in response to the remote operation start instruction, sending a first message to the circulation fan includes: Detecting a click operation of a user on a remote operation start button on the remote controller; Generate the remote operation start instruction according to the click operation; In response to the teleoperation start instruction, the first message is sent to the circulation fan.

[0032] In a possible embodiment, the remote controller is connected to a terminal device, and the method further includes: receiving the remote operation start instruction from the terminal device, wherein the remote operation start instruction is used to represent the user's execution selection operation on the remote operation start component on the display interface of the application program; In response to the teleoperation start instruction, the first message is sent to the circulation fan.

[0033] In a possible embodiment, before receiving the remote operation start instruction from the terminal device, the method further includes: The terminal device detects a user's selection operation on a remote operation start component on a display interface of an application program; The terminal device outputs first prompt information on the display interface according to the selection operation, and voice broadcasts the first prompt information, wherein the first prompt information is used to prompt the user to manually calibrate the circulation fan to the preset initial position; The terminal device sends first status query information to the circulation fan; The terminal device receives the first status response information of the circulation fan, and determines whether the circulation fan is currently in the preset initial position according to the first status response information; The terminal device determines, based on the first status response information, that the circulation fan is not currently in the preset initial position, and then sends the remote operation start instruction to the circulation fan.

[0034] It is understandable that in actual applications, the initial orientation setting can be flexibly adjusted according to different usage scenarios and user habits. At the same time, in order to allow users to more intuitively understand the initial orientation setting, the remote control or the APP application connected thereto can provide a visual setting interface, and users can determine the initial position and direction by dragging the virtual fan model, or select preset common scene modes (such as living room mode, bedroom mode, etc.) to quickly complete the setting.

[0035] Step S402: determining an effective three-dimensional operating angle range of the remote controller according to the initial direction, the movement angle range of the circulation fan, and the movement angle range of the remote controller.

[0036] Among them, the initial direction of the circulation fan is characterized by a first initial angle on the X-axis, a second initial angle on the Y-axis and a third initial angle on the Z-axis, and the movement angle range of the circulation fan includes a first angle range on the X-axis, a second angle range on the Y-axis and a third angle range on the Z-axis.

[0037] In a possible embodiment, the effective three-dimensional operating angle range includes a first effective operating angle range on the X-axis, a second effective operating angle range on the Y-axis, and a third effective operating angle range on the Z-axis; and determining the effective three-dimensional operating angle range of the remote controller according to the initial direction, the movement angle range of the circulation fan, and the movement angle range of the remote controller includes: determining the first effective operating angle range according to a preset third mapping relationship, the first initial angle and the first angle range, the third mapping relationship representing the relationship between the movement angle of the circulation fan and the movement angle of the remote controller in the X-axis direction; and, determining the second effective operating angle range according to a preset fourth mapping relationship, the second initial angle and the second angle range, the fourth mapping relationship representing the relationship between the movement angle of the circulation fan and the movement angle of the remote controller in the Y-axis direction; and, The third effective operating angle range is determined according to a preset fifth mapping relationship, the third initial angle and the third angle range, and the fifth mapping relationship represents the relationship between the movement angle of the circulation fan and the movement angle of the remote controller in the Z-axis direction.

[0038] For example, taking the third effective operating angle range of the remote controller on the Z axis as an example, the third angle range of the circulating fan on the Z axis may be [0, α] (assuming α = ), the third initial angle of the circulating fan in the Z axis is 0, and the fifth mapping relationship between the movement angle of the circulating fan in the Z axis direction and the movement angle of the remote controller is: , further, when the circulation fan is at the third initial angle in the Z-axis direction, that is, , substituting into the above formula we can get ; and, when the circulation fan is at the maximum angle α in the Z-axis direction, that is, , substituting into the above formula we can get , thus, the third effective operating angle range of the circulation fan in the Z-axis direction is [-π,π].

[0039] For example, similarly, the first angle range of the circulation fan on the X-axis may be [0, ](set up = ), the first initial angle of the circulation fan on the X axis is 0, and the third mapping relationship is , then the first effective operating angle range is [- , ]; and, the second angle range of the circulation fan on the Y axis may be [0, ](set up = ), the second initial angle of the circulation fan on the Y axis is 0, and the third mapping relationship is , then the second effective operating angle range is obtained as [-π,π]. In addition, the present application only provides an example of determining the effective three-dimensional operating angle range of the remote controller, and the specific algorithm and formula are not limited to the above example.

[0040] It is understandable that under the current angle range correspondence and the initial orientation of the circulation fan, the effective operating angle range of the remote controller is its own movement angle range. Within this range, the circulation fan can operate normally within its set angle range through the conversion formula.

[0041] In a possible embodiment, the method further includes: Determine the spatial region where the current circulation fan is located; Determining the actual movable range of the circulation fan according to the initial position of the circulation fan and the spatial area where the circulation fan is currently located; adjusting the movement angle range of the circulation fan according to the actual movable range of the circulation fan to obtain a target movement angle range; The effective three-dimensional operation angle range of the remote controller is determined according to the target movement angle range of the circulation fan, the initial direction of the circulation fan and the movement angle range of the remote controller.

[0042] It can be seen that in this embodiment, the remote control supports the adaptive adjustment function. When the circulation fan is installed in different positions or the use environment changes (such as when used in a small space), the actual movable range of the circulation fan can be automatically detected, and the effective operating angle range of the remote control can be adjusted accordingly. In this way, the remote control command can be adapted to the actual movable range of the circulation fan to avoid issuing out-of-range commands, and the user can predict the response degree of the circulation fan during operation to avoid invalid operations, ensuring rapid response and control of the circulation fan.

[0043] Step S403, collecting monitoring data of the gyroscope during the user's remote operation of the target blowing area, and determining the three-dimensional angular velocity and three-dimensional angular acceleration of the remote control based on the monitoring data, wherein the three-dimensional angular velocity and three-dimensional angular acceleration include a first angular velocity and a first angular acceleration on the X-axis, a second angular velocity and a second angular acceleration on the Y-axis, and a third angular velocity and a third angular acceleration on the Z-axis.

[0044] It is understandable that the gyroscope can continuously monitor the rotation of the remote control and output a signal reflecting the angle change at a very high frequency. The monitoring signal is a continuous analog signal. However, in order to calculate parameters such as angular velocity and angular acceleration, it is necessary to sample it and convert the continuous signal into discrete data points. The sampling process introduces a time interval. The time interval is set manually, but it must be set reasonably so that the processor's computing pressure can be reduced and the overall system efficiency can be improved while ensuring data accuracy and system response speed.

[0045] In a possible embodiment, before collecting the monitoring data of the gyroscope during the user's remote operation of the target blowing area, the method further includes: receiving a state data set from the circulation fan, the state data set comprising a plurality of state parameters and their corresponding parameter values; The circulating fan is currently determined to be usable for performing the remote operation according to the state data set and a preset standard state parameter table, wherein the standard state parameter table includes a plurality of state parameters and a plurality of corresponding standard parameter intervals.

[0046] In a possible embodiment, determining, according to the state data set and a preset standard state parameter table, that the circulation fan is currently available for performing the remote operation includes: Determining whether the parameter values ​​of the plurality of state parameters in the state data set are within the plurality of standard parameter intervals; If it is determined that the parameter values ​​of the multiple state parameters are all within the multiple standard parameter intervals, it is determined that the circulation fan can currently be used to perform the remote operation; A first message is sent to a terminal device, where the first message is used to prompt the user to perform a remote operation on the target blowing area.

[0047] In a possible embodiment, the method further includes: If it is determined that at least one of the state parameters has a parameter value that is not within the corresponding standard parameter range, it is determined that the circulation fan is currently unavailable for performing the remote operation; A second message is sent to the terminal device, where the second message is used to prompt the user that the user cannot currently perform remote operation on the target blowing area.

[0048] Among them, the multiple state parameters of the circulation fan may include multiple parameters such as motor temperature, battery power, current speed, fan blade position, etc. The standard state parameter table is pre-set according to the design specifications and safe operation requirements of the circulation fan, including multiple standard parameter intervals corresponding to the multiple state parameters of the circulation fan, and the standard parameter interval reflects the normal fluctuation range of the state parameters of the circulation fan under normal working conditions.

[0049] Step S404: If it is detected that the remote control moves within the effective three-dimensional operating angle range, the target PWM signal corresponding to the steering motor of the circulation fan is determined according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote control, so as to realize the circulation fan moving along the trajectory of the remote control, wherein the first preset relationship represents the relationship between the rotational speed of the steering motor and the three-dimensional angular velocity of the remote control, and the second preset relationship represents the relationship between the acceleration of the steering motor and the three-dimensional angular acceleration of the remote control.

[0050] In a possible embodiment, determining the target PWM signal corresponding to the steering motor of the circulation fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller includes: Detecting that the motion trajectory of the remote control moves from a first direction to a second direction at adjacent moments, and a change value of an angle between the first direction and the second direction is less than a preset threshold; Acquire a preset first mapping relationship and a second mapping relationship, wherein the first mapping relationship represents a relationship between a rotation speed of the steering motor and a duty cycle of the target PWM signal, and the second mapping relationship represents a relationship between an acceleration of the steering motor and a duty cycle change rate of the target PWM signal; Determining a reference duty cycle corresponding to the target PWM signal according to the first mapping relationship, the first preset relationship, and the three-dimensional angular velocity of the remote controller; and determining a reference duty cycle change rate corresponding to the target PWM signal according to the second mapping relationship, the second preset relationship, and the three-dimensional angular acceleration of the remote controller; Determining a target duty cycle corresponding to the target PWM signal according to the reference duty cycle and the reference duty cycle change rate; generating the target PWM signal according to the target duty cycle; The target PWM signal is sent to the circulation fan.

[0051] Among them, when the first direction is the same as the second direction, the angle change value between the first direction and the second direction is zero, indicating that the remote control has not changed direction. The angle change value between the first direction and the second direction is less than the preset threshold, indicating that the remote control has shifted in direction, but the degree of direction shift is small and has not changed suddenly, and does not constitute an inflection point. The movement trajectory of the remote control and the circulating fan is relatively smooth and stable, and can present a good remote control effect under the current remote control control algorithm.

[0052] In a possible embodiment, the first mapping relationship includes a first X-axis mapping relationship, a first Y-axis mapping relationship, and a first Z-axis mapping relationship, and the first preset relationship includes a first X-axis preset relationship, a first Y-axis preset relationship, and a first Z-axis preset relationship; and determining the reference duty cycle corresponding to the target PWM signal according to the first mapping relationship, the first preset relationship, and the three-dimensional angular velocity of the remote controller includes: Determine a first rotational speed of the steering motor in the X-axis direction according to the first X-axis preset relationship and the first angular velocity; and determine a second rotational speed of the steering motor in the Y-axis direction according to the first Y-axis preset relationship and the second angular velocity; and determine a third rotational speed of the steering motor in the Z-axis direction according to the first Z-axis preset relationship and the third angular velocity; Determining a first reference duty cycle corresponding to the target PWM signal according to the first X-axis mapping relationship and the first speed; and determining a second reference duty cycle corresponding to the target PWM signal according to the first Y-axis mapping relationship and the second speed; and determining a third reference duty cycle corresponding to the target PWM signal according to the first Z-axis mapping relationship and the third speed; A reference duty cycle corresponding to the target PWM signal is determined according to the first reference duty cycle, the second reference duty cycle, and the third reference duty cycle.

[0053] In a possible embodiment, the second mapping relationship includes a second X-axis mapping relationship, a second Y-axis mapping relationship, and a second Z-axis mapping relationship, and the second preset relationship includes a second X-axis preset relationship, a second Y-axis preset relationship, and a second Z-axis preset relationship; and determining the reference duty cycle change rate corresponding to the target PWM signal according to the second mapping relationship, the second preset relationship, and the three-dimensional angular acceleration of the remote controller includes: Determining a first acceleration of the steering motor in the X-axis direction according to the second X-axis preset relationship and the first angular acceleration; and determining a second acceleration of the steering motor in the Y-axis direction according to the second Y-axis preset relationship and the second angular acceleration; and determining a third acceleration of the steering motor in the Z-axis direction according to the second Z-axis preset relationship and the third angular acceleration; Determining a first reference duty cycle change rate corresponding to the target PWM signal according to the second X-axis mapping relationship and the first acceleration; and determining a second reference duty cycle change rate corresponding to the target PWM signal according to the second Y-axis mapping relationship and the second acceleration; and determining a third reference duty cycle change rate corresponding to the target PWM signal according to the second Z-axis mapping relationship and the third acceleration; A reference duty cycle change rate corresponding to the target PWM signal is determined according to the first reference duty cycle change rate, the second reference duty cycle change rate, and the third reference duty cycle change rate.

[0054] For example, taking the third angular velocity and the third angular acceleration of the remote controller in the Z-axis as an example, the third reference duty cycle and the third reference duty cycle change rate in the Z-axis direction are calculated. The first Z-axis preset relationship is expressed by the formula It indicates that, is the speed of the steering motor of the remote controller, is the angular velocity of the fan, K1 is the proportional coefficient, K1 is determined by experiments or the parameter manual of the steering motor, and then according to the first Z-axis preset relationship and the third angular velocity, the third speed of the steering motor in the Z-axis direction is obtained as ; The first Z-axis mapping relationship is through the formula ,in, represents the duty cycle, K2 is the proportional coefficient, and then according to the first Z-axis mapping relationship and the third speed, the third reference duty cycle corresponding to the target PWM signal is obtained as 1%.

[0055] Further, illustratively, the second Z-axis preset relationship is expressed by the formula It indicates that, is the acceleration of the steering motor of the remote control, is the angular acceleration of the fan, K3 is the proportional coefficient, K3 is determined by experiments or the parameter manual of the steering motor, and then according to the second Z-axis preset relationship and the third angular acceleration, the third acceleration of the steering motor in the Z-axis direction is obtained as ; The second Z-axis mapping relationship is through the formula ,in, represents the duty cycle change rate, K4 is the proportional coefficient, and then according to the second Z-axis mapping relationship and the third acceleration, the third reference duty cycle change rate corresponding to the target PWM signal is obtained as 3% / s.

[0056] Among them, the above example only gives an example of calculating the test duty cycle and the reference duty cycle change rate, and gives a calculation formula that characterizes the linear relationship. It should be emphasized that the specific algorithm and calculation formula of the preset relationship and mapping relationship are based on the performance parameters of the circulating fan and the remote control, and are obtained through multiple experimental tests in advance, and are not limited to the calculation formula in the above example.

[0057] In a possible embodiment, determining the target duty cycle corresponding to the target PWM signal according to the reference duty cycle and the reference duty cycle change rate includes: determining a first target duty cycle according to the first reference duty cycle and the first reference duty cycle change rate; and determining a second target duty cycle according to the second reference duty cycle and the second reference duty cycle change rate; and determining a third target duty cycle according to the third reference duty cycle and the third reference duty cycle change rate; The target duty ratio is determined according to the first target duty ratio, the second target duty ratio, and the third target duty ratio.

[0058] The target duty cycle is determined according to the first target duty cycle, the second target duty cycle and the third target duty cycle, which can be implemented by weighted average method, vector synthesis method or maximum value method. The target duty cycle calculation methods include but are not limited to the above methods.

[0059] In a possible embodiment, the method further includes: Detecting that the motion trajectory of the remote control moves from a first direction to a second direction at adjacent moments, and a change value of an angle between the first direction and the second direction is greater than the preset threshold; Get the preset inflection point optimization algorithm; Based on the inflection point optimization algorithm, a target PWM signal corresponding to the steering motor of the circulation fan is determined according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller.

[0060] In a possible embodiment, the method of determining the target PWM signal corresponding to the steering motor of the circulation fan based on the inflection point optimization algorithm according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller includes: Determining the expected optimized motion trajectory of the circulating fan according to the inflection point optimization algorithm and the motion state of the remote controller at the inflection point; Determine a first expected rotation speed in the X-axis direction, a second expected rotation speed in the Y-axis direction, and a third expected rotation speed in the Z-axis direction of the steering motor of the circulation fan according to the expected optimized motion trajectory, the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller, and determine a first expected acceleration in the X-axis direction, a second expected acceleration in the Y-axis direction, and a third expected acceleration in the Z-axis direction of the steering motor of the circulation fan; Determining a reference duty cycle corresponding to the target PWM signal according to the first mapping relationship, the first expected speed, the second expected speed, and the third expected speed; and determining a reference duty cycle change rate corresponding to the target PWM signal according to the second mapping relationship, the first expected acceleration, the second expected acceleration, and the third expected acceleration; Determining a target duty cycle corresponding to the target PWM signal according to the reference duty cycle and the reference duty cycle change rate; The target PWM signal is generated according to the target duty cycle.

[0061] Among them, if the angle change between the first direction and the second direction is greater than the preset threshold, it means that the remote control has a directional deviation, and the degree of directional deviation is large and the direction changes suddenly, forming an inflection point. The motion trajectory of the remote control and the circulating fan has a huge turn, and it is impossible to present a good remote control effect under the current remote control control algorithm. Trajectory optimization is the optimization control of the acceleration parameters of the steering motor. It can avoid the motion jamming and delay caused by the acceleration of the motor in the first direction dropping to zero and then re-accelerating from zero in the second direction, and then optimize it to a continuous arc curve trajectory to transition the direction change, so the acceleration does not need to drop to zero. For example, the inflection point optimization algorithm may be a Bezier curve method, a spline interpolation method or a speed planning method. In practical applications, these algorithms need to be adjusted and optimized in combination with specific characteristic parameters of the remote control and the circulation fan, as well as the user's operating habits.

[0062] Specifically, the Bezier curve can flexibly control the shape of the curve through control points. Taking the quadratic Bezier curve as an example, its formula is: B(t)= +2t(1-t) + , where t is the parameter of the curve and its value range is [0,1]; It is the starting point before the inflection point (corresponding to the position of the circulating fan before the inflection point), which can be determined based on the motion state of the remote control before the inflection point and the current position of the circulating fan; It is the target point after the inflection point (corresponding to the position of the circulating fan after the inflection point), which is determined by the motion state of the remote controller after the inflection point; is a control point that determines the curvature and direction of the curve, and can be set according to the angle between the first direction and the second direction, as well as the preset smoothness requirement. Located in and It is a position on the straight line of the endpoint, and the distance from the straight line can be dynamically adjusted according to the angle change value and the preset smoothing coefficient.

[0063] Specifically, spline interpolation is a method that approximates given data points by constructing piecewise smooth spline functions, thereby achieving data interpolation and curve fitting. Taking cubic spline interpolation as an example, it can ensure that the curve has continuous first-order and second-order derivatives at the connection points, thereby achieving smooth transition. Assume that n points are known ( , ), , to construct a cubic spline function S(x), in each subinterval [ , ]S(x) is a cubic polynomial: (x)= + (x- )+ + .in, , , , are the coefficients to be determined. These coefficients are solved by satisfying the following conditions: Interpolation conditions: ( )= , ( )= +1; Continuity condition: ( )= ( ), ( )= ( ); Boundary conditions: can be set according to actual conditions, such as fixed boundary conditions (derivatives at specified endpoints), etc. In remote control trajectory optimization, x can represent time or motion parameters, and y can represent information such as the position or angle of the circulation fan. Through the interpolation calculation of these points, a smooth motion trajectory curve can be obtained, achieving a smooth transition from before the inflection point to after the inflection point.

[0064] Specifically, the speed planning method is a method for rationally planning and controlling the speed of an object according to the motion task and constraints to achieve efficient and smooth motion. Before and after the inflection point, the speed of the circulating fan steering motor is planned according to the three-dimensional angular velocity and three-dimensional angular acceleration of the remote controller. For example, a trapezoidal speed curve or an S-shaped speed curve is used, and the speed curve is rationally planned to make the movement of the circulating fan at the inflection point smoother.

[0065] In a possible embodiment, the initial direction is characterized by a first initial angle on the X-axis, a second initial angle on the Y-axis, and a third initial angle on the Z-axis, and the movement angle range of the circulating fan includes a first angle range on the X-axis, a second angle range on the Y-axis, and a third angle range on the Z-axis; the method further includes: Detecting that the remote controller is not moving within the effective three-dimensional operating angle range; Determining that the remote controller exceeds the valid three-dimensional operation angle range in a target direction, wherein the target direction includes an X-axis direction, a Y-axis direction, and / or a Z-axis direction; Determining a reference angle of the remote controller in the target direction; If it is determined that the reference angle is greater than the maximum effective angle of the effective three-dimensional operation angle range in the target direction, a first PWM signal is sent to the circulation fan, wherein the first PWM signal is used to instruct the circulation fan to maintain the maximum angle of the angle range corresponding to the target direction; and If it is determined that the reference angle is smaller than the minimum effective angle corresponding to the effective three-dimensional operating angle range in the target direction, a second PWM signal is sent to the circulation fan, and the second PWM signal is used to instruct the circulation fan to maintain an initial angle corresponding to the target direction.

[0066] It can be understood that the setting of the effective three-dimensional operating angle range of the remote control can achieve effective control and protection of the movement angle of the circulation fan, avoiding abnormal operation of the circulation fan due to the remote control operation out of range.

[0067] In a possible embodiment, determining the target PWM signal corresponding to the steering motor of the circulation fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller includes: sending the monitoring data of the gyroscope to the circulation fan; The circulating fan determines the three-dimensional angular velocity and three-dimensional angular acceleration of the remote controller according to the monitoring data of the gyroscope; The circulation fan obtains a preset first mapping relationship and a second mapping relationship, and determines the reference duty cycle according to the first mapping relationship, the first preset relationship and the three-dimensional angular velocity of the remote controller; and determines the reference duty cycle change rate according to the second mapping relationship, the second preset relationship and the three-dimensional angular acceleration of the remote controller; and determines the target duty cycle according to the reference duty cycle and the reference duty cycle change rate; and, The circulating fan generates the target PWM signal according to the target duty cycle; The circulation fan sends the target PWM signal to the steering motor.

[0068] It can be understood that the present application calculates the angular velocity and angular acceleration of the remote control based on the gyroscope sensor data, and calculates the duty cycle of the drive signal of the fan side steering motor based on the angular velocity and angular acceleration of the remote control. Specifically, the control logic can be executed by the controller of the remote control. When the controller of the circulating fan supports the execution of complex algorithm logic, the trajectory following control logic can be executed by the circulating fan.

[0069] Among them, the steering motor of the circulating fan can be a single steering motor. By adjusting the speed and acceleration of the single steering motor in different axial directions, the movement of the motor in the X, Y, and Z axes can be accurately controlled to achieve the three-dimensional steering of the circulating fan; and the steering motor of the circulating fan can also include a first steering motor, a second steering motor, and a third steering motor, each of which is responsible for the movement in one direction of the X, Y, and Z axes. At this time, the circulating fan processes the target PWM signal to obtain three sub-control signals respectively, and sends them to the three steering motors respectively, or the remote controller calculates the acceleration and angular acceleration of each direction to obtain three PWM control signals respectively, and sends them together as the target PWM signal to the circulating fan, and the circulating fan controller parses to obtain three PWM control signals and sends them to the three steering motors respectively.

[0070] In a possible embodiment, the controller is connected to a terminal device, and the terminal device is also connected to the circulation fan, and the method further includes: the circulation fan obtains an initial motion trajectory of the circulation fan for the target blowing area in this remote operation, and the initial motion trajectory includes a motion trajectory formed in a process in which the circulation fan moves from the initial direction to a first side boundary toward the target blowing area and then moves in the reverse direction to a second side boundary toward the target blowing area, and the first side boundary is not adjacent to the second side boundary; The circulation fan sends the initial motion trajectory to the terminal device; The terminal device receives the initial motion trajectory, optimizes the initial motion trajectory according to a preset motion trajectory optimization algorithm to obtain a target motion trajectory; and updates and displays the target motion trajectory on a display interface of the application; The terminal device detects a timing operation and determines a target hair-drying period according to the timing operation, wherein the timing operation includes a selection operation for a timing setting control on the display interface; The terminal device generates a reservation task profile according to the target blowing period and the target motion trajectory, and sends the reservation task profile to the circulation fan to control the circulation fan to move according to the target motion trajectory during the target blowing period to complete the scheduled blowing task for the target blowing area.

[0071] Exemplarily, the APP side can display the remote control trajectory application interface, which includes the function of timed drying clothes. After the user clicks it, the user is prompted to move the circulation fan to the area where clothes are dried, and is prompted to manually calibrate the initial position and initial direction first. The initial position can be the median area of ​​​​the clothes drying area, and the initial direction is aimed at the clothes; the user completes the calibration and clicks to confirm on the APP or remote control side. The controller of the circulation fan records the current initial position and direction data, and notifies the remote control and APP side that the host is ready; the remote control side prompts the user to start remote operation through vibration and other methods, and the user holds the remote control to start remote operation; the remote control collects gyroscope data and processes it into a motor drive signal to send to the circulation fan. The fan of the circulation fan follows the operation trajectory of the remote control. After the user observes that the fan moves to the boundary area of ​​​​the clothes drying, he or she promptly adjusts the angle and continues to move in the opposite direction. Finally, a complete remote control motion trajectory will be formed for the area where the clothes are dried.

[0072] Synchronously with the above process, the remote control will send the remote operation process data to the APP side. The APP side will display the original trajectory that has not been smoothed on the page based on the received remote operation data, and ask the user whether to optimize and adjust. It can also directly display the optimization control without asking questions. The user triggers the optimization operation through the optimization interface, and the APP side itself optimizes the trajectory according to the preset trajectory optimization algorithm and updates the trajectory displayed on the front-end page, and synchronously displays the timing setting control. The user enters the time period when the circulation fan is expected to blow air according to the optimized trajectory through the timing control, and sends the appointment task configuration file corresponding to the optimized trajectory information to the circulation fan host; the circulation fan host receives the appointment task configuration file, parses the file information and repeats the corresponding trajectory following blowing operation in the corresponding time period.

[0073] It can be seen that in this embodiment, the remote control angular velocity and angular acceleration are calculated based on the gyroscope sensor data, and the duty cycle of the fan side motor drive signal is calculated based on the remote control angular velocity and angular acceleration, so that a more accurate, smooth and low-latency control state can be achieved in the dynamic response dimension and consistency dimension of the circulation fan's trajectory following, which is conducive to improving the comprehensiveness and real-time performance of remote control data processing in remote control scenarios. In addition, for segmented application scenarios such as drying clothes, this application can also solve user pain points and provide functional support based on the fan's remote control trajectory entry and timing functions, thereby improving the functional practicality and scenario applicability of the remote control circulation fan.

[0074] See also Figure 5 , Figure 5 This is an overall flow chart of a remote control-based circulation fan remote control method provided in an embodiment of the present application, which is applied to Figure 3 The controller 312 in Figure 5 As shown, the method comprises the following steps: Step S501, in response to a remote operation start instruction, sending a first message to a circulation fan to control the circulation fan to be in an initial position.

[0075] Step S502: Check whether the current operating state of the circulation fan can be remotely operated.

[0076] Specifically, if yes, execute step S504; and, if no, execute step S503.

[0077] Step S503, suspending the remote operation until the state is restored.

[0078] Step S504: the user performs remote operation on the target blowing area.

[0079] Step S505 , collecting monitoring data of the gyroscope of the remote controller during the teleoperation process, and determining the three-dimensional angular velocity and three-dimensional angular acceleration of the remote controller based on the monitoring data.

[0080] Step S506: Whether the remote controller moves within the effective three-dimensional operation angle range.

[0081] Specifically, if yes, execute step S508; and, if no, execute step S507.

[0082] Step S507, keeping the circulation fan at the maximum angle or the initial angle.

[0083] In a possible embodiment, the method also includes: detecting that the remote control does not move within the effective three-dimensional operating angle range; judging that the remote control exceeds the effective three-dimensional operating angle range in the target direction, the target direction including the X-axis direction and / or the Y-axis direction and / or the Z-axis direction; determining the reference angle of the remote control in the target direction; if it is judged that the reference angle is greater than the maximum effective angle corresponding to the effective three-dimensional operating angle range in the target direction, sending a first PWM signal to the circulating fan, the first PWM signal being used to instruct the circulating fan to maintain the maximum angle of the angle range corresponding to the target direction; and, if it is judged that the reference angle is less than the minimum effective angle corresponding to the effective three-dimensional operating angle range in the target direction, sending a second PWM signal to the circulating fan, the second PWM signal being used to instruct the circulating fan to maintain the initial angle corresponding to the target direction.

[0084] Step S508: Detect that the motion trajectory of the remote control moves from the first direction to the second direction at adjacent moments.

[0085] Step S509: whether the angle change value between the first direction and the second direction is less than a preset threshold.

[0086] Specifically, if yes, execute step S510; and, if no, execute step S511.

[0087] Step S510, determining a target PWM signal corresponding to the steering motor of the circulation fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller.

[0088] In a possible embodiment, the determining of the target PWM signal corresponding to the steering motor of the circulating fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller includes: detecting that the motion trajectory of the remote controller moves from the first direction to the second direction at adjacent moments, and the angle change value between the first direction and the second direction is less than a preset threshold; acquiring a preset first mapping relationship and a second mapping relationship, the first mapping relationship representing the relationship between the rotation speed of the steering motor and the duty cycle of the target PWM signal, and the second mapping relationship representing the relationship between the acceleration of the steering motor and the duty cycle change rate of the target PWM signal; determining a reference duty cycle corresponding to the target PWM signal according to the first mapping relationship, the first preset relationship and the three-dimensional angular velocity of the remote controller; and determining a reference duty cycle change rate corresponding to the target PWM signal according to the second mapping relationship, the second preset relationship and the three-dimensional angular acceleration of the remote controller; determining a target duty cycle corresponding to the target PWM signal according to the reference duty cycle and the reference duty cycle change rate; generating the target PWM signal according to the target duty cycle; and sending the target PWM signal to the circulating fan.

[0089] Step S511, based on the inflection point optimization algorithm, determine the target PWM signal corresponding to the steering motor of the circulation fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller.

[0090] Specifically, when the remote control is at an inflection point, and the angle change value of the direction at adjacent moments before and after the inflection point is greater than a preset threshold, it is necessary to optimize the right-angle-like change to a chamfered change based on a preset inflection point optimization algorithm, and change the sudden right-angle motion trajectory into a curve transition with a certain arc, so that the movement of the circulating fan is smoother, the motor loss is reduced, and the user experience is improved. For example, when the user quickly changes the direction of the remote control, the circulating fan does not turn abruptly, but transitions in a softer curve.

[0091] For example, the inflection point optimization algorithm may be a Bezier curve method, a spline interpolation method or a speed planning method. In practical applications, these algorithms need to be adjusted and optimized in combination with specific characteristic parameters of the remote control and the circulation fan, as well as the user's operating habits.

[0092] It can be seen that in this embodiment, the controller of the remote control calculates the angular velocity and angular acceleration of the remote control based on the gyroscope sensor data, and calculates the duty cycle of the drive signal of the steering motor on the circulating fan side based on the angular velocity and angular acceleration of the remote control, thereby being able to achieve a more precise, smooth and low-latency control state in the dynamic response dimension and consistency dimension of the trajectory following of the circulating fan, which is conducive to improving the comprehensiveness and real-time performance of remote control data processing in remote control scenarios.

[0093] See also Figure 6 , Figure 6 This is an overall flow chart of a method for timing remote operation of a circulating fan provided in an embodiment of the present application, which is applied to Figure 3 The controller 312 in Figure 6 As shown, the method includes the following steps: step S601, obtaining the initial motion trajectory of the circulation fan during the remote operation of the target blowing area; step S602, optimizing the initial motion trajectory to obtain the target motion trajectory; step S603, updating and displaying the target motion trajectory; step S604, detecting the timing operation, and determining the target blowing period according to the timing operation; step S605, generating a reservation task profile according to the target blowing period and the target motion trajectory, and sending the reservation task profile to the circulation fan to execute the timing blowing task.

[0094] It can be seen that in this embodiment, the dynamic response dimension and consistency dimension of the circulation fan's trajectory tracking can achieve a relatively accurate, smooth and low-latency control state, which is conducive to improving the comprehensiveness and real-time performance of remote control data processing in the remote control scene. In addition, for segmented application scenarios such as drying clothes, it is also possible to solve user pain points and provide functional support based on the fan's remote control trajectory entry and timing functions, thereby improving the functional practicality and scenario applicability of the remote control circulation fan.

[0095] See also Figure 7 , Figure 7 1 is a schematic diagram of an interface showing the movement angle range of a circulation fan on the z-axis provided by an embodiment of the present application. Figure 7 As shown, the current terminal interface displays the movement angle range of the circulation fan on the z-axis.

[0096] Among them, a fan-shaped area is presented above the circulating fan, and the angle "120°" is marked, which shows the movement angle range of the circulating fan in the Z-axis direction (usually the horizontal shaking direction), that is, the angle area that the circulating fan can cover when shaking horizontally.

[0097] Among them, the mobile phone interface on the right shows "circulation fan connected", indicating that the terminal device has established a connection with the circulation fan and can perform related operations, which is the basis for realizing remote control. The "on" button indicates that the user can control the on / off state of the circulation fan through this interface; the "Z-axis-motion angle range" part presents a fan-shaped image corresponding to the motion angle range, marked as "120°", which corresponds to the actual motion angle range of the circulation fan. This reflects the function of users in the solution to view and set the circulation fan parameters through the terminal device, which is convenient for users to intuitively understand and adjust the motion angle of the circulation fan in the Z-axis direction, and enhances the convenience and visualization of operation.

[0098] Specifically, when the user sets or views the Z-axis motion angle range on the terminal device interface, the relevant instructions or data will be transmitted to the circulating fan via wireless communication. The circulating fan will adjust its own motion state or feedback the current angle information based on the received information, forming a complete interactive control closed loop, which is in line with the concept of collaborative interaction of multiple devices in the circulating fan remote operation solution to achieve precise control.

[0099] See also Figure 8 , Figure 8 1 is a schematic diagram of an interface showing the movement angle range of a circulation fan on the x-axis provided by an embodiment of the present application. Figure 8 As shown, the current terminal interface displays the movement angle range of the circulation fan on the x-axis.

[0100] Among them, a fan-shaped area is presented in the upper left corner of the circulation fan, and the angle "105°" is marked, which shows the movement angle range of the circulation fan in the x-axis direction (usually the pitch direction), that is, the rotation amplitude of the circulation fan in the pitch direction.

[0101] Among them, the mobile phone interface on the left shows "circulation fan connected", indicating that the terminal device has established a connection with the circulation fan and can perform related operations, which is the basis for realizing remote control. The "On" button indicates that the user can control the on / off state of the circulation fan through this interface; the "X-axis-motion angle range" part presents a fan-shaped image corresponding to the motion angle range, marked as "105°", which corresponds to the actual motion angle range of the circulation fan. It reflects the function of users in the solution to view and set the circulation fan parameters through the terminal device. With the help of this interface, users can clearly understand and adjust the rotation angle of the circulation fan in the pitch direction to achieve a more personalized operation experience.

[0102] Specifically, when the user views or modifies the X-axis motion angle range on the mobile phone interface, the relevant instructions will be transmitted to the circulating fan wirelessly. After receiving the instructions, the circulating fan adjusts its own motion state and can feed back the current angle information to the terminal device, forming a two-way interaction. This follows the logic of multi-device collaboration to achieve precise control in the circulating fan remote operation solution, ensuring that users can conveniently remotely control the circulating fan.

[0103] See also Fig. 9 , Fig. 9 is an application scenario diagram of a remote control-based circulating fan remote control method provided in an embodiment of the present application, such as Fig. 9 As shown, the initial position of the circulation fan can be the middle area of ​​the target blowing area, and the initial direction is aligned with the target blowing area. At this time, the user holds the remote control for remote control. The user controls the direction of the circulation fan by changing the direction of the remote control. The circulation fan follows the trajectory of the remote control, so that the circulation fan is now facing the first side boundary of the target blowing area, and the remote control is about to control the circulation fan to move in the opposite direction. For further information, please refer to Fig.10 , Fig.10 is an application scenario diagram of another remote control-based circulating fan remote control method provided in an embodiment of the present application, such as Fig.10 As shown, the remote controller controls the circulation fan to move in the opposite direction to the second side boundary of the target blowing area, and at this time, the remote controller is about to control the circulation fan to continue to move toward the first side boundary, and the second side boundary is opposite to the first side boundary.

[0104] It can be seen that in this embodiment, the circulation fan changes the blowing direction according to the user's operation of the remote control. The user can adjust the direction of the circulation fan through the remote control at any time according to the location of the target blowing area and his own needs to achieve effective air supply to a specific area.

[0105] See also Fig.11 , Fig.11 Schematic diagram of a circulating fan terminal interface provided by an embodiment of the present application. Fig.11 As shown, the current terminal interface can be used to control the circulation fan to perform remote operation.

[0106] Among them, the terminal interface includes a "reservation timing" component, which is convenient for users to set the working time of the circulation fan according to their own needs, such as setting it to turn on or off during a specific time period; and, the terminal interface includes a "circulation fan parameter setting" component, which allows users to personalize the various parameters of the circulation fan, such as wind speed, swing angle, movement speed, etc.; and, the terminal interface includes direction keys in the "remote operation control" area, which can simulate the function of the remote control to achieve remote control of the direction of the circulation fan. Users can adjust the horizontal or pitch angle of the circulation fan by clicking the direction keys; and, the terminal page also includes a "remote operation trajectory" section, which shows the movement trajectory of the circulation fan, presented in a three-dimensional coordinate system combined with a curve, and also has "real scene switch" and "refresh" buttons. "Real scene switch" is used to switch to the real scene mode to display the trajectory to enhance intuitiveness; "refresh" is used to update the trajectory display to reflect the movement status of the circulation fan in real time.

[0107] It can be seen that in this embodiment, the circulation fan terminal interface can realize remote control. The circulation fan can be turned on and off and the blowing direction can be adjusted through the "on" button and the direction keys; and personalized settings are supported. With the help of "appointment timing" and "circulation fan parameter setting", the user's customization requirements for time and parameters are met; and visual feedback is provided. The "remote operation trajectory" and related buttons can allow users to intuitively understand the movement status of the circulation fan, facilitating precise control and optimized use.

[0108] See also Fig.12 , Fig.12 is a functional module diagram of a remote control-based circulating fan remote control device provided in an embodiment of the present application, such as Fig.12 As shown, the remote control-based circulating fan remote control device 100 includes the following units: A response unit 110, configured to send a first message to the circulation fan in response to a remote operation start instruction, wherein the first message is used to indicate that the circulation fan is in a preset initial orientation, wherein the initial orientation includes an initial direction and an initial position relative to a target blowing area; A first determining unit 120, configured to determine an effective three-dimensional operating angle range of the remote controller according to the initial direction, the movement angle range of the circulation fan, and the movement angle range of the remote controller; The second determining unit 130 is used to collect monitoring data of the gyroscope during the user's remote operation of the target blowing area, and determine the three-dimensional angular velocity and three-dimensional angular acceleration of the remote controller according to the monitoring data, wherein the three-dimensional angular velocity and three-dimensional angular acceleration include a first angular velocity and a first angular acceleration on the X-axis, a second angular velocity and a second angular acceleration on the Y-axis, and a third angular velocity and a third angular acceleration on the Z-axis; The processing unit 140 is used to determine the target PWM signal corresponding to the steering motor of the circulation fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote control if it is detected that the remote control moves within the effective three-dimensional operating angle range, so as to enable the circulation fan to move along the trajectory of the remote control, wherein the first preset relationship represents the relationship between the rotational speed of the steering motor and the three-dimensional angular velocity of the remote control, and the second preset relationship represents the relationship between the acceleration of the steering motor and the three-dimensional angular acceleration of the remote control.

[0109] In one embodiment, the method of determining the target PWM signal corresponding to the steering motor of the circulating fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller includes: detecting that the motion trajectory of the remote controller moves from a first direction to a second direction at adjacent moments, and the angle change value between the first direction and the second direction is less than a preset threshold; acquiring a preset first mapping relationship and a second mapping relationship, wherein the first mapping relationship represents the relationship between the rotation speed of the steering motor and the duty cycle of the target PWM signal, and the second mapping relationship represents the relationship between the acceleration of the steering motor and the duty cycle change rate of the target PWM signal; determining a reference duty cycle corresponding to the target PWM signal according to the first mapping relationship, the first preset relationship and the three-dimensional angular velocity of the remote controller; and determining a reference duty cycle change rate corresponding to the target PWM signal according to the second mapping relationship, the second preset relationship and the three-dimensional angular acceleration of the remote controller; determining a target duty cycle corresponding to the target PWM signal according to the reference duty cycle and the reference duty cycle change rate; generating the target PWM signal according to the target duty cycle; and sending the target PWM signal to the circulating fan.

[0110] In one embodiment, the first mapping relationship includes a first X-axis mapping relationship, a first Y-axis mapping relationship, and a first Z-axis mapping relationship, and the first preset relationship includes a first X-axis preset relationship, a first Y-axis preset relationship, and a first Z-axis preset relationship; the determining the reference duty cycle corresponding to the target PWM signal according to the first mapping relationship, the first preset relationship, and the three-dimensional angular velocity of the remote controller includes: determining a first rotation speed of the steering motor in the X-axis direction according to the first X-axis preset relationship and the first angular velocity; and determining a second rotation speed of the steering motor in the Y-axis direction according to the first Y-axis preset relationship and the second angular velocity; and determining a third rotation speed of the steering motor in the Z-axis direction according to the first Z-axis preset relationship and the third angular velocity; determining a first reference duty cycle corresponding to the target PWM signal according to the first X-axis mapping relationship and the first rotation speed; and determining a second reference duty cycle corresponding to the target PWM signal according to the first Y-axis mapping relationship and the second rotation speed; and determining a third reference duty cycle corresponding to the target PWM signal according to the first Z-axis mapping relationship and the third rotation speed; and determining a reference duty cycle corresponding to the target PWM signal according to the first reference duty cycle, the second reference duty cycle, and the third reference duty cycle.

[0111] In one embodiment, the second mapping relationship includes a second X-axis mapping relationship, a second Y-axis mapping relationship and a second Z-axis mapping relationship, and the second preset relationship includes a second X-axis preset relationship, a second Y-axis preset relationship and a second Z-axis preset relationship; the determining the reference duty cycle change rate corresponding to the target PWM signal according to the second mapping relationship, the second preset relationship and the three-dimensional angular acceleration of the remote controller includes: determining a first acceleration of the steering motor in the X-axis direction according to the second X-axis preset relationship and the first angular acceleration; and determining a second acceleration of the steering motor in the Y-axis direction according to the second Y-axis preset relationship and the second angular acceleration; and determining a second acceleration of the steering motor in the Y-axis direction according to the second Z The invention relates to a method for determining a third acceleration of the steering motor in the Z-axis direction according to a preset relationship between the second X-axis and the third angular acceleration; determining a first reference duty cycle change rate corresponding to the target PWM signal according to the second X-axis mapping relationship and the first acceleration; and determining a second reference duty cycle change rate corresponding to the target PWM signal according to the second Y-axis mapping relationship and the second acceleration; and determining a third reference duty cycle change rate corresponding to the target PWM signal according to the second Z-axis mapping relationship and the third acceleration; and determining a reference duty cycle change rate corresponding to the target PWM signal according to the first reference duty cycle change rate, the second reference duty cycle change rate and the third reference duty cycle change rate.

[0112] In one embodiment, the method also includes: detecting that the motion trajectory of the remote control moves from a first direction to a second direction at adjacent moments, and the angle change value between the first direction and the second direction is greater than the preset threshold; obtaining a preset inflection point optimization algorithm; based on the inflection point optimization algorithm, determining the target PWM signal corresponding to the steering motor of the circulation fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote control.

[0113] In one embodiment, the initial direction is represented by a first initial angle on the X-axis, a second initial angle on the Y-axis, and a third initial angle on the Z-axis, and the movement angle range of the circulating fan includes a first angle range on the X-axis, a second angle range on the Y-axis, and a third angle range on the Z-axis; the method also includes: detecting that the remote control does not move within the effective three-dimensional operation angle range; judging that the remote control exceeds the effective three-dimensional operation angle range in a target direction, wherein the target direction includes the X-axis direction and / or the Y-axis direction and / or the Z-axis direction; determining a reference angle of the remote control in the target direction; if it is judged that the reference angle is greater than the maximum effective angle corresponding to the effective three-dimensional operation angle range in the target direction, sending a first PWM signal to the circulating fan, the first PWM signal being used to instruct the circulating fan to maintain the maximum angle of the angle range corresponding to the target direction; and, if it is judged that the reference angle is less than the minimum effective angle corresponding to the effective three-dimensional operation angle range in the target direction, sending a second PWM signal to the circulating fan, the second PWM signal being used to instruct the circulating fan to maintain the initial angle corresponding to the target direction.

[0114] In one embodiment, before collecting the monitoring data of the gyroscope during the user's remote operation of the target blowing area, the method also includes: receiving a status data set from the circulation fan, the status data set including a plurality of status parameters and their corresponding parameter values; determining that the circulation fan is currently available for performing the remote operation based on the status data set and a preset standard status parameter table, the standard status parameter table including a plurality of status parameters and their corresponding plurality of standard parameter intervals.

[0115] In one embodiment, determining the target PWM signal corresponding to the steering motor of the circulating fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller includes: sending the monitoring data of the gyroscope to the circulating fan; the circulating fan determines the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller according to the monitoring data of the gyroscope; the circulating fan obtains the preset first mapping relationship and the second mapping relationship, and determines the reference duty cycle according to the first mapping relationship, the first preset relationship and the three-dimensional angular velocity of the remote controller; and, determines the reference duty cycle change rate according to the second mapping relationship, the second preset relationship and the three-dimensional angular acceleration of the remote controller; and, determines the target duty cycle according to the reference duty cycle and the reference duty cycle change rate; and, the circulating fan generates the target PWM signal according to the target duty cycle; and the circulating fan sends the target PWM signal to the steering motor.

[0116] In one embodiment, the controller is connected to a terminal device, and the terminal device is also connected to the circulation fan, and the method further includes: the circulation fan obtains an initial motion trajectory of the circulation fan for the target blowing area in this remote operation, the initial motion trajectory includes a motion trajectory formed in the process of the circulation fan moving from the initial direction to a first side boundary facing the target blowing area and then moving in the opposite direction to a second side boundary facing the target blowing area, and the first side boundary is not adjacent to the second side boundary; the circulation fan sends the initial motion trajectory to the terminal device; the terminal device receives the initial motion trajectory, and optimizes the initial motion trajectory according to a preset motion trajectory optimization algorithm to obtain a target motion trajectory; and, updates and displays the target motion trajectory on a display interface of an application; the terminal device detects a timing operation, and determines a target blowing period according to the timing operation, and the timing operation includes a selection operation for a timing setting control on the display interface; the terminal device generates a reservation task profile according to the target blowing period and the target motion trajectory, and sends the reservation task profile to the circulation fan to control the circulation fan to move according to the target motion trajectory during the target blowing period to complete the scheduled blowing task for the target blowing area.

[0117] It can be understood that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part and will not be repeated here.

[0118] It can be seen that the controller of the device calculates the angular velocity and angular acceleration of the remote control based on the gyroscope sensor data, and calculates the duty cycle of the drive signal of the steering motor on the circulating fan side based on the angular velocity and angular acceleration of the remote control, thereby being able to achieve a more precise, smooth and low-latency control state in the dynamic response dimension and consistency dimension of the trajectory following of the circulating fan, which is conducive to improving the comprehensiveness and real-time performance of remote operation data processing in remote operation scenarios.

[0119] In addition, an embodiment of the present application also provides a computer storage medium, which stores a computer program that can be loaded by a processor and executes the above-mentioned remote control-based circulation fan remote control method. The computer-readable storage medium includes, for example: a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a disk or an optical disk, and other media that can store program codes.

[0120] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and units involved are not necessarily required by the present application.

[0121] This is only a logical function division, and there may be other divisions in actual implementation; for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, which may be electrical, mechanical or other forms.

[0122] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0123] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may be physically included separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0124] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a volatile memory or a non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct memory bus random access memory (DRRAM), etc., various media that can store program code.

[0125] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0126] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

[0127] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present application, and can make various changes and modifications, including the combination of the above-mentioned different functions and implementation steps, including software and hardware implementation methods, all of which are within the scope of protection of the present application.

Claims

1. A remote control-based circulation fan remote control method, characterized in that: A controller applied to the remote controller, wherein the remote controller has a built-in gyroscope, and the method comprises: In response to the remote operation start instruction, a first message is sent to the circulation fan, wherein the first message is used to indicate that the circulation fan is in a preset initial orientation, wherein the initial orientation includes an initial direction and an initial position relative to a target blowing area; Determine an effective three-dimensional operating angle range of the remote controller according to the initial direction, the movement angle range of the circulation fan, and the movement angle range of the remote controller; Collecting monitoring data of the gyroscope during the user's remote operation of the target blowing area, and determining the three-dimensional angular velocity and three-dimensional angular acceleration of the remote controller according to the monitoring data, wherein the three-dimensional angular velocity and three-dimensional angular acceleration include a first angular velocity and a first angular acceleration on the X-axis, a second angular velocity and a second angular acceleration on the Y-axis, and a third angular velocity and a third angular acceleration on the Z-axis; If it is detected that the remote control moves within the effective three-dimensional operating angle range, the target PWM signal corresponding to the steering motor of the circulating fan is determined according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote control, so as to enable the circulating fan to move along the trajectory of the remote control. The first preset relationship represents the relationship between the rotational speed of the steering motor and the three-dimensional angular velocity of the remote control, and the second preset relationship represents the relationship between the acceleration of the steering motor and the three-dimensional angular acceleration of the remote control.

2. The method according to claim 1, characterized in that: The method of determining a target PWM signal corresponding to the steering motor of the circulation fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller includes: Detecting that the motion trajectory of the remote control moves from a first direction to a second direction at adjacent moments, and a change value of an angle between the first direction and the second direction is less than a preset threshold; Acquire a preset first mapping relationship and a second mapping relationship, wherein the first mapping relationship represents a relationship between a rotation speed of the steering motor and a duty cycle of the target PWM signal, and the second mapping relationship represents a relationship between an acceleration of the steering motor and a duty cycle change rate of the target PWM signal; Determining a reference duty cycle corresponding to the target PWM signal according to the first mapping relationship, the first preset relationship, and the three-dimensional angular velocity of the remote controller; and determining a reference duty cycle change rate corresponding to the target PWM signal according to the second mapping relationship, the second preset relationship, and the three-dimensional angular acceleration of the remote controller; Determining a target duty cycle corresponding to the target PWM signal according to the reference duty cycle and the reference duty cycle change rate; generating the target PWM signal according to the target duty cycle; The target PWM signal is sent to the circulation fan.

3. The method according to claim 2, characterized in that The first mapping relationship includes a first X-axis mapping relationship, a first Y-axis mapping relationship, and a first Z-axis mapping relationship, and the first preset relationship includes a first X-axis preset relationship, a first Y-axis preset relationship, and a first Z-axis preset relationship; The determining the reference duty cycle corresponding to the target PWM signal according to the first mapping relationship, the first preset relationship and the three-dimensional angular velocity of the remote controller includes: Determine a first rotational speed of the steering motor in the X-axis direction according to the first X-axis preset relationship and the first angular velocity; and determine a second rotational speed of the steering motor in the Y-axis direction according to the first Y-axis preset relationship and the second angular velocity; and determine a third rotational speed of the steering motor in the Z-axis direction according to the first Z-axis preset relationship and the third angular velocity; Determining a first reference duty cycle corresponding to the target PWM signal according to the first X-axis mapping relationship and the first speed; and determining a second reference duty cycle corresponding to the target PWM signal according to the first Y-axis mapping relationship and the second speed; and determining a third reference duty cycle corresponding to the target PWM signal according to the first Z-axis mapping relationship and the third speed; A reference duty cycle corresponding to the PWM signal is determined according to the first reference duty cycle, the second reference duty cycle, and the third reference duty cycle.

4. The method according to claim 2, characterized in that: The second mapping relationship includes a second X-axis mapping relationship, a second Y-axis mapping relationship, and a second Z-axis mapping relationship, and the second preset relationship includes a second X-axis preset relationship, a second Y-axis preset relationship, and a second Z-axis preset relationship; The determining the reference duty cycle change rate corresponding to the target PWM signal according to the second mapping relationship, the second preset relationship and the three-dimensional angular acceleration of the remote controller includes: Determining a first acceleration of the steering motor in the X-axis direction according to the second X-axis preset relationship and the first angular acceleration; and determining a second acceleration of the steering motor in the Y-axis direction according to the second Y-axis preset relationship and the second angular acceleration; and determining a third acceleration of the steering motor in the Z-axis direction according to the second Z-axis preset relationship and the third angular acceleration; Determining a first reference duty cycle change rate corresponding to the target PWM signal according to the second X-axis mapping relationship and the first acceleration; and determining a second reference duty cycle change rate corresponding to the target PWM signal according to the second Y-axis mapping relationship and the second acceleration; and determining a third reference duty cycle change rate corresponding to the target PWM signal according to the second Z-axis mapping relationship and the third acceleration; A reference duty cycle change rate corresponding to the target PWM signal is determined according to the first reference duty cycle change rate, the second reference duty cycle change rate, and the third reference duty cycle change rate.

5. The method according to claim 2, characterized in that: The method further comprises: Detecting that the motion trajectory of the remote control moves from a first direction to a second direction at adjacent moments, and a change value of an angle between the first direction and the second direction is greater than the preset threshold; Get the preset inflection point optimization algorithm; Based on the inflection point optimization algorithm, a target PWM signal corresponding to the steering motor of the circulation fan is determined according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller.

6. The method according to any one of claims 1 to 5, characterized in that: The initial direction is characterized by a first initial angle on the X-axis, a second initial angle on the Y-axis, and a third initial angle on the Z-axis, and the movement angle range of the circulating fan includes a first angle range on the X-axis, a second angle range on the Y-axis, and a third angle range on the Z-axis; the method further includes: Detecting that the remote controller is not moving within the effective three-dimensional operating angle range; Determining that the remote controller exceeds the valid three-dimensional operation angle range in a target direction, wherein the target direction includes an X-axis direction, a Y-axis direction, and / or a Z-axis direction; Determining a reference angle of the remote controller in the target direction; If it is determined that the reference angle is greater than the maximum effective angle of the effective three-dimensional operation angle range in the target direction, a first PWM signal is sent to the circulation fan, wherein the first PWM signal is used to instruct the circulation fan to maintain the maximum angle of the angle range corresponding to the target direction; and If it is determined that the reference angle is smaller than the minimum effective angle corresponding to the effective three-dimensional operating angle range in the target direction, a second PWM signal is sent to the circulation fan, and the second PWM signal is used to instruct the circulation fan to maintain an initial angle corresponding to the target direction.

7. The method according to claim 6, characterized in that Before collecting the monitoring data of the gyroscope during the user's remote operation of the target blowing area, the method further includes: receiving a state data set from the circulation fan, the state data set comprising a plurality of state parameters and their corresponding parameter values; The circulating fan is currently determined to be usable for performing the remote operation according to the state data set and a preset standard state parameter table, wherein the standard state parameter table includes a plurality of state parameters and a plurality of corresponding standard parameter intervals.

8. The method according to claim 2, characterized in that: The method further comprises: sending the monitoring data of the gyroscope to the circulation fan; The circulating fan determines the three-dimensional angular velocity and three-dimensional angular acceleration of the remote controller according to the monitoring data of the gyroscope; The circulation fan obtains a preset first mapping relationship and a second mapping relationship, and determines the reference duty cycle according to the first mapping relationship, the first preset relationship and the three-dimensional angular velocity of the remote controller; and determines the reference duty cycle change rate according to the second mapping relationship, the second preset relationship and the three-dimensional angular acceleration of the remote controller; and determines the target duty cycle according to the reference duty cycle and the reference duty cycle change rate; and, The circulating fan generates the target PWM signal according to the target duty cycle; The circulation fan sends the target PWM signal to the steering motor.

9. The method according to claim 1, characterized in that: The controller is connected to a terminal device, and the terminal device is also connected to the circulation fan. The method further includes: the circulation fan obtains an initial motion trajectory of the circulation fan for the target blowing area in this remote operation, and the initial motion trajectory includes a motion trajectory formed in a process in which the circulation fan moves from the initial direction to a first side boundary toward the target blowing area and then moves in the reverse direction to a second side boundary toward the target blowing area, and the first side boundary is not adjacent to the second side boundary; The circulation fan sends the initial motion trajectory to the terminal device; The terminal device receives the initial motion trajectory, optimizes the initial motion trajectory according to a preset motion trajectory optimization algorithm to obtain a target motion trajectory; and updates and displays the target motion trajectory on a display interface of the application; The terminal device detects a timing operation and determines a target hair-drying period according to the timing operation, wherein the timing operation includes a selection operation for a timing setting control on the display interface; The terminal device generates a reservation task profile according to the target blowing period and the target motion trajectory, and sends the reservation task profile to the circulation fan to control the circulation fan to move according to the target motion trajectory during the target blowing period to complete the scheduled blowing task for the target blowing area.

10. A remote control-based circulating fan remote control device, characterized in that: A controller applied to the remote controller, wherein the remote controller has a built-in gyroscope, and the device comprises: a response unit, configured to send a first message to the circulation fan in response to a remote operation start instruction, wherein the first message is used to indicate that the circulation fan is in a preset initial orientation, wherein the initial orientation includes an initial direction and an initial position relative to a target blowing area; a first determining unit, configured to determine an effective three-dimensional operating angle range of the remote controller according to the initial direction, the movement angle range of the circulation fan, and the movement angle range of the remote controller; a second determination unit, for collecting monitoring data of the gyroscope during the user's remote operation of the target blowing area, and determining the three-dimensional angular velocity and three-dimensional angular acceleration of the remote controller according to the monitoring data, wherein the three-dimensional angular velocity and three-dimensional angular acceleration include a first angular velocity and a first angular acceleration on the X-axis, a second angular velocity and a second angular acceleration on the Y-axis, and a third angular velocity and a third angular acceleration on the Z-axis; A processing unit is used to determine a target PWM signal corresponding to the steering motor of the circulation fan according to a first preset relationship, a second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote control if it is detected that the remote control moves within the effective three-dimensional operating angle range, so as to enable the circulation fan to move along the trajectory of the remote control, wherein the first preset relationship represents the relationship between the rotational speed of the steering motor and the three-dimensional angular velocity of the remote control, and the second preset relationship represents the relationship between the acceleration of the steering motor and the three-dimensional angular acceleration of the remote control.

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