Remote operation method and device for a circulation fan based on a remote controller

Abstract

The present application discloses a remote operation method and device for a circulating fan based on a remote control, including: in response to a remote operation start instruction, sending a first message to the circulating fan to indicate that the circulating fan is in a preset initial orientation; determining an effective three-dimensional operation angle range of the remote control according to the initial direction of the circulating fan, the movement angle range, and the movement angle range of the remote control; collecting monitoring data of a gyroscope during the process of a user performing remote operation on a target blowing area, and determining the three-dimensional angular velocity and three-dimensional angular acceleration of the remote control according to the monitoring data; if it is detected that the remote control moves within the effective three-dimensional operation angle range, determining a target PWM signal corresponding to the steering motor of the circulating 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, so as to realize the precise movement of the circulating fan following the trajectory of the remote control. The present application is beneficial to improving the comprehensiveness and real-time performance of remote operation data processing in a remote operation scenario.

Description

Technical Field

[0001] This application relates to the technical field of intelligent control of circulation fans, and particularly to a remote operation method and device for a circulation fan based on a remote controller. Background Art

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

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

[0004] This application provides a remote operation method and device for a circulation fan based on a remote controller. The controller of the remote controller calculates the angular velocity and angular acceleration of the remote controller based on gyroscope sensor data, and calculates the duty ratio of the drive signal of the steering motor on the circulation fan side based on the angular velocity and angular acceleration of the remote controller, so as to be able to achieve a relatively precise, compliant and low-latency control state in the dynamic response dimension and consistency dimension of the trajectory following of the circulation fan, which is beneficial to improving the comprehensiveness and real-time nature of remote operation data processing in the remote operation scenario.

[0005] In a first aspect, this application provides a remote operation method for a circulation fan based on a remote controller, which is applied to the controller of the remote controller. The remote controller is built with a gyroscope, and the method includes:

[0006] In response to a remote operation start instruction, send a first message to the circulation fan, where the first message is used to indicate that the circulation fan is in a preset initial orientation, and the initial orientation includes an initial direction and an initial position relative to a target blowing area;

[0007] Determine the effective three-dimensional operation 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;

[0008] Collect the monitoring data of the gyroscope during the process that the user performs remote operation on 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. 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;

[0009] If it is detected that the remote controller moves within the effective three-dimensional operation angle range, determine the 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 three-dimensional angular acceleration of the remote controller, so as to enable the circulation fan to move following the trajectory of the remote controller. The first preset relationship represents the relationship between the rotation speed of the steering motor and the three-dimensional angular velocity of the remote controller, and the second preset relationship represents the relationship between the acceleration of the steering motor and the three-dimensional angular acceleration of the remote controller.

[0010] In a second aspect, an embodiment of the present application provides a circulation fan remote operation device based on a remote controller, which is applied to the controller of the remote controller. The remote controller is built-in with a gyroscope. The device includes:

[0011] A response unit, configured to send a first message to the circulation fan in response to a remote operation start instruction, where the first message is used to indicate that the circulation fan is in a preset initial orientation, and the initial orientation includes an initial direction and an initial position relative to a target blowing area;

[0012] A first determination unit, configured to determine the effective three-dimensional operation 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;

[0013] A second determination unit, configured to collect the monitoring data of the gyroscope during the process that the user performs remote operation on 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. 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;

[0014] A processing unit, configured to, if it detects that the remote controller moves within the effective three-dimensional operation angle range, 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 controller, so as to enable the circulation fan to move following the trajectory of the remote controller, where the first preset relationship represents the relationship between the rotation speed of the steering motor and the three-dimensional angular velocity of the remote controller, and the second preset relationship represents the relationship between the acceleration of the steering motor and the three-dimensional angular acceleration of the remote controller.

[0015] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program / instructions are stored, and when the computer program / instructions are executed by a processor, the steps of the method described in the first aspect above are implemented.

[0016] It can be seen that in the embodiment of the present application, the controller of the remote controller responds to a remote operation start instruction, sends a first message to the circulation fan, and the first message is used to indicate that the circulation fan is in a preset initial orientation; collects the monitoring data of the gyroscope during the process that the user performs remote operations on the target blowing area, and determines the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller according to the monitoring data; if it detects that the remote controller moves within the effective three-dimensional operation angle range, determines 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 controller, so as to enable the circulation fan to move following the trajectory of the remote controller. In this way, compared with the existing solutions based on the trajectory detection device provided on the fan body or the trajectory detection device built in the remote controller, the present application can adjust the rotation speed and acceleration of the steering motor of the circulation fan in real time according to the subtle movement changes of the remote controller, so that the trajectory following of the circulation fan reaches a precise and compliant control state in terms of dynamic response dimension and consistency dimension, meeting the usage requirements of users in diverse scenarios. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is a schematic structural diagram of a circulation fan remote operation system provided by an embodiment of the present application;

[0019] Figure 2 is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

[0020] Figure 3It is a structural block diagram of a circulating fan remote operation system provided by an embodiment of the present application;

[0021] Figure 4 It is a step flow chart of a method for remotely operating a circulating fan based on a remote controller provided by an embodiment of the present application;

[0022] Figure 5 It is an overall flow chart of a method for remotely operating a circulating fan based on a remote controller provided by an embodiment of the present application;

[0023] Figure 6 It is an overall flow chart of a method for remotely operating a circulating fan at a scheduled time provided by an embodiment of the present application;

[0024] Figure 7 It is a schematic diagram of an interface for displaying the movement angle range of a circulating fan on the z-axis provided by an embodiment of the present application;

[0025] Figure 8 It is a schematic diagram of an interface for displaying the movement angle range of a circulating fan on the x-axis provided by an embodiment of the present application;

[0026] Figure 9 It is an application scenario diagram of a method for remotely operating a circulating fan based on a remote controller provided by an embodiment of the present application;

[0027] Figure 10 It is another application scenario diagram of a method for remotely operating a circulating fan based on a remote controller provided by an embodiment of the present application;

[0028] Figure 11 It is a schematic diagram of an interface of a circulating fan terminal provided by an embodiment of the present application;

[0029] Figure 12 It is a schematic diagram of functional modules of a device for remotely operating a circulating fan based on a remote controller provided by an embodiment of the present application. Detailed implementation manners

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0031] In the description, claims, and the above-mentioned drawings of this application, terms such as "first" and "second" are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. 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 also includes steps or units not listed, or optionally also includes other steps or units inherent to these processes, methods, products, or devices.

[0032] Reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of this application. The phrase appears in various places in the description and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0033] The "and / or" in the embodiments of this application describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist simultaneously; B exists alone. Among them, A and B can be singular or plural.

[0034] In the embodiments of this application, the symbol " / " can represent an "or" relationship between the preceding and following associated objects. Additionally, the symbol " / " can also represent a division sign, that is, perform a division operation. For example, A / B can represent A divided by B.

[0035] The "at least one (item)" or its similar expression in the embodiments of this application refers to any combination of these items, including any combination of a single item (item) or multiple items (items), and refers to one or more, where 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.

[0036] The "equal to" in the embodiments of this application can be used in conjunction with "greater than" and is applicable to the technical solutions adopted when it is greater than, or can also be used in conjunction with "less than" and is applicable to the technical solutions adopted when it is 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".

[0037] For the existing swing function of oscillating fans, such as the control of the swing 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. The solution of setting the trajectory detection device on the fan body can only identify user action instructions within a fixed range, with limited scope. The solution of the trajectory detection device built into the remote control is only used to identify specific user hand operation gestures such as drawing circles, etc. For the user-side customization and remote operation function of the non-fixed swing trajectory of the circulation fan, the existing solutions still cannot meet the user's usage requirements for this function.

[0038] In view of the above problems, the embodiments of the present application provide a remote operation method and device for a circulation fan based on a remote control. The embodiments of the present application will be introduced in detail below with reference to the accompanying drawings.

[0039] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of a circulation fan remote operation system provided by the embodiments of the present application. As Figure 1 shown, the circulation fan remote operation system includes a remote control 101, a circulation fan 102, and a terminal device 103.

[0040] Among them, the remote control 101 is connected to the circulation fan 102 and the terminal device 103 through wireless signals. The user can send instructions through the buttons on the remote control 101, such as adjusting the wind speed, controlling the swing angle, switching the working mode, etc., so as to realize the close-range control of the circulation fan 102.

[0041] Among them, the circulation fan 102 is used to receive wireless signals from the remote control 101 and the terminal device 103, and thus execute corresponding instructions; the control module built into the circulation fan 102 analyzes and processes the signals, and drives components such as motors to operate; the surface of the circulation fan 102 includes a control panel, and the user can directly click the buttons on the control panel to adjust the operating state, such as adjusting the wind speed, changing the horizontal or pitching swing angle.

[0042] Among them, the terminal device 103 can realize rich control functions, such as remotely controlling the circulation fan, setting timing tasks, adjusting detailed parameters, etc. It can also display information such as the working state and movement trajectory of the circulation fan, which is convenient for users to monitor.

[0043] Please refer to Figure 2 , Figure 2 which is a structural block diagram of an electronic device provided by the embodiments of the present application for executing the Figure 1 circulation fan remote operation system in Figure 2As shown in the figure, 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 performing any step in the following method embodiments. Specifically, 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 can be selectively called to complete the corresponding operation.

[0044] Please refer to Figure 3 , Figure 3 which is a structural block diagram of a circulating fan remote operation system provided by an embodiment of the present application. As Figure 3 shown, the circulating fan remote operation system includes a circulating fan, a remote control, and a terminal device. Among them, the remote control includes a gyroscope 311 and a controller 312.

[0045] Among them, the gyroscope 311 can detect the rotation angle and angular velocity of the remote control in three-dimensional space in real time, such as detecting changes in the yaw angle, pitch angle, and roll angle of the remote control. These data provide a basis for judging the movement trajectory of the remote control, so that the circulating fan can make corresponding adjustments following the actions of the remote control.

[0046] Among them, 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 parameters such as the motor speed and the shaking angle 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) according to the detection data of the gyroscope 311, and then obtains the PWM signal corresponding to the steering motor, and then performs signal output to achieve precise control of the circulating fan.

[0047] It can be seen that in this embodiment, the circulating fan receives instructions from different devices and feeds back the status. The remote control can send its own motion data to the circulating fan and the terminal device, and the terminal device can also send control instructions to the remote control and the circulating fan, such as trajectory optimization instructions, timing operation instructions, etc., so as to realize the coordinated work of the entire system and meet the diverse operation needs of users.

[0048] Please refer to Figure 4 , Figure 4 which is a step flowchart of a circulating fan remote operation method based on a remote control provided by an embodiment of the present application, and is applied to Figure 3 the controller 312 in Figure 4 as shown. This method includes the following steps:

[0049] Step S401, in response to a remote operation start instruction, send a first message to the circulation fan, where the first message is used to indicate that the circulation fan is in a preset initial orientation, and the initial orientation includes an initial direction and an initial position relative to a target blowing area.

[0050] Among them, the initial direction of the circulation fan can be aligned with the blowing demand object in the target blowing area, and the blowing demand object can be a user, a pet, clothes, or other person with a blowing demand; the initial position of the circulation fan can be located in the middle area of the target blowing area.

[0051] In a possible embodiment, the sending the first message to the circulation fan in response to the remote operation start instruction includes:

[0052] Detect a click operation on the remote operation start button on the remote control by the user side;

[0053] Generate the remote operation start instruction according to the click operation;

[0054] In response to the remote operation start instruction, send the first message to the circulation fan.

[0055] In a possible embodiment, the remote control is connected to a terminal device, and the method further includes:

[0056] Receive the remote operation start instruction from the terminal device, where the remote operation start instruction is used to represent that the user performs a selection operation on the remote operation start component on the display interface of the application program;

[0057] In response to the remote operation start instruction, send the first message to the circulation fan.

[0058] In a possible embodiment, before receiving the remote operation start instruction from the terminal device, the method further includes:

[0059] The terminal device detects a selection operation by the user on the remote operation start component on the display interface of the application program;

[0060] The terminal device outputs a first prompt message on the display interface according to the selection operation and performs a voice broadcast of the first prompt message, where the first prompt message is used to prompt the user to manually calibrate the circulation fan to the preset initial orientation;

[0061] The terminal device sends a first status query message to the circulation fan;

[0062] The terminal device receives the first status response message of the circulation fan and determines whether the circulation fan is currently in the preset initial orientation according to the first status response message;

[0063] If the terminal device determines based on the first status response information that the circulation fan is not currently in the preset initial orientation, it sends the remote operation start instruction to the circulation fan.

[0064] It can be understood that in practical applications, the setting of the initial orientation can be flexibly adjusted according to different usage scenarios and user habits. At the same time, to enable users to more intuitively understand the setting of the initial orientation, the remote control or the APP application program connected thereto can provide a visual setting interface. The user can determine the initial position and direction by dragging a virtual fan model, or select a preset common scenario mode (such as a living room mode, a bedroom mode, etc.) to quickly complete the setting.

[0065] Step S402: Determine the effective three-dimensional operation angle range of the remote control according to the initial direction, the movement angle range of the circulation fan, and the movement angle range of the remote control.

[0066] 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. 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.

[0067] In a possible embodiment, the effective three-dimensional operation angle range includes a first effective operation angle range on the X-axis, a second effective operation angle range on the Y-axis, and a third effective operation angle range on the Z-axis. The determining the effective three-dimensional operation angle range of the remote control according to the initial direction, the movement angle range of the circulation fan, and the movement angle range of the remote control includes:

[0068] Determine the first effective operation angle range according to a preset third mapping relationship, the first initial angle, and the first angle range. The third mapping relationship characterizes the relationship between the movement angle of the circulation fan and the movement angle of the remote control in the X-axis direction; and,

[0069] Determine the second effective operation angle range according to a preset fourth mapping relationship, the second initial angle, and the second angle range. The fourth mapping relationship characterizes the relationship between the movement angle of the circulation fan and the movement angle of the remote control in the Y-axis direction; and,

[0070] Determine the third effective operation angle range according to a preset fifth mapping relationship, the third initial angle, and the third angle range. The fifth mapping relationship characterizes the relationship between the movement angle of the circulation fan and the movement angle of the remote control in the Z-axis direction.

[0071] Exemplarily, taking the third effective operation angle range of the remote controller on the Z-axis as an example, the third angle range of the circulation fan on the Z-axis can be [0, α] (assuming α = ), the third initial angle of the circulation fan on the Z-axis is 0, and the fifth mapping relationship between the movement angle of the circulation 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 operation angle range of the circulation fan in the Z-axis direction can be obtained as [-π, π].

[0072] Exemplarily, by the same token, the first angle range of the circulation fan on the X-axis can be [0, (assuming = ), the first initial angle of the circulation fan on the X-axis is 0, and the third mapping relationship is , then the first effective operation angle range can be obtained as [- , ; and the second angle range of the circulation fan on the Y-axis can be [0, (assuming = ), the second initial angle of the circulation fan on the Y-axis is 0, and the third mapping relationship is , then the second effective operation angle range can be obtained as [-π, π]. In addition, this application only gives an example of determining the effective three-dimensional operation angle range of the remote controller, and the specific algorithms and formulas are not limited to the above examples.

[0073] It can be understood that, under the current angle range correspondence and the initial orientation of the circulation fan, the effective operation angle range of the remote controller is its own movement angle range. Within this range, through the conversion formula, the circulation fan can operate normally within its set angle range.

[0074] In a possible embodiment, the method further includes:

[0075] Determine the spatial region where the current circulation fan is located;

[0076] Determine the actual movable range of the circulation fan according to the initial orientation of the circulation fan and the spatial region where the current circulation fan is located;

[0077] Adjust the movement angle range of the circulation fan according to the actual movable range of the circulation fan to obtain the target movement angle range;

[0078] Determine the effective three-dimensional operation angle range of the remote controller based on the target motion angle range of the circulation fan, the initial direction of the circulation fan, and the motion angle range of the remote controller.

[0079] It can be seen that in this embodiment, the remote controller supports the adaptive adjustment function. When the circulation fan is installed in different positions or the usage environment changes (such as using in a narrow space), it can automatically detect the actual movable range of the circulation fan and correspondingly adjust the effective operation angle range of the remote controller. In this way, the remote controller instructions can be adapted to the actual movable range of the circulation fan, avoiding issuing out-of-range instructions, and the user can predict the response degree of the circulation fan during operation, avoiding invalid operations, and ensuring quick response and control of the circulation fan.

[0080] Step S403: Collect the monitoring data of the gyroscope during the remote operation of the user for 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. The three-dimensional angular velocity and three-dimensional angular acceleration include the first angular velocity and the first angular acceleration on the X-axis, the second angular velocity and the second angular acceleration on the Y-axis, and the third angular velocity and the third angular acceleration on the Z-axis.

[0081] It can be understood that the gyroscope can continuously monitor the rotation of the remote controller and output signals reflecting angle changes at an extremely high frequency. The monitoring signals are continuous analog signals. However, for the convenience of calculating parameters such as angular velocity and angular acceleration, it is necessary to sample it, convert the continuous signal into discrete data points, and the sampling process introduces a time interval. The time interval is set artificially, but it needs to be set reasonably so as to reduce the operation pressure of the processor and improve the operation efficiency of the overall system on the premise of ensuring data accuracy and system response speed.

[0082] In a possible embodiment, before collecting the monitoring data of the gyroscope during the remote operation of the user for the target blowing area, the method further includes:

[0083] Receiving a state data set from the circulation fan, where the state data set includes multiple state parameters and their corresponding parameter values;

[0084] Determine that the circulation fan is currently available for performing the remote operation according to the state data set and a preset standard state parameter table. The standard state parameter table includes multiple state parameters and their corresponding multiple standard parameter intervals.

[0085] In a possible embodiment, the determining that the circulation fan is currently available for performing the remote operation according to the state data set and the preset standard state parameter table includes:

[0086] Determine whether the parameter values of the multiple state parameters in the state dataset are within the multiple standard parameter intervals;

[0087] 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;

[0088] Send a first message to the terminal device, where the first message is used to prompt the user to perform a remote operation on the target blowing area.

[0089] In a possible embodiment, the method further includes:

[0090] If it is determined that there is at least one parameter value of the state parameter that is not within the corresponding standard parameter interval, it is determined that the circulation fan cannot currently be used to perform the remote operation;

[0091] Send a second message to the terminal device, where the second message is used to prompt the user that the remote operation cannot be performed on the target blowing area currently.

[0092] Among them, the multiple state parameters of the circulation fan may include multiple parameters such as motor temperature, battery power, current rotation speed, and fan blade position. The standard state parameter table is preset according to the design specifications and safe operation requirements of the circulation fan, and includes multiple standard parameter intervals corresponding to the multiple state parameters of the circulation fan. The standard parameter interval reflects the normal fluctuation range corresponding to the state parameter of the circulation fan under normal working conditions.

[0093] Step S404, if it is detected that the remote controller moves within the effective three-dimensional operation angle range, 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 three-dimensional angular acceleration of the remote controller, so as to realize the circulation fan following the trajectory of the remote controller. The first preset relationship represents the relationship between the rotation speed of the steering motor and the three-dimensional angular velocity of the remote controller, and the second preset relationship represents the relationship between the acceleration of the steering motor and the three-dimensional angular acceleration of the remote controller.

[0094] In a possible embodiment, the 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 three-dimensional angular acceleration of the remote controller includes:

[0095] It is detected that the movement 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 the preset threshold;

[0096] Obtain a preset first mapping relationship and a second mapping relationship, where the first mapping relationship represents the relationship between the rotational 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 change rate of the duty cycle of the target PWM signal;

[0097] Determine 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; and determine the change rate of the reference duty cycle 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;

[0098] Determine the target duty cycle corresponding to the target PWM signal according to the reference duty cycle and the change rate of the reference duty cycle;

[0099] Generate the target PWM signal according to the target duty cycle;

[0100] Send the target PWM signal to the circulation fan.

[0101] Wherein, 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 controller has not changed its direction. When the angle change value between the first direction and the second direction is less than the preset threshold, it indicates that the remote controller has a direction offset, but the degree of direction offset is small and there is no mutation, which does not constitute an inflection point. The movement trajectories of the remote controller and the circulation fan are relatively compliant and stable, and can present a good teleoperation effect under the current teleoperation control algorithm.

[0102] 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; the step of 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:

[0103] Determine the 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; determine the 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 the 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;

[0104] Determine a first reference duty cycle corresponding to the target PWM signal according to the first X-axis mapping relationship and the first rotational speed; and, determine a second reference duty cycle corresponding to the target PWM signal according to the first Y-axis mapping relationship and the second rotational speed; and, determine a third reference duty cycle corresponding to the target PWM signal according to the first Z-axis mapping relationship and the third rotational speed;

[0105] Determine 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.

[0106] 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; the determining a change rate of the reference duty cycle 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:

[0107] Determine 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 determine 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 determine 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;

[0108] Determine a first change rate of the reference duty cycle corresponding to the target PWM signal according to the second X-axis mapping relationship and the first acceleration; and determine a second change rate of the reference duty cycle corresponding to the target PWM signal according to the second Y-axis mapping relationship and the second acceleration; and determine a third change rate of the reference duty cycle corresponding to the target PWM signal according to the second Z-axis mapping relationship and the third acceleration;

[0109] Determine a change rate of the reference duty cycle corresponding to the target PWM signal according to the first change rate of the reference duty cycle, the second change rate of the reference duty cycle, and the third change rate of the reference duty cycle.

[0110] Exemplarily, taking the third angular velocity and the third angular acceleration of the remote controller in the Z-axis as an example, calculate the third reference duty cycle and the third change rate of the reference duty cycle in the Z-axis direction. The first Z-axis preset relationship is represented by the formula where, is the rotational speed of the steering motor of the remote controller, is the angular velocity of the fan, K1 is the proportionality coefficient, and K1 is determined through experiments or the parameter manual of the steering motor. Then, according to the first Z-axis preset relationship and the third angular velocity, the third rotational speed of the steering motor in the Z-axis direction is ; The first Z-axis mapping relationship is expressed by the formula , where represents the duty cycle, and K2 is the proportionality coefficient. Then, according to the first Z-axis mapping relationship and the third rotational speed, the third reference duty cycle corresponding to the target PWM signal is 1%.

[0111] Further, by way of example, the second Z-axis preset relationship is expressed by the formula , where is the acceleration of the steering motor of the remote control, is the angular acceleration of the fan, and K3 is the proportionality coefficient. K3 is determined through experiments or the parameter manual of the steering motor. 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 ; The second Z-axis mapping relationship is expressed by the formula , where represents the duty cycle change rate, and K4 is the proportionality coefficient. 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 3% / s.

[0112] Among them, the above examples only give an example of calculating the reference duty cycle and the reference duty cycle change rate, and give the calculation formula representing the linear relationship. It should be emphasized that the specific algorithms and calculation formulas of the preset relationship and the mapping relationship are based on the performance parameters of the circulation fan and the remote control, and are obtained through multiple pre-experiment tests in advance, and are not limited to using the calculation formulas in the above examples.

[0113] 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:

[0114] 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;

[0115] Determining the target duty cycle according to the first target duty cycle, the second target duty cycle, and the third target duty cycle.

[0116] Among them, the target duty cycle is determined according to the first target duty cycle, the second target duty cycle, and the third target duty cycle, and specifically can be implemented by a weighted average method, a vector synthesis method, or a maximum value method. The calculation methods of the target duty cycle include but are not limited to the above several kinds.

[0117] In a possible embodiment, the method further includes:

[0118] It is detected that the movement 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;

[0119] Obtain a preset inflection point optimization algorithm;

[0120] 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 three-dimensional angular acceleration of the remote control.

[0121] In a possible embodiment, the 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 three-dimensional angular acceleration of the remote control based on the inflection point optimization algorithm includes:

[0122] Determine the expected optimized movement trajectory of the circulation fan according to the inflection point optimization algorithm and the movement state of the remote control at the inflection point;

[0123] According to the expected optimized movement trajectory, the first preset relationship, the second preset relationship, the three-dimensional angular velocity and three-dimensional angular acceleration of the remote control, determine the first expected rotational speed of the steering motor of the circulation fan in the X-axis direction, the second expected rotational speed in the Y-axis direction, and the third expected rotational speed in the Z-axis direction, and determine the first expected acceleration of the steering motor of the circulation fan in the X-axis direction, the second expected acceleration in the Y-axis direction, and the third expected acceleration in the Z-axis direction;

[0124] Determine the reference duty cycle corresponding to the target PWM signal according to the first mapping relationship, the first expected rotational speed, the second expected rotational speed, and the third expected rotational speed; and determine the 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;

[0125] Determine the target duty cycle corresponding to the target PWM signal according to the reference duty cycle and the reference duty cycle change rate;

[0126] Generate the target PWM signal according to the target duty cycle.

[0127] Among them, the angular change value between the first direction and the second direction is greater than a preset threshold, indicating that the remote controller has a direction offset, and the degree of direction offset is large and the direction changes suddenly, forming an inflection point. The movement trajectories of the remote controller and the circulation fan have a huge turn, and it is impossible to present a good remote operation effect under the current remote operation control algorithm. Trajectory optimization is the optimized control of the acceleration parameter of the steering motor, which 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. Furthermore, it is optimized into a continuous arc curve trajectory to transition this direction change, so the acceleration does not need to drop to zero.

[0128] Exemplarily, the inflection point optimization algorithm can specifically be the Bezier curve method, the spline interpolation method, or the velocity planning method. In actual applications, these algorithms also need to be adjusted and optimized in combination with the specific characteristic parameters of the remote controller and the circulation fan, as well as the user's operating habits, etc.

[0129] Specifically, the Bezier curve can flexibly control the curve shape 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]; is the starting point before the inflection point (corresponding to the position of the circulation fan before the inflection point), which can be determined according to the motion state of the remote controller before the inflection point and the current position of the circulation fan; is the target point after the inflection point (corresponding to the position of the circulation fan after the inflection point), which is determined by the motion state of the remote controller after the inflection point; is the control point, which determines the bending degree and direction of the curve, and can be set according to the angular relationship between the first direction and the second direction, as well as the preset smoothness requirement. For example, it can be made that is located at a certain position on the straight line with and as the endpoints, and its distance from the straight line can be dynamically adjusted according to the angular change value and the preset smoothness coefficient.

[0130] Specifically, the spline interpolation method is a method of approximating given data points by constructing a piecewise smooth spline function to achieve data interpolation and curve fitting. Taking the cubic spline interpolation as an example, it can ensure that the curve has continuous first and second derivatives at the connection points, thus achieving smooth transition. Assuming that n points ( , ) are known, , to construct a cubic spline function S(x), on each sub-interval , , S(x) is a cubic polynomial: (x)= + (x - ) + + . Among them, , , , are coefficients to be determined. These coefficients are solved by satisfying the following conditions: Interpolation condition: ( ) = , ( ) = + 1; Continuity condition: ( ) = ( ), ( ) = ( ); Boundary condition: It can be set according to the actual situation, such as a fixed boundary condition (specifying the derivative at the end point), etc. In the 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 to achieve a smooth transition from before the inflection point to after the inflection point.

[0131] Specifically, the velocity planning method is a method for reasonably planning and controlling the motion velocity of an object according to the motion task and constraint conditions to achieve efficient and smooth motion. Before and after the inflection point, the velocity of the circulation fan steering motor is planned according to the three-dimensional angular velocity and three-dimensional angular acceleration of the remote control. For example, a trapezoidal velocity curve or an S-shaped velocity curve is used. By reasonably planning the velocity curve, the motion of the circulation fan at the inflection point is made smoother.

[0132] 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 motion 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; The method further includes:

[0133] Detecting that the remote control does not move within the effective three-dimensional operation angle range;

[0134] Determining that the remote control exceeds the effective three-dimensional operation angle range in the target direction, where the target direction includes the X-axis direction and / or the Y-axis direction and / or the Z-axis direction;

[0135] Determining the reference angle of the remote control in the target direction;

[0136] If it is determined that the reference angle is greater than the maximum effective angle corresponding to the effective three-dimensional operation angle range in the target direction, a first PWM signal is sent to the circulation fan, and the first PWM signal is used to instruct the circulation fan to maintain the maximum angle within the angle range corresponding to the target direction; and,

[0137] If it is determined that the reference angle is less than the minimum effective angle corresponding to the effective three-dimensional operation 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 the initial angle corresponding to the target direction.

[0138] It can be understood that setting the effective three-dimensional operation angle range of the remote control can effectively control and protect the movement angle of the circulation fan, and avoid abnormal operation of the circulation fan caused by the remote control operation exceeding the range.

[0139] 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 control includes:

[0140] Sending the monitoring data of the gyroscope to the circulation fan;

[0141] The circulation fan determines the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote control according to the monitoring data of the gyroscope;

[0142] The circulation fan obtains a preset first mapping relationship and a second mapping relationship, and determines the reference duty ratio according to the first mapping relationship, the first preset relationship and the three-dimensional angular velocity of the remote control; and, determines the reference duty ratio change rate according to the second mapping relationship, the second preset relationship and the three-dimensional angular acceleration of the remote control; and, determines the target duty ratio according to the reference duty ratio and the reference duty ratio change rate; and,

[0143] The circulation fan generates the target PWM signal according to the target duty ratio;

[0144] The circulation fan sends the target PWM signal to the steering motor.

[0145] It can be understood that this application calculates the angular velocity and angular acceleration of the remote control based on the gyroscope sensor data, and calculates the duty ratio of the drive signal of the steering motor on the fan side based on the angular velocity and angular acceleration of the remote control. The specific control logic can be executed by the controller of the remote control. When the controller of the circulation fan supports executing complex algorithm logic, the trajectory following control logic can be executed by the circulation fan.

[0146] Among them, the steering motor of the circulation fan can be a single steering motor. By adjusting the rotational speed and acceleration of the single steering motor in different axial directions, the movement of the motor on the X, Y, and Z axes can be precisely controlled to achieve three-dimensional steering of the circulation fan. In addition, the steering motor of the circulation fan can also include a first steering motor, a second steering motor, and a third steering motor, with each motor responsible for the movement in one direction among the X, Y, and Z axes. At this time, the circulation fan processes the target PWM signal to obtain three sub-control signals respectively and sends them to the three steering motors. Alternatively, the remote controller calculates three PWM control signals respectively for the acceleration and angular acceleration in each direction and sends them together as the target PWM signal to the circulation fan. The circulation fan controller analyzes and obtains the three PWM control signals and sends them to the three steering motors respectively.

[0147] In a possible embodiment, the controller is connected to the terminal device, and the terminal device is also connected to the circulation fan. The method further includes: the circulation fan obtains the initial movement trajectory of the circulation fan for the target blowing area in this remote operation. The initial movement trajectory includes the movement trajectory formed during the process that the circulation fan moves from the initial direction to the first side boundary facing the target blowing area and then moves backward to the second side boundary facing the target blowing area, and the first side boundary and the second side boundary are not adjacent.

[0148] The circulation fan sends the initial movement trajectory to the terminal device.

[0149] The terminal device receives the initial movement trajectory and optimizes the initial movement trajectory according to a preset movement trajectory optimization algorithm to obtain a target movement trajectory. And updates and displays the target movement trajectory on the display interface of the application program.

[0150] The terminal device detects a timing operation and determines a target blowing period according to the timing operation. The timing operation includes a selection operation for a timing setting control on the display interface.

[0151] The terminal device generates a reservation task configuration file according to the target blowing period and the target movement trajectory and sends the reservation task configuration file to the circulation fan to control the circulation fan to move according to the target movement trajectory during the target blowing period to complete the timed blowing task for the target blowing area.

[0152] Exemplarily, the APP side can display a teleoperation trajectory application interface, which includes the function of drying clothes regularly. After the user clicks, the user is prompted to move the circulation fan to the area where the clothes are dried, and the user is prompted to manually calibrate the initial position and initial direction first. The initial position can be the middle area where the clothes are dried, and the initial direction is aligned with the clothes. After the user completes the calibration and clicks to confirm the completion of the calibration on the APP or the remote control side, the controller of the circulation fan records the current initial position and direction data, and notifies the remote control and the APP side host that it is ready. The remote control side prompts the user that teleoperation can start through vibration or other means, and the user holds the remote control to start teleoperation. The remote control collects gyroscope data and processes it into a motor drive signal to send to the circulation fan, and the fan of the circulation fan moves along with the operation trajectory of the remote control. After the user observes with the naked eye that the fan moves to the boundary area of the dried clothes, the user operates the angle in time and continues to move in the opposite direction. Finally, a complete teleoperation movement trajectory will be formed for the area where the dried clothes are located.

[0153] Synchronously with the above process, the remote control will synchronously send the teleoperation process data to the APP side. The APP side displays the original trajectory without compliant processing on the page according to the received teleoperation data, and asks the user whether to optimize and adjust, or can directly display the optimization control without asking. The user triggers the optimization operation through the optimization interface. In addition, 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 during which the user expects the circulation fan to blow according to the optimized trajectory through the timing control. In addition, the reservation task configuration file corresponding to the optimized trajectory information is sent to the circulation fan host. The circulation fan host receives the reservation task configuration file, parses the file information and repeats the corresponding trajectory following blowing operation at the corresponding time period.

[0154] It can be seen that in this embodiment, based on the gyroscope sensor data, the angular velocity and angular acceleration of the remote control are calculated, and based on the angular velocity and angular acceleration of the remote control, the duty ratio of the drive signal of the motor on the fan side is calculated. Furthermore, it is possible to achieve a more accurate, compliant and low-latency control state in the dynamic response dimension and consistency dimension of the trajectory following of the circulation fan, which is beneficial to improving the comprehensiveness and real-time performance of teleoperation data processing in the teleoperation scenario. In addition, for sub-application scenarios such as drying clothes, the present application can also solve user pain points and provide functional support based on the teleoperation trajectory entry and timing function of the fan, improving the functional practicability and scenario applicability of the remote control to teleoperate the circulation fan.

[0155] Please refer to Figure 5 , Figure 5 which is the overall flowchart of a method for remotely operating a circulation fan based on a remote control provided by an embodiment of the present application, and is applied to Figure 3 the controller 312 in Figure 5 as shown in

[0156] Step S501, in response to the remote operation start instruction, send a first message to the circulation fan to control the circulation fan to be in the initial orientation.

[0157] Step S502, determine whether the current operating state of the circulation fan allows for remote operation.

[0158] Specifically, if so, execute Step S504; and if not, execute Step S503.

[0159] Step S503, suspend the execution of the remote operation until the state is restored.

[0160] Step S504, the user performs a remote operation for the target blowing area.

[0161] Step S505, collect the monitoring data of the gyroscope of the remote control during the remote operation, and determine the three-dimensional angular velocity and three-dimensional angular acceleration of the remote control based on the monitoring data.

[0162] Step S506, determine whether the remote control moves within the effective three-dimensional operation angle range.

[0163] Specifically, if so, execute Step S508; and if not, execute Step S507.

[0164] Step S507, keep the circulation fan at the maximum angle or the initial angle.

[0165] In a possible embodiment, the method further includes: detecting that the remote control does not move within the effective three-dimensional operation angle range; determining that the remote control exceeds the effective three-dimensional operation angle range in the target direction, where the target direction includes 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 determined that the reference angle is greater than the maximum effective angle corresponding to the effective three-dimensional operation angle range in the target direction, send a first PWM signal to the circulation fan, where the first PWM signal is used to instruct the circulation fan to remain at the maximum angle within the angle range corresponding to the target direction; and if it is determined that the reference angle is less than the minimum effective angle corresponding to the effective three-dimensional operation angle range in the target direction, send a second PWM signal to the circulation fan, where the second PWM signal is used to instruct the circulation fan to remain at the initial angle corresponding to the target direction.

[0166] Step S508, detect that the movement trajectory of the remote control moves from the first direction to the second direction at adjacent moments.

[0167] Step S509, determine whether the angle change value between the first direction and the second direction is less than a preset threshold.

[0168] Specifically, if so, then step S510 is executed; and if not, then step S511 is executed.

[0169] Step S510: 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.

[0170] In a possible embodiment, the 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 includes: detecting that the movement 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 less than a preset threshold; obtaining a preset first mapping relationship and a second mapping relationship, where 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 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 control; 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 control; determining the 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 circulation fan.

[0171] 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 control.

[0172] Specifically, when the remote control is at the inflection point, the angle change value of the direction at adjacent moments before and after the inflection point is greater than the preset threshold. It is necessary to optimize the change similar to a right angle into a chamfer change based on the preset inflection point optimization algorithm, and change the sudden right-angle movement trajectory into a curve transition with a certain curvature, so that the movement of the circulation fan is smoother, reduce motor loss, and improve the user experience. For example, when the user quickly changes the direction of the remote control, the circulation fan does not turn rigidly, but transitions in a softer curve manner.

[0173] Exemplarily, the inflection point optimization algorithm can specifically be the Bezier curve method, the spline interpolation method or the velocity planning method. In practical applications, these algorithms also need to be adjusted and optimized in combination with the specific characteristic parameters of the remote control and the circulation fan, as well as the user's operation habits, etc.

[0174] 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 ratio of the drive signal of the side steering motor of the circulation fan based on the angular velocity and angular acceleration of the remote control. Furthermore, it can achieve a more accurate, compliant and low-latency control state in the dynamic response dimension and consistency dimension of the trajectory following of the circulation fan, which is beneficial to improving the comprehensiveness and real-time performance of remote operation data processing in the remote operation scenario.

[0175] Please refer to Figure 6 , Figure 6 which is the overall flowchart of a method for timed execution of remote operation of a circulation fan provided by an embodiment of the present application, and is applied to the controller 312 in Figure 3 . As shown in Figure 6 , the method includes the following steps: Step S601, obtaining the initial motion trajectory of the circulation fan during the current remote operation for the target blowing area; Step S602, performing optimization processing on the initial motion trajectory to obtain the target motion trajectory; Step S603, updating and displaying the target motion trajectory; Step S604, detecting a timed operation and determining the target blowing period according to the timed operation; Step S605, generating a reservation task configuration file according to the target blowing period and the target motion trajectory, and sending the reservation task configuration file to the circulation fan to execute the timed blowing task.

[0176] It can be seen that in this embodiment, it can achieve a more accurate, compliant and low-latency control state in the dynamic response dimension and consistency dimension of the trajectory following of the circulation fan, which is beneficial to improving the comprehensiveness and real-time performance of remote operation data processing in the remote operation scenario. Moreover, for sub-application scenarios such as drying clothes, it can also solve user pain points and provide functional support based on the remote operation trajectory recording and timing functions of the fan, improving the functional practicability and scenario applicability of the remote control for remotely operating the circulation fan.

[0177] Please refer to Figure 7 , Figure 7 which is a schematic diagram of an interface for displaying the motion angle range of the circulation fan on the z-axis provided by an embodiment of the present application. As shown in Figure 7 , the current terminal interface displays the motion angle range of the circulation fan on the z-axis.

[0178] Among them, a fan-shaped area is presented above the circulation fan, and the angle "120°" is marked, showing the motion angle range of the circulation fan in the Z-axis direction (usually the horizontal shaking direction), that is, the angle area that can be covered when the circulation fan shakes horizontally.

[0179] Among them, the right - hand side of the mobile phone interface shows "Circulating fan connected", indicating that the terminal device has established a connection with the circulating fan and relevant operations can be carried out, which is the basis for realizing remote control. The "Turn on" button indicates that the user can control the on - off state of the circulating fan through this interface; the "Z - axis - movement angle range" part presents a sector - shaped image corresponding to the movement angle range, marked as "120°", which corresponds to the actual movement angle range of the circulating fan. This reflects the function in the solution that the user can view and set the parameters of the circulating fan through the terminal device, facilitating the user to intuitively understand and adjust the movement angle of the circulating fan in the Z - axis direction, enhancing the convenience and visualization of the operation.

[0180] Specifically, when the user sets or views the Z - axis movement angle range on the terminal device interface, relevant instructions or data are transmitted to the circulating fan through wireless communication, and the circulating fan adjusts its own movement state according to the received information or feedbacks the current angle information, forming a complete interactive control loop, which conforms to the concept of multi - device collaborative interaction in the circulating fan remote operation solution to achieve precise control.

[0181] Please refer to Figure 8 , Figure 8 which is a schematic diagram of an interface provided by an embodiment of the present application for displaying the movement angle range of the circulating fan on the x - axis. As Figure 8 shown, the current terminal interface displays the movement angle range of the circulating fan on the x - axis.

[0182] Among them, a sector - shaped area is presented in the upper - left corner of the circulating fan and marked with the angle "105°", showing the movement angle range of the circulating fan in the x - axis direction (usually the pitch direction), that is, the amplitude that the circulating fan can rotate in the pitch direction.

[0183] Among them, the left - hand side of the mobile phone interface shows "Circulating fan connected", indicating that the terminal device has established a connection with the circulating fan and relevant operations can be carried out, which is the basis for realizing remote control. The "Turn on" button indicates that the user can control the on - off state of the circulating fan through this interface; the "X - axis - movement angle range" part presents a sector - shaped image corresponding to the movement angle range, marked as "105°", which corresponds to the actual movement angle range of the circulating fan. This reflects the function in the solution that the user can view and set the parameters of the circulating fan through the terminal device. The user can clearly understand and adjust the rotation angle of the circulating fan in the pitch direction with the help of this interface, achieving a more personalized operation experience.

[0184] Specifically, when the user views or modifies the X - axis movement angle range on the mobile phone interface, relevant instructions are transmitted to the circulating fan wirelessly. After receiving the instructions, the circulating fan adjusts its own movement state and can feedback 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 the user can conveniently remotely control the circulating fan.

[0185] See also Figure 9 , Figure 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 Figure 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 Figure 10 , Figure 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 Figure 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.

[0186] 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.

[0187] See also Figure 11 , Figure 11 Schematic diagram of a circulating fan terminal interface provided by an embodiment of the present application. Figure 11 As shown, the current terminal interface can be used to control the circulation fan to perform remote operation.

[0188] 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.

[0189] 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.

[0190] See also Figure 12 , Figure 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 Figure 12 As shown, the remote control-based circulating fan remote control device 100 includes the following units:

[0191] 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;

[0192] 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;

[0193] 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;

[0194] 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.

[0195] In one 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 movement 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; obtaining a preset first mapping relationship and a second mapping relationship, where 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 change rate of the duty cycle of the target PWM signal; 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; and determining the change rate of the reference duty cycle 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 the target duty cycle corresponding to the target PWM signal according to the reference duty cycle and the change rate of the reference duty cycle; generating the target PWM signal according to the target duty cycle; and sending the target PWM signal to the circulation fan.

[0196] 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; 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 the 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 the 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 the 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 the 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 the 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 the third reference duty cycle corresponding to the target PWM signal according to the first Z-axis mapping relationship and the third rotation speed; determining the 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.

[0197] 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; 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; determining the 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.

[0198] In one embodiment, the method further includes: detecting that the movement 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 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 controller.

[0199] In one 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. 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. The method further includes: detecting that the remote controller does not move within the effective three-dimensional operation angle range; determining that the remote controller exceeds the effective three-dimensional operation angle range in a target direction, where 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 controller in the target direction; if it is determined 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 circulation fan, where the first PWM signal is used to instruct the circulation fan to maintain the maximum angle within the angle range corresponding to the target direction; and if it is determined 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 circulation fan, where the second PWM signal is used to instruct the circulation fan to maintain the initial angle corresponding to the target direction.

[0200] In one embodiment, before collecting the monitoring data of the gyroscope during the process that the user performs a remote operation on the target blowing area, the method further includes: receiving a state data set from the circulation fan, where the state data set includes multiple state parameters and their corresponding parameter values; determining that the circulation fan is currently available for performing the remote operation according to the state data set and a preset standard state parameter table, where the standard state parameter table includes multiple state parameters and their corresponding multiple standard parameter intervals.

[0201] In one 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 three-dimensional angular acceleration of the remote controller includes: sending the monitoring data of the gyroscope to the circulation fan; the circulation fan determining 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 obtaining a preset first mapping relationship and a second mapping relationship, and determining a reference duty cycle 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 according to the second mapping relationship, the second preset relationship, and the three-dimensional angular acceleration of the remote controller; and determining a target duty cycle according to the reference duty cycle and the reference duty cycle change rate; and the circulation fan generating the target PWM signal according to the target duty cycle; the circulation fan sending the target PWM signal to the steering motor.

[0202] In one embodiment, the controller is connected to a terminal device, and the terminal device is further connected to the circulation fan. The method further includes: the circulation fan obtains the initial movement trajectory of the circulation fan for the target blowing area in this remote operation. The initial movement trajectory includes the movement trajectory formed when the circulation fan moves from the initial direction to the first side boundary facing the target blowing area and then moves backward to the second side boundary facing the target blowing area. The first side boundary and the second side boundary are not adjacent; the circulation fan sends the initial movement trajectory to the terminal device; the terminal device receives the initial movement trajectory and optimizes the initial movement trajectory according to a preset movement trajectory optimization algorithm to obtain a target movement trajectory; and updates and displays the target movement trajectory on the display interface of the application program; the terminal device detects a timing operation and determines a target blowing period according to the timing operation. The timing operation includes a selection operation for a timing setting control on the display interface; the terminal device generates a reservation task configuration file according to the target blowing period and the target movement trajectory, and sends the reservation task configuration file to the circulation fan to control the circulation fan to move according to the target movement trajectory during the target blowing period to complete the timed blowing task for the target blowing area.

[0203] It can be understood that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, therefore, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part, and will not be elaborated here.

[0204] It can be seen that the controller of the device calculates the angular velocity and angular acceleration of the remote controller based on the gyroscope sensor data, and calculates the duty cycle of the drive signal of the side steering motor of the circulation fan based on the angular velocity and angular acceleration of the remote controller. Furthermore, it can achieve a more accurate, compliant and low-latency control state in the dynamic response dimension and consistency dimension of the trajectory following of the circulation fan, which is beneficial to improving the comprehensiveness and real-time nature of remote operation data processing in the remote operation scenario.

[0205] In addition, the embodiment of the present application further provides a computer storage medium, which stores a computer program that can be loaded and executed by a processor, such as the remote operation method of a circulation fan based on a remote controller as described above. The computer-readable storage medium includes, for example: various media that can store program codes such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks or optical discs.

[0206] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and units involved are not necessarily essential to this application.

[0207] This is only a logical function division. In actual implementation, there may be other division methods; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be an indirect coupling or communication connection through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0208] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0209] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can be physically included separately, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of a combination of hardware and software functional units.

[0210] The integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional units are stored in a storage medium and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute some steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: USB flash drives, mobile hard disks, magnetic disks, optical disks, volatile memories, or non-volatile memories. Among them, the non-volatile memory may 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 may 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 (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM), etc., all of which are media that can store program codes.

[0211] In the above embodiments, the descriptions of the various embodiments have their own focuses. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0212] The embodiments of the present application have been introduced in detail above. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

[0213] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can easily conceive of changes or substitutions without departing from the spirit and scope of the present application, and can make various modifications and alterations, including combinations of the above different functions and implementation steps, including software and hardware implementation manners, all within the protection scope of the present application.

Claims

1. A remote operation method for a circulation fan based on a remote control, characterized in that, A controller applied to the remote control, wherein the remote control is built with a gyroscope, and the method includes: In response to a remote operation start instruction, sending a first message to the circulation fan, where the first message is used to indicate that the circulation fan is in a preset initial orientation, and the initial orientation includes an initial direction and an initial position relative to a target blowing area; Determining an effective three-dimensional operation angle range of the remote control according to the initial direction, the movement angle range of the circulation fan, and the movement angle range of the remote control; Collecting monitoring data of the gyroscope during the process that the user performs remote operation on the target blowing area, and determining the three-dimensional angular velocity and three-dimensional angular acceleration of the remote control according to the monitoring data, where 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 operation angle range, detecting whether the angle change value between a first direction and a second direction is less than a preset threshold when the movement trajectory of the remote control moves from the first direction to the second direction at adjacent moments; If it is detected that the angle change value between the first direction and the second direction is less than the preset threshold, determining 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 three-dimensional angular acceleration of the remote control, where the first preset relationship represents the relationship between the rotation 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; and If it is detected that 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 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 three-dimensional angular acceleration of the remote control; Sending the target PWM signal to the circulation fan to enable the circulation fan to move following the trajectory of the remote control.

2. The method according to claim 1, characterized in that, The 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 three-dimensional angular acceleration of the remote control includes: Obtaining a preset first mapping relationship and a second mapping relationship, where the first mapping relationship represents the relationship between the rotation speed of the steering motor and the duty ratio of the target PWM signal, and the second mapping relationship represents the relationship between the acceleration of the steering motor and the change rate of the duty ratio of the target PWM signal; Determining a reference duty ratio 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 control; and determining a reference duty ratio 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 control; Determine the target duty cycle corresponding to the target PWM signal according to the reference duty cycle and the reference duty cycle change rate; Generate the target PWM signal according to the target duty cycle; Send the target PWM signal to the circulation fan.

3. The method according to claim 2, wherein 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 step of 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 control includes: Determine the 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, determine the 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, determine the 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; Determine the first reference duty cycle corresponding to the target PWM signal according to the first X-axis mapping relationship and the first rotation speed; and, determine the second reference duty cycle corresponding to the target PWM signal according to the first Y-axis mapping relationship and the second rotation speed; and, determine the third reference duty cycle corresponding to the target PWM signal according to the first Z-axis mapping relationship and the third rotation speed; Determine the reference duty cycle corresponding to the PWM signal 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, wherein 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 step of 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 control includes: Determine the 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, determine the 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, determine the third acceleration of the steering motor in the Z-axis direction according to the second Z-axis preset relationship and the third angular acceleration; Determine the 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, determine the 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, determine the third reference duty cycle change rate corresponding to the target PWM signal according to the second Z-axis mapping relationship and the third acceleration; Determine the 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.

5. The method according to any one of claims 1-4, 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. 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 does not move within the effective three-dimensional operation angle range; Determining that the remote controller exceeds the effective three-dimensional operation angle range in the target direction, where 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 controller in the target direction; If it is determined 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, where the first PWM signal is used to instruct the circulating fan to maintain the maximum angle within the angle range corresponding to the target direction; and If it is determined 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, where the second PWM signal is used to instruct the circulating fan to maintain the initial angle corresponding to the target direction.

6. The method according to claim 5, characterized in that, Before collecting the monitoring data of the gyroscope during the remote operation of the user for the target blowing area, the method further includes: Receiving a state data set from the circulating fan, where the state data set includes multiple state parameters and their corresponding parameter values; Determining that the circulating fan is currently available for performing the remote operation according to the state data set and a preset standard state parameter table, where the standard state parameter table includes multiple state parameters and their corresponding multiple standard parameter intervals.

7. The method according to claim 2, characterized in that The method further includes: Sending the monitoring data of the gyroscope to the circulating 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 circulating fan obtains a preset first mapping relationship and a second mapping relationship, and determines a 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 a 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 a target duty cycle according to the reference duty cycle and the reference duty cycle change rate; and The circulating fan generates a target PWM signal according to the target duty cycle; The circulating fan sends the target PWM signal to the steering motor.

8. The method according to claim 1, wherein The controller is connected to a terminal device, and the terminal device is also connected to the circulating fan. The method further includes: The circulating fan obtains an initial motion trajectory of the circulating fan for the target blowing area during this remote operation. The initial motion trajectory includes the motion trajectory formed when the circulating fan moves from the initial direction to the first side boundary facing the target blowing area and then moves back to the second side boundary facing the target blowing area. The first side boundary and the second side boundary are not adjacent; 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 the display interface of the application; The terminal device detects a timing operation and determines a target blowing period according to the timing operation, where the timing operation includes a selection operation on a timing setting control on the display interface; The terminal device generates a reservation task configuration file according to the target blowing period and the target motion trajectory, and sends the reservation task configuration file 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 timed blowing task for the target blowing area.

9. A remote operation device for a circulation fan based on a remote control, characterized in that, A controller applied to the remote controller, the remote controller is built-in with a 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, where the first message is used to indicate that the circulation fan is in a preset initial orientation, and the initial orientation includes an initial direction and an initial position relative to the target blowing area; A first determination unit, configured to determine a valid three-dimensional operation angle range of the remote controller according to the initial direction, the motion angle range of the circulation fan, and the motion angle range of the remote controller; A second determination unit, configured to collect monitoring data of the gyroscope during a user's execution of a remote operation on the target blowing area, and determine a three-dimensional angular velocity and a three-dimensional angular acceleration of the remote controller according to the monitoring data, where the three-dimensional angular velocity and the 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, configured to, if it is detected that the remote controller moves within the effective three-dimensional operation angle range, detect whether an angle change value between a first direction and a second direction is less than a preset threshold when the movement trajectory of the remote controller moves from the first direction to the second direction at adjacent moments; if it is detected that the angle change value between the first direction and the second direction is less than the preset threshold, determine a target PWM signal corresponding to a steering motor of the circulation fan according to a first preset relationship, a second preset relationship, a three-dimensional angular velocity and a three-dimensional angular acceleration of the remote controller, where the first preset relationship represents a relationship between the rotation speed of the steering motor and the three-dimensional angular velocity of the remote controller, and the second preset relationship represents a relationship between the acceleration of the steering motor and the three-dimensional angular acceleration of the remote controller; and, configured to, if it is detected that the angle change value between the first direction and the second direction is greater than the preset threshold, obtain a preset inflection point optimization algorithm; based on the inflection point optimization algorithm, determine 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; and send the target PWM signal to the circulation fan to enable the circulation fan to move following the trajectory of the remote controller.

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