Tower fan two-dimensional teleoperation method and device based on remote controller

Abstract

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

Description

Technical Field

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

[0002] Existing solutions for the oscillation function of circulating fans, such as controlling the oscillation angle, already use trajectory detection devices installed on the fan body or built into the remote control. From a hardware perspective, solutions based on setting up a trajectory detection device on the fan body usually rely on sensors installed on the fan casing or key rotating parts, and can only recognize user action commands within a specific, narrow space. Solutions using a trajectory detection device built into the remote control often use inertial sensors such as accelerometers and gyroscopes to recognize user gestures. However, existing algorithms mainly recognize simple, specific gestures, such as drawing circles and sliding in a straight line. However, when actually using circulating fans, users expect to achieve richer and more flexible trajectory control through the remote control, such as simulating the random swaying of natural wind, customizing complex blowing trajectories based on the distribution of people in the room, etc. These requirements far exceed the capabilities of existing solutions with built-in trajectory detection devices in remote controls.

[0003] From a software algorithm perspective, existing algorithms for controlling oscillation angles are often designed based on fixed parameters and rules. In fan-based trajectory detection solutions, the algorithms typically pre-set fixed oscillation angle ranges and speed modes, preventing real-time adjustments based on user habits and usage scenarios. Furthermore, in remote control-based trajectory detection solutions, the algorithms' mapping of gesture recognition actions is too simplistic, corresponding only to a limited range of fan operating functions and failing to precisely control and diversify the circulating fan's non-fixed oscillation trajectory. Summary of the Invention

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

[0005] In a first aspect, the present application provides a remote control-based circulation fan remote operation method, which is applied to a controller of the remote control, wherein the remote control has a built-in gyroscope, and the method includes:

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

[0007] determining an effective three-dimensional operating angle range of the remote controller according to the initial direction, the movement angle range of the circulation fan, and the movement angle range of the remote controller;

[0008] collecting monitoring data of the gyroscope during a user's remote operation of the target blowing area, and determining a three-dimensional angular velocity and a three-dimensional angular acceleration of the remote controller based on the monitoring data, wherein 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;

[0009] If it is detected that the remote control moves within the effective three-dimensional operating angle range, the target PWM signal corresponding to the steering motor of the circulation fan is determined according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote control, so as to enable the circulation fan to move along the trajectory of the remote control. The first preset relationship represents the relationship between the rotational speed of the steering motor and the three-dimensional angular velocity of the remote control, and the second preset relationship represents the relationship between the acceleration of the steering motor and the three-dimensional angular acceleration of the remote control.

[0010] In a second aspect, an embodiment of the present application provides a remote control device for a circulating fan, which is applied to a controller of the remote control, wherein the remote control has a built-in gyroscope, and 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, 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;

[0012] a first determining unit, configured to determine an effective three-dimensional operating angle range of the remote controller according to the initial direction, the movement angle range of the circulation fan, and the movement angle range of the remote controller;

[0013] a second determining unit, configured to collect monitoring data of the gyroscope during a user's remote operation of the target blowing area, and determine a three-dimensional angular velocity and a three-dimensional angular acceleration of the remote controller based on the monitoring data, wherein 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;

[0014] A processing unit is configured to determine, if it is detected that the remote control moves within the effective three-dimensional operating angle range, a target PWM signal corresponding to the steering motor of the circulation fan based on 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 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.

[0015] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program / instruction stored thereon, which is executed by a processor to implement the steps of the method described in the first aspect above.

[0016] It can be seen that in the embodiment of the present application, the controller of the remote control sends a first message to the circulation fan in response to the remote operation start instruction, and the first message is used to indicate that the circulation fan is in a preset initial orientation; the monitoring data of the gyroscope during the user's remote operation of the target blowing area is collected, and the three-dimensional angular velocity and three-dimensional angular acceleration of the remote control are determined based on the monitoring data; if it is detected that the remote control moves within the effective three-dimensional operation angle range, the target PWM signal corresponding to the steering motor of the circulation fan is determined according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and three-dimensional angular acceleration of the remote control, so as to enable the circulation fan to follow the trajectory of the remote control. In this way, compared with the existing track detection device based on the fan body or the track detection device built into the remote control, the present application can adjust the speed and acceleration of the steering motor of the circulation fan in real time according to the subtle movement changes of the remote control, so that the trajectory of the circulation fan can achieve a precise and smooth control state in the dynamic response dimension and the consistency dimension, meeting the user's usage needs in a variety of scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 This is a structural diagram of a circulating fan remote operation system provided in an embodiment of the present application;

[0019] Figure 2 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

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

[0021] Figure 4 This is a flowchart of the steps of a remote control-based circulation fan remote control method provided in an embodiment of the present application;

[0022] Figure 5 This is an overall flow chart of a remote control-based circulation fan remote control method provided in an embodiment of the present application;

[0023] Figure 6 This is an overall flow chart of a method for timing remote operation of a circulating fan provided by an embodiment of the present application;

[0024] Figure 7 This is a schematic diagram of an interface showing the range of motion angles of a circulation fan on the z-axis, provided by an embodiment of the present application;

[0025] Figure 8 This is a schematic diagram of an interface showing the range of motion angles of a circulation fan on the x-axis, provided by an embodiment of the present application;

[0026] Figure 9 This is an application scenario diagram of a remote control-based circulation fan remote control method provided in an embodiment of the present application;

[0027] Figure 10 This is an application scenario diagram of another remote control-based circulation fan remote operation method provided in an embodiment of the present application;

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

[0029] Figure 12 This is a functional module diagram of a remote control-based circulation fan remote control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0032] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] In the embodiments of this application, "and / or" describes the relationship between 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; and B exists alone. A and B can be singular or plural.

[0034] In the embodiments of the present application, the symbol " / " can indicate that the preceding and following objects are in an "or" relationship. In addition, the symbol " / " can also represent a division sign, that is, performing a division operation. For example, A / B can mean A divided by B.

[0035] In the embodiments of the present application, "at least one item" or similar expressions refers to any combination of these items, including any combination of single items or plural items, and refers to one or more, and multiple refers to two or more. For example, at least one item (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] In the embodiments of this application, "equal to" can be used in conjunction with "greater than" and is applicable to the technical solution adopted when "greater than" is used, and can also be used in conjunction with "less than" and is applicable to the technical solution adopted when "less than" is used. When "equal to" is used in conjunction with "greater than", it should not be used in conjunction with "less than"; when "equal to" is used in conjunction with "less than", it should not be used in conjunction with "greater than".

[0037] Existing solutions for the oscillating functions of oscillating fans, such as the control of the oscillating angle, already exist based on a trajectory detection device set on the fan body or a trajectory detection device built into the remote control. The trajectory detection device set on the fan body can only recognize user action commands within a fixed range, and the range is limited. The solution with a trajectory detection device built into the remote control is only used to recognize specific user manual gestures such as drawing circles. For the user-side customization and remote operation function of the non-fixed oscillating trajectory of the circulating fan, the existing solutions cannot meet the user's demand for this function.

[0038] In response to the above problems, an embodiment of the present application provides a remote control-based circulation fan remote control method and device. The embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0039] See also Figure 1 , Figure 1 This is a schematic diagram of the structure of a circulating fan remote control system provided by an embodiment of the present application. Figure 1 As shown, the circulation fan teleoperation system includes a remote controller 101 , a circulation fan 102 and a terminal device 103 .

[0040] The remote controller 101 is connected to the circulation fan 102 and the terminal device 103 via wireless signals. The user can send commands via buttons on the remote controller 101, such as adjusting the wind speed, controlling the shaking angle, switching the working mode, etc., thereby achieving close 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, so as to execute corresponding instructions; the built-in control module of the circulation fan 102 analyzes and processes the signals, and drives the motor and other components to realize operation; the surface of the circulation fan 102 includes a control panel, and the user can adjust the operating status by directly clicking the buttons on the control panel, such as adjusting the wind speed, changing the horizontal or pitch shaking angle.

[0042] Among them, the terminal device 103 can realize rich control functions, such as remote control of the circulation fan, setting of scheduled tasks, adjustment of detailed parameters, etc. It can also display the working status, movement trajectory and other information of the circulation fan for user monitoring.

[0043] See also Figure 2 , Figure 2 This is a block diagram of an electronic device provided in an embodiment of the present application, for executing Figure 1 The circulating fan teleoperation system in Figure 2As shown, electronic device 20 may include one or more of the following components: memory 23, processor 21, communication bus 30, communication interface 22, and one or more programs 231. One or more programs 231 are stored in memory 23 and configured to be executed by processor 21. One or more programs 231 include instructions for executing any step in the following method embodiments. In specific implementations, processor 21 is used to execute any step in the following method embodiments, and when performing data transmission, such as sending, it may optionally call communication interface 22 to complete the corresponding operation.

[0044] See also Figure 3 , Figure 3 This is a structural block diagram of a circulating fan remote operation system provided by an embodiment of the present application, such as Figure 3 As shown, the circulating fan teleoperation system includes a circulating fan, a remote controller and a terminal device, wherein the remote controller includes a gyroscope 311 and a controller 312 .

[0045] Gyroscope 311 can detect the remote control's rotation angle and angular velocity in three-dimensional space in real time, such as changes in the remote control's yaw, pitch, and roll angles. This data provides a basis for determining the remote control's trajectory, enabling the circulating fan to adjust accordingly to the remote control's movements.

[0046] Controller 312 processes the data detected by gyroscope 311 and instructions from the terminal device. It converts this data and instructions into executable signals and sends them to the circulating fan to control parameters such as the motor speed and sway angle. For example, controller 312 calculates the motor speed control signal (duty cycle) and acceleration control signal (duty cycle change rate) based on the detection data from gyroscope 311, thereby deriving the PWM signal corresponding to the steering motor. This signal is then output to achieve precise control of the circulating fan.

[0047] It can be seen that in this embodiment, the circulation fan receives instructions from different devices and feeds back status. The remote control can send its own motion data to the circulation fan and the terminal device. The terminal device can also send control instructions to the remote control and the circulation fan, such as trajectory optimization instructions, timing operation instructions, etc., thereby realizing the coordinated work of the entire system and meeting the user's diverse operational needs.

[0048] See also Figure 4 , Figure 4 This is a flowchart of a remote control method for remotely operating a circulating fan provided by an embodiment of the present application, which is applied to Figure 3 The controller 312 in Figure 4 As shown, the method includes the following steps:

[0049] Step S401, in response to the remote operation start instruction, a first message is sent to the circulating fan, and the first message is used to indicate that the circulating 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] The initial direction of the circulating fan can be aligned with a blowing demand object in the target blowing area, and the blowing demand object can be a user, a pet, clothes, or other characters with blowing demand.

[0051] In one possible embodiment, the step of sending the first message to the circulating fan in response to the remote operation start instruction comprises:

[0052] A click operation of a user on a remote operation start button of the remote controller is detected.

[0053] The remote operation start instruction is generated according to the click operation.

[0054] The first message is sent to the circulating fan in response to the remote operation start instruction.

[0055] In one possible embodiment, the remote controller is connected with a terminal device, and the method further comprises:

[0056] The remote operation start instruction is received from the terminal device, and the remote operation start instruction is used to represent an execution selection operation of a user on a remote operation start component on a display interface of an application.

[0057] The first message is sent to the circulating fan in response to the remote operation start instruction.

[0058] In one possible embodiment, before the step of receiving the remote operation start instruction from the terminal device, the method further comprises:

[0059] The terminal device detects a selection operation of a user on a remote operation start component on a display interface of an application.

[0060] The terminal device outputs first prompt information on the display interface according to the selection operation, and the first prompt information is used to prompt the user to manually align the circulating fan to the preset initial orientation.

[0061] The terminal device sends first state query information to the circulating fan.

[0062] The terminal device receives first state response information of the circulating fan, and determines whether the circulating fan is currently in the preset initial orientation according to the first state response information.

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

[0064] It is understood that in actual applications, the initial orientation setting can be flexibly adjusted according to different usage scenarios and user habits. At the same time, to allow users to more intuitively understand the initial orientation setting, the remote control or the connected app application can provide a visual setting interface. Users can drag the virtual fan model to determine the initial position and direction, or select preset common scene modes (such as living room mode, bedroom mode, etc.) to quickly complete the setting.

[0065] Step S402: determining an effective three-dimensional operating angle range of the remote controller according to the initial direction, the movement angle range of the circulation fan, and the movement angle range of the remote controller.

[0066] Among them, the initial direction of the circulation fan is represented by a first initial angle on the X-axis, a second initial angle on the Y-axis, and a third initial angle on the Z-axis, and the movement angle range of the 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 operating angle range includes a first effective operating angle range on the X-axis, a second effective operating angle range on the Y-axis, and a third effective operating angle range on the Z-axis; and determining the effective three-dimensional operating angle range of the remote control based on the initial direction, the movement angle range of the circulating fan, and the movement angle range of the remote control includes:

[0068] determining the first effective operating angle range according to a preset third mapping relationship, the first initial angle, and the first angle range, wherein the third mapping relationship represents a relationship between a movement angle of the circulation fan and a movement angle of the remote controller in the X-axis direction; and

[0069] determining the second effective operating angle range according to a preset fourth mapping relationship, the second initial angle, and the second angle range, wherein the fourth mapping relationship represents a relationship between a movement angle of the circulation fan and a movement angle of the remote controller in the Y-axis direction; and

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

[0071] For example, taking the third effective operating angle range of the remote controller on the Z axis as an example, the third angle range of the circulating fan on the Z axis may be [0, α] (assuming ), the third initial angle of the circulating fan in the Z axis is 0, and the fifth mapping relationship between the movement angle of the circulating fan in the Z axis direction and the movement angle of the remote control is Furthermore, when the circulation fan is at the third initial angle in the Z-axis direction, θ 扇-Z轴 =0, substituting into the above formula we can get θ 遥-Z轴 =-π; 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 θ 遥-Z轴 =π, thus, the third effective operating angle range of the circulation fan in the Z-axis direction is obtained as [-π,π].

[0072] For example, similarly, the first angle range of the circulation fan on the X axis can be [0, β] (assuming ), the first initial angle of the circulation fan on the X axis is 0, and the third mapping relationship is The first effective operating angle range is And, the second angle range of the circulation fan on the Y axis can be [0,γ] (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 operating angle range is obtained as [-π,π]. In addition, this application only provides an example of determining the effective three-dimensional operating angle range of the remote controller, and the specific algorithm and formula are not limited to the above example.

[0073] It is understood that, given the current angle range correspondence and the initial orientation of the recirculating fan, the remote control's effective operating angle range is its own movement angle range. Within this range, the recirculating fan can operate normally within its set angle range using the conversion formula.

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

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

[0076] Determining an actual movable range of the circulation fan according to the initial orientation of the circulation fan and the spatial area where the circulation fan is currently located;

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

[0078] An effective three-dimensional operating angle range of the remote controller is determined according to the target movement angle range of the circulation fan, the initial direction of the circulation fan, and the movement angle range of the remote controller.

[0079] As can be seen, in this embodiment, the remote control supports adaptive adjustment. When the circulation fan is installed in a different position or the usage environment changes (such as when used in a confined space), it can automatically detect the actual movable range of the circulation fan and adjust the remote control's effective operating angle range accordingly. This allows the remote control commands to adapt to the actual movable range of the circulation fan, avoiding issuing commands that exceed the range. Furthermore, the user can predict the circulation fan's response level during operation, avoiding invalid operations and ensuring rapid response and control of the circulation fan.

[0080] Step S403, collecting monitoring data of the gyroscope during the user's remote operation of the target blowing area, and determining the three-dimensional angular velocity and three-dimensional angular acceleration of the remote control based on the monitoring data, wherein the three-dimensional angular velocity and three-dimensional angular acceleration include a first angular velocity and a first angular acceleration on the X-axis, a second angular velocity and a second angular acceleration on the Y-axis, and a third angular velocity and a third angular acceleration on the Z-axis.

[0081] It's understandable that the gyroscope continuously monitors the remote control's rotation, outputting a signal reflecting angular changes at a very high frequency. This monitoring signal is a continuous analog signal. However, to facilitate the calculation of parameters such as angular velocity and angular acceleration, it must be sampled, converting the continuous signal into discrete data points. This sampling process introduces a time interval. This time interval is manually set, but it must be appropriately set to reduce processor workload and improve overall system efficiency while ensuring data accuracy and system responsiveness.

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

[0083] receiving a status data set from the circulation fan, the status data set including a plurality of status parameters and their corresponding parameter values;

[0084] The circulating fan is currently determined to be usable for performing the remote operation according to the state data set and a preset standard state parameter table, wherein the standard state parameter table includes a plurality of state parameters and a plurality of corresponding standard parameter intervals.

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

[0086] Determining whether the parameter values ​​of the plurality of state parameters in the state data set are within the plurality of standard parameter intervals;

[0087] If it is determined that the parameter values ​​of the plurality of state parameters are all within the plurality of standard parameter intervals, determining that the circulation fan is currently available for performing the remote operation;

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

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

[0090] If it is determined that the parameter value of at least one of the state parameters is not within the corresponding standard parameter range, determining that the circulation fan is currently unavailable for performing the remote operation;

[0091] A second message is sent 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 at present.

[0092] The multiple status parameters of the circulating fan may include motor temperature, battery charge, current speed, fan blade position, and other parameters. The standard status parameter table is pre-set based on the design specifications and safe operation requirements of the circulating fan and includes multiple standard parameter ranges corresponding to the multiple status parameters of the circulating fan. The standard parameter ranges reflect the normal fluctuation range of the circulating fan status parameters under normal operating conditions.

[0093] In step S404, if it is detected that the remote control moves within the effective three-dimensional operating angle range, the target PWM signal corresponding to the steering motor of the circulation fan is determined according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote control, so as to enable the circulation fan to move along the trajectory of the remote control. The first preset relationship represents the relationship between the rotational speed of the steering motor and the three-dimensional angular velocity of the remote control, and the second preset relationship represents the relationship between the acceleration of the steering motor and the three-dimensional angular acceleration of the remote control.

[0094] In a possible embodiment, determining the target PWM signal corresponding to the steering motor of the circulation fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity, and the three-dimensional angular acceleration of the remote controller includes:

[0095] detecting that the motion trajectory of the remote control moves from a first direction to a second direction at adjacent moments, and that a change in angle between the first direction and the second direction is less than a preset threshold;

[0096] Obtaining a preset first mapping relationship and a second mapping relationship, wherein the first mapping relationship represents a relationship between a rotational speed of the steering motor and a duty cycle of the target PWM signal, and the second mapping relationship represents a relationship between an acceleration of the steering motor and a rate of change of the duty cycle of the target PWM signal;

[0097] Determining a reference duty cycle corresponding to the target PWM signal based on the first mapping relationship, the first preset relationship, and the three-dimensional angular velocity of the remote controller; and determining a reference duty cycle change rate corresponding to the target PWM signal based on the second mapping relationship, the second preset relationship, and the three-dimensional angular acceleration of the remote controller;

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

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

[0100] The target PWM signal is sent to the circulation fan.

[0101] When the first and second directions are the same, the angle change between them is zero, indicating that the remote control has not changed direction. If the angle change between them is less than a preset threshold, the remote control has shifted direction, but the shift is minor and not abrupt, thus not forming an inflection point. The motion trajectory of the remote control and the fan is relatively smooth and stable, demonstrating good teleoperation performance 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; and determining the reference duty cycle corresponding to the target PWM signal according to the first mapping relationship, the first preset relationship, and the three-dimensional angular velocity of the remote controller includes:

[0103] determining a first rotational speed of the steering motor in the X-axis direction according to the first X-axis preset relationship and the first angular velocity; determining a second rotational speed of the steering motor in the Y-axis direction according to the first Y-axis preset relationship and the second angular velocity; and determining a third rotational speed of the steering motor in the Z-axis direction according to the first Z-axis preset relationship and the third angular velocity;

[0104] determining a first reference duty cycle corresponding to the target PWM signal based on the first X-axis mapping relationship and the first speed; determining a second reference duty cycle corresponding to the target PWM signal based on the first Y-axis mapping relationship and the second speed; and determining a third reference duty cycle corresponding to the target PWM signal based on the first Z-axis mapping relationship and the third speed;

[0105] A reference duty cycle corresponding to the target PWM signal is determined according to the first reference duty cycle, the second reference duty cycle, and the third reference duty cycle.

[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; and determining the reference duty cycle change rate corresponding to the target PWM signal based on the second mapping relationship, the second preset relationship, and the three-dimensional angular acceleration of the remote controller includes:

[0107] determining a first acceleration of the steering motor in the X-axis direction based on the second X-axis preset relationship and the first angular acceleration; determining a second acceleration of the steering motor in the Y-axis direction based on 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 based on the second Z-axis preset relationship and the third angular acceleration;

[0108] Determining a first reference duty cycle change rate corresponding to the target PWM signal based on the second X-axis mapping relationship and the first acceleration; determining a second reference duty cycle change rate corresponding to the target PWM signal based on 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 based on the second Z-axis mapping relationship and the third acceleration;

[0109] A reference duty cycle change rate corresponding to the target PWM signal is determined according to the first reference duty cycle change rate, the second reference duty cycle change rate, and the third reference duty cycle change rate.

[0110] For example, taking the third angular velocity and the third angular acceleration of the remote controller in the Z-axis as an example, the third reference duty cycle and the third reference duty cycle change rate in the Z-axis direction are calculated. The first Z-axis preset relationship is calculated by the formula ω 遥 =K1×ω 扇 Indicates that, where ω 遥 is the speed of the steering motor of the remote control, ω 扇is the angular velocity of the fan, K1 is the proportional coefficient, K1 is determined by experiments or the parameter manual of the steering motor, and then according to the first Z-axis preset relationship and the third angular velocity, the third speed of the steering motor in the Z-axis direction is obtained as ω 扇-z轴 ; The first Z-axis mapping relationship is through formula D z =K2×ω 遥 , where D z represents the duty cycle, K2 is the proportional coefficient, and then according to the first Z-axis mapping relationship and the third speed, the third reference duty cycle corresponding to the target PWM signal is obtained as 1%.

[0111] Further, illustratively, the second Z-axis preset relationship is expressed by formula α 遥 =K3×α 扇 Indicates that, where α 遥 is the acceleration of the steering motor of the remote control, α 扇 is the angular acceleration of the fan, K3 is the proportional coefficient, K3 is determined by experiment or the parameter manual of the steering motor, and then according to the second Z-axis preset relationship and the third angular acceleration, the third acceleration of the steering motor in the Z-axis direction is obtained as α 扇-z轴 ; The second Z-axis mapping relationship is through the formula ΔD z =K4×α 遥 , where ΔD z represents the duty cycle change rate, K4 is the proportional coefficient, and then according to the second Z-axis mapping relationship and the third acceleration, the third reference duty cycle change rate corresponding to the target PWM signal is obtained as 3% / s.

[0112] Among them, the above example only gives an example of calculating the test duty cycle and the reference duty cycle change rate, and gives a calculation formula that characterizes the linear relationship. It should be emphasized that the specific algorithm and calculation formula of the preset relationship and mapping relationship are based on the performance parameters of the circulating fan and the remote control, and are obtained through multiple experimental tests in advance, and are not limited to the calculation formula in the above example.

[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 based on the first reference duty cycle and the first reference duty cycle change rate; determining a second target duty cycle based on the second reference duty cycle and the second reference duty cycle change rate; and determining a third target duty cycle based on the third reference duty cycle and the third reference duty cycle change rate;

[0115] The target duty ratio is determined according to the first target duty ratio, the second target duty ratio, and the third target duty ratio.

[0116] The target duty cycle is determined based on the first target duty cycle, the second target duty cycle, and the third target duty cycle, and can be specifically determined by a weighted average method, a vector synthesis method, or a maximum value method. Methods for calculating the target duty cycle include but are not limited to the methods described above.

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

[0118] detecting that the motion trajectory of the remote control moves from a first direction to a second direction at adjacent moments, and a change in an angle between the first direction and the second direction is greater than a preset threshold;

[0119] Get the preset inflection point optimization algorithm;

[0120] Based on the inflection point optimization algorithm, a target PWM signal corresponding to the steering motor of the circulation fan is determined according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller.

[0121] In a possible embodiment, determining the target PWM signal corresponding to the steering motor of the circulating fan based on the inflection point optimization algorithm and 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:

[0122] determining an expected optimized motion trajectory of the circulating fan according to the inflection point optimization algorithm and the motion state of the remote controller at the inflection point;

[0123] determining a first expected rotational speed in the X-axis direction, a second expected rotational speed in the Y-axis direction, and a third expected rotational speed in the Z-axis direction of the steering motor of the circulation fan based on the expected optimized motion trajectory, the first preset relationship, the second preset relationship, and the three-dimensional angular velocity and three-dimensional angular acceleration of the remote controller, and determining a first expected acceleration in the X-axis direction, a second expected acceleration in the Y-axis direction, and a third expected acceleration in the Z-axis direction of the steering motor of the circulation fan;

[0124] determining a reference duty cycle corresponding to the target PWM signal based on the first mapping relationship, the first expected speed, the second expected speed, and the third expected speed; and determining a reference duty cycle change rate corresponding to the target PWM signal based on the second mapping relationship, the first expected acceleration, the second expected acceleration, and the third expected acceleration;

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

[0126] The target PWM signal is generated according to the target duty cycle.

[0127] Wherein, the angle change value between the first direction and the second direction is greater than the preset threshold value, indicating that the remote controller has a direction deviation, and the direction deviation degree is large and the direction changes suddenly, forming an inflection point, and the motion trajectory of the remote controller and the circulating fan appears a large steering, which cannot present a better remote operation effect under the current remote operation control algorithm. The trajectory optimization is an optimization control of the acceleration parameter of the steering motor, which can avoid the motion jamming and delay caused by the first direction acceleration of the motor being reduced to zero and then being accelerated from zero in the second direction, and then the continuous radian curve trajectory is optimized to transition the direction change, so the acceleration does not need to be reduced to zero,

[0128] Exemplarily, the inflection point optimization algorithm can be a Bezier curve method, a spline interpolation method or a speed planning method. In actual application, these algorithms also need to be adjusted and optimized in combination with the specific characteristic parameters of the remote controller and the circulating fan, and the operation habits of the user, etc.

[0129] Specifically, the Bezier curve can flexibly control the curve shape through the control point. Taking a quadratic Bezier curve as an example, its formula is: B(t) = (1-t) 2 P0+2t(1-t)P1+t 2 P2, wherein t is a parameter of the curve, and the value range is [0, 1]; P0 is a starting point before the inflection point (corresponding to the position of the circulating 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 circulating fan; P2 is a target point after the inflection point (corresponding to the position of the circulating fan after the inflection point), which is determined by the motion state of the remote controller after the inflection point; P1 is a control point, which determines the bending degree and direction of the curve, and can be set according to the angle relationship between the first direction and the second direction and the preset smoothness requirement. For example, P1 can be located at a certain position on the straight line with P0 and P2 as endpoints, and the distance from P1 to the straight line can be dynamically adjusted according to the angle 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 realize data interpolation and curve fitting. Taking a cubic spline interpolation as an example, the curve can be guaranteed to have continuous first and second derivatives at the connection points, thereby realizing smooth transition. Assuming that n points (x i ,y i ) are known, i = 0, 1, …, n, and a cubic spline function S(x) is to be constructed, S(x) is a cubic polynomial on each sub-interval [x i ,x i+1 ]: S i (x) = a i +b i (x-x i )+c i(xx i ) 2 +d i (xx i ) 3 Among them, a i , b i , c i , d i These coefficients are determined by satisfying the following conditions: Interpolation conditions: S i (x i )=y,S i (x i+1 )=y+1; Continuity condition: S i ′(x i+1 )=S i+1 ′(x i+1 ), S i ″(x i+1 )=S i+1 ″(x i+1 ); Boundary conditions can be set based on actual conditions, such as fixed boundary conditions (derivatives at specified endpoints). In remote control trajectory optimization, x can represent time or motion parameters, and y can represent information such as the position or angle of the loop fan. By interpolating these points, a smooth trajectory curve can be obtained, achieving a smooth transition from before to after the inflection point.

[0131] Specifically, velocity planning is a method for rationally planning and controlling the velocity of an object based on the motion task and constraints to achieve efficient and smooth motion. Before and after the inflection point, the speed of the circulating fan's steering motor is planned based on the remote controller's three-dimensional angular velocity and acceleration. For example, a trapezoidal or S-shaped velocity curve can be used. By rationally planning the velocity curve, the circulating fan's motion at the inflection point becomes smoother.

[0132] In one possible embodiment, the initial direction is represented by a first initial angle on the X-axis, a second initial angle on the Y-axis, and a third initial angle on the Z-axis; 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; and the method further includes:

[0133] detecting that the remote controller is not moving within the effective three-dimensional operating angle range;

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

[0135] determining a reference angle of the remote controller in the target direction;

[0136] If it is judged that the reference angle is greater than the maximum effective angle corresponding to the target direction of the effective three-dimensional operation angle range, a first PWM signal is sent to the circulating fan, and the first PWM signal is used to instruct the circulating fan to remain at the maximum angle of the angle range corresponding to the target direction.

[0137] If it is judged that the reference angle is less than the minimum effective angle corresponding to the target direction of the effective three-dimensional operation angle range, a second PWM signal is sent to the circulating fan, and the second PWM signal is used to instruct the circulating fan to remain at the initial angle corresponding to the target direction.

[0138] It can be understood that the setting of the effective three-dimensional operation angle range of the remote controller can realize effective control and protection of the movement angle of the circulating fan, and avoid abnormal operation of the circulating fan due to operation of the remote controller beyond the range.

[0139] In one possible embodiment, the target PWM signal corresponding to the steering motor of the circulating fan is determined according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller, which includes:

[0140] The monitoring data of the gyroscope is sent to the circulating fan.

[0141] The circulating fan determines the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller according to the monitoring data of the gyroscope.

[0142] The circulating fan acquires a preset first mapping relationship and a second mapping relationship, and determines the reference duty cycle according to the first mapping relationship, the first preset relationship and the three-dimensional angular velocity of the remote controller, and determines the reference duty cycle change rate according to the second mapping relationship, the second preset relationship and the three-dimensional angular acceleration of the remote controller, and determines the target duty cycle according to the reference duty cycle and the reference duty cycle change rate, and

[0143] The circulating fan generates the target PWM signal according to the target duty cycle.

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

[0145] It can be understood that the application calculates the angular velocity and angular acceleration of the remote controller based on the gyroscope sensor data, and calculates the duty cycle of the driving signal of the fan side steering motor based on the angular velocity and angular acceleration of the remote controller. Specifically, the control logic can be executed by the controller of the remote controller, and when the controller of the circulating fan supports the execution of complex algorithm logic, the trajectory following control logic can be executed by the circulating fan.

[0146] The steering motor of the circulating fan can be a single steering motor. By adjusting the speed and acceleration of the single steering motor in different axial directions, the movement of the motor in the X, Y, and Z axes can be precisely controlled to achieve three-dimensional steering of the circulating fan. Alternatively, the steering motor of the circulating fan can include a first steering motor, a second steering motor, and a third steering motor, each of which is responsible for movement in one direction of the X, Y, and Z axes. In this case, the circulating fan processes the target PWM signal to obtain three sub-control signals, which are respectively sent to the three steering motors. Alternatively, the remote control calculates the acceleration and angular acceleration in each direction to obtain three PWM control signals, which are collectively sent to the circulating fan as the target PWM signal. The circulating fan controller parses the obtained three PWM control signals and sends them to the three steering motors.

[0147] In a possible embodiment, the controller is connected to a terminal device, and the terminal device is further connected to the circulation fan. The method further includes:

[0148] The circulation fan obtains an initial motion trajectory of the circulation fan for the target blowing area in this teleoperation, the initial motion trajectory including a motion trajectory formed in a process in which the circulation fan moves from the initial direction to a first side boundary of the target blowing area and then moves in the reverse direction to a second side boundary of the target blowing area, wherein the first side boundary and the second side boundary are not adjacent to each other;

[0149] The circulation fan sends the initial motion trajectory to the terminal device;

[0150] The terminal device receives the initial motion trajectory, optimizes the initial motion trajectory according to a preset motion trajectory optimization algorithm to obtain a target motion trajectory; and updates and displays the target motion trajectory on a display interface of the application;

[0151] The terminal device detects a timing operation and determines a target hair-drying period according to the timing operation, wherein the timing operation includes a selection operation for a timing setting control on the display interface;

[0152] The terminal device generates a reservation task profile based on the target blowing period and the target motion trajectory, and sends the reservation task profile to the circulation fan to control the circulation fan to move according to the target motion trajectory during the target blowing period to complete the scheduled blowing task for the target blowing area.

[0153] Exemplarily, the APP side can display a remote operation trajectory application interface, which contains a function of timing clothes drying. After the user clicks, the user is prompted to move the circulating fan to the area of drying clothes, and the user is prompted to manually calibrate the initial position and initial direction first. The initial position can be the middle area of drying clothes, 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 remote controller side, the controller of the circulating fan records the current initial position and direction data, and notifies the remote controller and the APP side host that it is ready. The remote controller side prompts the user that the remote operation can start through vibration or other methods. The user starts the remote operation by holding the remote controller. The remote controller collects gyroscope data and processes it into motor driving signals to send to the circulating fan. The fan of the circulating fan follows the operation trajectory of the remote controller and moves. The user observes the fan moving to the boundary area of drying clothes in time and continues to move in the opposite direction by adjusting the angle. Finally, a complete remote operation trajectory is formed for the area where the clothes are dried.

[0154] Synchronously with the above process, the remote controller synchronously sends the remote operation process data to the APP side. The APP side displays the original trajectory without soft processing on the page according to the received remote operation data, and asks the user whether to optimize and adjust. The APP side can also directly display the optimization control without asking. The user triggers the optimization operation through the optimization interface. In addition, the APP side optimizes the trajectory according to the preset trajectory optimization algorithm and updates the trajectory displayed on the front end page. The APP side also synchronously displays the timing setting control. The user enters the time period in which the circulating fan is expected to blow according to the optimized trajectory through the timing control. The APP side sends the pre-booking task configuration file corresponding to the optimized trajectory information to the circulating fan host. The circulating fan host receives the pre-booking task configuration file, parses the file information, and repeatedly executes the corresponding trajectory following blowing operation in the corresponding time period.

[0155] As can be seen, in the embodiment, the remote controller angular velocity and angular acceleration are calculated based on the gyroscope sensor data, and the duty cycle of the fan side motor driving signal is calculated based on the remote controller angular velocity and angular acceleration. Thus, the dynamic response dimension and consistency dimension of the trajectory following of the circulating fan can reach a relatively accurate, soft and low latency control state, which is conducive to improving the comprehensiveness and real-time performance of the remote operation data processing in the remote operation scene. In addition, the application can solve the user's pain points and provide functional support based on the remote operation trajectory input and timing function of the fan for the application scenarios such as drying clothes, thereby improving the functional practicability and scene applicability of the remote controller remote operation circulating fan.

[0156] Please refer to Figure 5 , Figure 5 is a whole flowchart of a circulating fan remote operation method based on a remote controller provided by the embodiment of the application, which is applied to the controller 312 in Figure 3 , as shown in Figure 5 , the method comprises the following steps:

[0157] Step S501: In response to a remote operation start instruction, a first message is sent to a circulation fan to control the circulation fan to be in an initial position.

[0158] Step S502: Check whether the circulating fan is currently in a state where remote operation is possible.

[0159] Specifically, if yes, execute step S504; and if no, execute step S503.

[0160] Step S503: suspending the remote operation until the status is restored.

[0161] Step S504 : The user performs remote operation on the target blowing area.

[0162] Step S505 : collecting monitoring data of the gyroscope of the remote controller during the teleoperation process, and determining the three-dimensional angular velocity and three-dimensional angular acceleration of the remote controller based on the monitoring data.

[0163] Step S506: Whether the remote controller moves within the valid three-dimensional operation angle range.

[0164] Specifically, if yes, execute step S508; and if no, execute step S507.

[0165] Step S507: Keep the circulation fan at the maximum angle or the initial angle.

[0166] In one possible embodiment, the method further includes: detecting that the remote control does not move within the valid three-dimensional operating angle range; judging that the remote control exceeds the valid three-dimensional operating angle range in the target direction, the target direction including the X-axis direction and / or the Y-axis direction and / or the Z-axis direction; determining the reference angle of the remote control in the target direction; if it is judged that the reference angle is greater than the maximum valid angle corresponding to the valid three-dimensional operating angle range in the target direction, sending a first PWM signal to the circulating fan, the first PWM signal being used to instruct the circulating fan to remain at the maximum angle of the angle range corresponding to the target direction; and, if it is judged that the reference angle is less than the minimum valid angle corresponding to the valid three-dimensional operating angle range in the target direction, sending a second PWM signal to the circulating fan, the second PWM signal being used to instruct the circulating fan to remain at the initial angle corresponding to the target direction.

[0167] Step S508: Detecting that the motion trajectory of the remote control moves from the first direction to the second direction at adjacent moments.

[0168] Step S509: whether the angle change between the first direction and the second direction is less than a preset threshold.

[0169] Specifically, if yes, step S510 is performed; and if no, step S511 is performed.

[0170] In step S510, a target PWM signal corresponding to a steering motor of the circulating fan is determined according to the first preset relationship, the second preset relationship, three-dimensional angular velocity of the remote controller, and three-dimensional angular acceleration.

[0171] In one possible embodiment, the determination of the target PWM signal corresponding to the steering motor of the circulating fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity of the remote controller, and the three-dimensional angular acceleration comprises: detecting that a motion trajectory of the remote controller moves from a first direction to a second direction at adjacent time instants, and an 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, the first mapping relationship representing a relationship between a rotating speed of the steering motor and a duty cycle of the target PWM signal, and the second mapping relationship representing a relationship between an acceleration of the steering motor and a duty cycle change rate of the target PWM signal; determining a reference duty cycle corresponding to the target PWM signal according to the first mapping relationship, the first preset relationship, and the three-dimensional angular velocity of the remote controller; determining a reference duty cycle change rate corresponding to the target PWM signal according to the second mapping relationship, the second preset relationship, and the three-dimensional angular acceleration of the remote controller; determining a target duty cycle corresponding to the target PWM signal according to the reference duty cycle and the reference duty cycle change rate; generating the target PWM signal according to the target duty cycle; and sending the target PWM signal to the circulating fan.

[0172] In step S511, a target PWM signal corresponding to a steering motor of the circulating fan is determined according to the first preset relationship, the second preset relationship, three-dimensional angular velocity of the remote controller, and three-dimensional angular acceleration based on a turning point optimization algorithm.

[0173] Specifically, when the remote controller is located at a turning point, an angle change value of a direction at adjacent time instants before and after the turning point is greater than a preset threshold, and it is necessary to optimize a change similar to a right angle into a change with a chamfer based on a preset turning point optimization algorithm, so that a motion trajectory with a sudden change of a right angle is changed into a curve transition with a certain radian, so that the motion of the circulating fan is more smooth, the motor loss is reduced, and the user experience is improved. For example, when the user quickly changes the direction of the remote controller, the circulating fan is not turned abruptly, but is transitioned in a more gentle curve manner.

[0174] Exemplarily, the turning point optimization algorithm can be a Bezier curve method, a spline interpolation method, or a speed planning method. In actual application, these algorithms also need to be adjusted and optimized in combination with specific characteristic parameters of the remote controller and the circulating fan, and operation habits of the user, and the like.

[0175] It can be seen that in this embodiment, the controller of the remote control calculates the angular velocity and angular acceleration of the remote control based on the gyroscope sensor data, and calculates the duty cycle of the drive signal of the steering motor on the circulating fan side based on the angular velocity and angular acceleration of the remote control, thereby being able to achieve a more precise, smooth and low-latency control state in the dynamic response dimension and consistency dimension of the trajectory following of the circulating fan, which is conducive to improving the comprehensiveness and real-time performance of remote control data processing in remote control scenarios.

[0176] See also Figure 6 , Figure 6 This is an overall flow chart of a method for timing remote operation of a circulating fan provided by an embodiment of the present application, which is applied to Figure 3 The controller 312 in Figure 6 As shown, the method includes the following steps: step S601, obtaining the initial motion trajectory of the circulation fan during the current remote operation of the target blowing area; step S602, optimizing the initial motion trajectory to obtain the target motion trajectory; step S603, updating and displaying the target motion trajectory; step S604, detecting the timing operation, and determining the target blowing period according to the timing operation; step S605, generating a reservation task profile according to the target blowing period and the target motion trajectory, and sending the reservation task profile to the circulation fan to execute the timing blowing task.

[0177] As can be seen, this embodiment achieves relatively precise, smooth, and low-latency control of the circulation fan's trajectory tracking in both dynamic response and consistency dimensions, facilitating comprehensive and real-time data processing in teleoperation scenarios. Furthermore, for niche applications like drying clothes, the fan's teleoperation trajectory recording and timing functions can be used to address user pain points and provide functional support, improving the practicality and scenario applicability of remote-controlled circulation fans.

[0178] See also Figure 7 , Figure 7 This is a schematic diagram of an interface showing the range of motion angles of a circulation fan on the z-axis provided by an embodiment of the present application. Figure 7 As shown, the current terminal interface displays the movement angle range of the circulation fan on the z-axis.

[0179] Among them, a fan-shaped area is presented above the circulating fan, and the angle "120°" is marked, which shows the movement angle range of the circulating fan in the Z-axis direction (usually the horizontal shaking direction), that is, the angle area that the circulating fan can cover when shaking horizontally.

[0180] The phone interface on the right displays "Circulation Fan Connected," indicating that the terminal device is connected to the circulation fan and can perform related operations, which is the basis for remote control. The "On" button indicates that the user can control the circulation fan's on / off state through this interface; the "Z-axis - Motion Angle Range" section displays a fan-shaped image corresponding to the motion angle range, labeled "120°," corresponding to the actual motion angle range of the circulation fan. This demonstrates the solution's user-friendly function of viewing and setting circulation fan parameters through the terminal device, allowing users to intuitively understand and adjust the circulation fan's Z-axis motion angle, enhancing operational convenience and visualization.

[0181] Specifically, when the user sets or views the Z-axis motion angle range on the terminal device interface, the relevant instructions or data will be transmitted to the circulating fan via wireless communication. The circulating fan will adjust its own motion state or feedback the current angle information based on the received information, forming a complete interactive control closed loop, which is in line with the concept of collaborative interaction of multiple devices in the circulating fan remote operation solution to achieve precise control.

[0182] See also Figure 8 , Figure 8 This is a schematic diagram of an interface showing the range of motion angles of a circulating fan on the x-axis provided by an embodiment of the present application. Figure 8 As shown, the current terminal interface displays the movement angle range of the circulation fan on the x-axis.

[0183] Among them, a fan-shaped area is presented in the upper left corner of the circulating fan, and the angle "105°" is marked, which shows the movement angle range of the circulating fan in the x-axis direction (usually the pitch direction), that is, the amplitude by which the circulating fan can rotate in the pitch direction.

[0184] Among them, the mobile phone interface on the left displays "Circulation Fan Connected", indicating that the terminal device has established a connection with the circulation fan and can perform related operations, which is the basis for realizing remote control. The "On" button indicates that the user can control the on / off status of the circulation fan through this interface; the "X-axis - Motion Angle Range" section presents a fan-shaped image corresponding to the motion angle range, marked as "105°", which corresponds to the actual motion angle range of the circulation fan. This reflects the function of the user in the solution to view and set the circulation fan parameters through the terminal device. The user can use this interface to clearly understand and adjust the rotation angle of the circulation fan in the pitch direction to achieve a more personalized operating experience.

[0185] Specifically, when a user views or modifies the X-axis motion angle range on their phone, the relevant instructions are wirelessly transmitted to the circulating fan. Upon receiving the instructions, the circulating fan adjusts its motion state and transmits the current angle information back to the terminal device, creating a two-way interaction. This follows the logic of the circulating fan teleoperation solution, which relies on multiple devices to achieve precise control, ensuring convenient remote control of the circulating fan.

[0186] See also Figure 9 , Figure 9 This is an application scenario diagram of a remote control-based circulation 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. At this time, 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 This is another application scenario diagram of a remote control-based circulation fan remote operation method provided in an embodiment of the present application. Figure 10 As shown, the remote control 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 control is about to control the circulation fan to continue moving toward the first side boundary, and the second side boundary is opposite to the first side boundary.

[0187] 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 at any time through the remote control according to the location of the target blowing area and his own needs to achieve effective air supply to a specific area.

[0188] See also Figure 11 , Figure 11 This is a 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.

[0189] Among them, the terminal interface includes a "scheduling" component, which allows 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 realize 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 displays the movement trajectory of the circulation fan, presented in a three-dimensional coordinate system combined with a curve, and also has "real scene switching" and "refresh" buttons. "Real scene switching" 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.

[0190] It can be seen that in the embodiment, the circulating fan terminal interface can realize remote control, the circulating fan can be turned on and off and the blowing direction can be adjusted through the "start" button and the direction keys; personalized setting is supported, the "preset time" and "circulating fan parameter setting" are used to meet the customization requirements of the user on time and parameters; visual feedback is provided, the "remote operation track" and related buttons can enable the user to intuitively understand the movement state of the circulating fan, and precise control and optimized use are facilitated.

[0191] Please refer to Figure 12 , Figure 12 is a functional module schematic diagram of a circulating fan remote operation device based on a remote controller provided by the embodiment of the present application, as Figure 12 shown, the circulating fan remote operation device based on the remote controller 100 comprises the following units:

[0192] The response unit 110 is configured to send a first message to the circulating fan in response to a remote operation start instruction, the first message being used to indicate that the circulating fan is in a preset initial position, and the initial position comprising an initial direction and an initial position relative to a target blowing area.

[0193] The first determination unit 120 is configured to determine an effective three-dimensional operation angle range of the remote controller according to the initial direction, a movement angle range of the circulating fan and a movement angle range of the remote controller.

[0194] The second determination unit 130 is configured to collect monitoring data of the gyroscope during a remote operation process performed by the user 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, the three-dimensional angular velocity and the three-dimensional angular acceleration comprising 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.

[0195] The processing unit 140 is configured to, if it is detected that the remote controller moves within the effective three-dimensional operation angle range, determine a target PWM signal corresponding to a 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 controller, so as to realize that the circulating fan follows the track of the remote controller, the first preset relationship representing 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 representing a relationship between the acceleration of the steering motor and the three-dimensional angular acceleration of the remote controller.

[0196] In one embodiment, determining a target PWM signal corresponding to a steering motor of a circulating fan based on a first preset relationship, a second preset relationship, and the three-dimensional angular velocity and three-dimensional angular acceleration of the remote controller includes: detecting that a motion trajectory of the remote controller moves from a first direction to a second direction at adjacent moments, and that an angular change 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, wherein the first mapping relationship represents a relationship between a rotational speed of the steering motor and a duty cycle of the target PWM signal, and the second mapping relationship represents a relationship between an acceleration of the steering motor and a rate of change of the duty cycle of the target PWM signal; determining a reference duty cycle corresponding to the target PWM signal based on the first mapping relationship, the first preset relationship, and the three-dimensional angular velocity of the remote controller; and determining a reference duty cycle rate of change corresponding to the target PWM signal based on the second mapping relationship, the second preset relationship, and the three-dimensional angular acceleration of the remote controller; determining a target duty cycle corresponding to the target PWM signal based on the reference duty cycle and the reference duty cycle rate of change; generating the target PWM signal based on the target duty cycle; and transmitting the target PWM signal to the circulating fan.

[0197] 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 based on the first mapping relationship, the first preset relationship, and the three-dimensional angular velocity of the remote controller includes: determining a first rotational speed of the steering motor in the X-axis direction based on the first X-axis preset relationship and the first angular velocity; determining a second rotational speed of the steering motor in the Y-axis direction based on the first Y-axis preset relationship and the second angular velocity; and determining a third rotational speed of the steering motor in the Z-axis direction based on the first Z-axis preset relationship and the third angular velocity; determining a first reference duty cycle corresponding to the target PWM signal based on the first X-axis mapping relationship and the first rotational speed; determining a second reference duty cycle corresponding to the target PWM signal based on the first Y-axis mapping relationship and the second rotational speed; and determining a third reference duty cycle corresponding to the target PWM signal based on the first Z-axis mapping relationship and the third rotational speed; and determining the reference duty cycle corresponding to the target PWM signal based on the first reference duty cycle, the second reference duty cycle, and the third reference duty cycle.

[0198] 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, 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 of 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 comprises: 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; 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; determining a second reference duty cycle change rate corresponding to the target PWM signal according to the second Y-axis mapping relationship and the second acceleration; and determining a third reference duty cycle change rate corresponding to the target PWM signal according to the second Z-axis mapping relationship and the third acceleration; and determining 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.

[0199] In one embodiment, the method further comprises: detecting that the motion trajectory of the remote controller moves from a first direction to a second direction at adjacent time instants, and an angle change value between the first direction and the second direction is greater than the preset threshold value; obtaining a preset inflection point optimization algorithm; and determining the target PWM signal corresponding to the steering motor of the circulating fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller based on the inflection point optimization algorithm.

[0200] 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, and the movement angle range of the circulating fan includes a first angle range on the X-axis, a second angle range on the Y-axis, and a third angle range on the Z-axis; the method further comprises: detecting that the remote controller is not moving within the effective three-dimensional operation angle range; determining that the remote controller is beyond the effective three-dimensional operation angle range in a target direction, the target direction including an X-axis direction and / or a Y-axis direction and / or a Z-axis direction; determining a reference angle of the remote controller in the target direction; if it is determined that the reference angle is greater than a maximum effective angle corresponding to the target direction in the effective three-dimensional operation angle range, sending a first PWM signal to the circulating fan, the first PWM signal being used to instruct the circulating fan to remain at a maximum angle in the angle range corresponding to the target direction; and if it is determined that the reference angle is less than a minimum effective angle corresponding to the target direction in the effective three-dimensional operation angle range, sending a second PWM signal to the circulating fan, the second PWM signal being used to instruct the circulating fan to remain at an initial angle corresponding to the target direction.

[0201] In one embodiment, before the monitoring data of the gyroscope during the teleoperation process performed by the user on the target blowing area is collected, the method further comprises: receiving a state data set from the circulating fan, the state data set including a plurality of state parameters and corresponding parameter values; and determining, according to the state data set and a preset standard state parameter table, that the circulating fan is currently available for performing the teleoperation, the standard state parameter table including a plurality of state parameters and corresponding standard parameter intervals.

[0202] In one embodiment, the determination of the target PWM signal corresponding to the steering motor of the circulating fan according to the first preset relationship, the second preset relationship, the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller comprises: sending the monitoring data of the gyroscope to the circulating fan; the circulating fan determines the three-dimensional angular velocity and the three-dimensional angular acceleration of the remote controller according to the monitoring data of the gyroscope; the circulating fan acquires a preset first mapping relationship and a second mapping relationship, and determines the reference duty cycle according to the first mapping relationship, the first preset relationship and the three-dimensional angular velocity of the remote controller; and determines the reference duty cycle change rate according to the second mapping relationship, the second preset relationship and the three-dimensional angular acceleration of the remote controller; and determines the target duty cycle according to the reference duty cycle and the reference duty cycle change rate; and the circulating fan generates the target PWM signal according to the target duty cycle; and the circulating fan sends the target PWM signal to the steering motor.

[0203] In one embodiment, the controller is connected with a terminal device, the terminal device is also connected with the circulating fan, and the method further comprises: the circulating fan acquires an initial motion trajectory of the circulating fan for the target blowing area in this time of remote operation, the initial motion trajectory comprises a motion trajectory formed in a process in which the circulating fan moves from the initial direction to a first side boundary of the target blowing area and then reversely moves to a second side boundary of the target blowing area, and the first side boundary and the second side boundary are not adjacent; the circulating fan sends the initial motion trajectory to the terminal device; the terminal device receives the initial motion trajectory, and optimizes the initial motion trajectory according to a preset motion trajectory optimization algorithm to obtain a target motion trajectory; and the target motion trajectory is updated and displayed on a display interface of an application program; the terminal device detects a timing operation, and determines a target blowing time period according to the timing operation, the timing operation comprising 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 time period and the target motion trajectory, and sends the reservation task configuration file to the circulating fan, so as to control the circulating fan to move according to the target motion trajectory in the target blowing time period to complete a timing blowing task for the target blowing area.

[0204] It can be understood that, since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in the present application should be synchronously adapted to the device embodiment part, which will not be described here again.

[0205] It can be seen that, the controller of the device calculates the remote controller angular velocity and angular acceleration based on the gyroscope sensor data, and calculates the duty cycle of the driving signal of the circulating fan side turning motor based on the remote controller angular velocity and angular acceleration, so that the dynamic response dimension and consistency dimension of the trajectory following of the circulating fan can reach a relatively accurate, smooth and low-latency control state, which is beneficial to improve the comprehensiveness and real-time performance of remote operation data processing in the remote operation scene.

[0206] In addition, the present application embodiment further provides a computer storage medium which stores a computer program capable of being loaded and executed by a processor, such as a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.

[0207] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and units involved are not necessarily required by this application.

[0208] This is merely a logical functional division; actual implementations may employ different divisions; for example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. Furthermore, any coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via some interface, device, or unit, and may be electrical, mechanical, or other.

[0209] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0210] In addition, the functional units in various embodiments of the present invention may be integrated into a single processing unit, each unit may be physically included separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or hardware plus software functional units.

[0211] The integrated unit in the form of software function unit can be stored in a computer readable storage medium. The software function unit is stored in a storage medium, and includes a plurality of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute part of steps of the method according to the embodiments of the present application. The storage medium includes a U disk, a mobile hard disk, a magnetic disk, an optical disk, a volatile memory or a non-volatile memory. The non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM) 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), and various other media that store program codes.

[0212] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0213] The embodiments of the present application are described in detail above, and the principle and implementation manner of the present application are described by applying specific examples; the above embodiment descriptions are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range can be changed, and the above description should not be understood as the limitation of the present application.

[0214] Although the present application discloses the above, the present application is not limited thereto. Any person skilled in the art may readily conceive of variations or substitutions, and may make various changes and modifications, including combinations of the above-mentioned functions and implementation steps, including software and hardware implementations, without departing from the spirit and scope of the present application, and all are within the scope of protection of the present application.

Claims

1. A two-dimensional remote control method for a tower fan, characterized in that: A controller applied to the remote controller, wherein the remote controller has a built-in gyroscope, and the method includes: In response to a remote operation start instruction, a first message is sent to the tower fan, wherein the first message is used to indicate that the tower 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; determining an effective two-dimensional operating angle range of the remote controller according to the initial direction, the movement angle range of the tower fan, and the movement angle range of the remote controller; collecting monitoring data of the gyroscope during a user's remote operation of the target blowing area, and determining a two-dimensional angular velocity and a two-dimensional angular acceleration of the remote controller based on the monitoring data, wherein the two-dimensional angular velocity and the two-dimensional angular acceleration include 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, and the movement direction of the tower fan on the Z-axis is a horizontal shaking direction; If it is detected that the remote control moves within the effective two-dimensional operation angle range, detecting whether a change in an angle between the first direction and the second direction when the motion trajectory of the remote control moves from a first direction to a second direction at adjacent moments is less than a preset threshold; If it is detected that the angular change 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 tower fan according to a first preset relationship, a second preset relationship, and the two-dimensional angular velocity and two-dimensional angular acceleration of the remote control, wherein the first preset relationship represents the relationship between the rotational speed of the steering motor and the two-dimensional angular velocity of the remote control, and the second preset relationship represents the relationship between the acceleration of the steering motor and the two-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, a preset inflection point optimization algorithm is obtained; based on the inflection point optimization algorithm, a target PWM signal corresponding to the steering motor of the tower fan is determined according to the first preset relationship, the second preset relationship, the two-dimensional angular velocity, and the two-dimensional angular acceleration of the remote controller; The target PWM signal is sent to the tower fan to enable the tower fan to move along the trajectory of the remote controller.

2. The method according to claim 1, characterized in that The determining of the target PWM signal corresponding to the steering motor of the tower fan according to the first preset relationship, the second preset relationship, the two-dimensional angular velocity, and the two-dimensional angular acceleration of the remote controller includes: Obtaining a preset first mapping relationship and a second mapping relationship, wherein the first mapping relationship represents a relationship between a rotational speed of the steering motor and a duty cycle of the target PWM signal, and the second mapping relationship represents a relationship between an acceleration of the steering motor and a rate of change of the duty cycle of the target PWM signal; Determining a reference duty cycle corresponding to the target PWM signal based on the first mapping relationship, the first preset relationship, and the two-dimensional angular velocity of the remote controller; and determining a reference duty cycle change rate corresponding to the target PWM signal based on the second mapping relationship, the second preset relationship, and the two-dimensional angular acceleration of the remote controller; determining a target duty cycle corresponding to the target PWM signal according to the reference duty cycle and the reference duty cycle change rate; generating the target PWM signal according to the target duty cycle; The target PWM signal is sent to the tower fan.

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

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

5. The method according to any one of claims 1 to 4, characterized in that The initial direction is represented by a second initial angle on the Y axis and a third initial angle on the Z axis, and the movement angle range of the tower fan includes the second angle range on the Y axis and the third angle range on the Z axis; the method further includes: detecting that the remote controller is not moving within the effective two-dimensional operating angle range; Determining that the remote control exceeds the valid two-dimensional operating angle range in a target direction, where the target direction includes a Y-axis direction and / or a Z-axis direction; determining a reference angle of the remote controller in the target direction; If it is determined that the reference angle is greater than the maximum effective angle of the effective two-dimensional operating angle range corresponding to the target direction, sending a first PWM signal to the tower fan, wherein the first PWM signal is used to instruct the tower fan to maintain the maximum angle of the angle range corresponding to the target direction; and If it is determined that the reference angle is less than the minimum valid angle of the valid two-dimensional operating angle range corresponding to the target direction, a second PWM signal is sent to the tower fan, wherein the second PWM signal is used to instruct the tower 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 user's remote operation of the target blowing area, the method further includes: receiving a status data set from the tower fan, the status data set including a plurality of status parameters and their corresponding parameter values; The tower fan is currently determined to be usable for performing the remote operation according to the state data set and a preset standard state parameter table, wherein the standard state parameter table includes a plurality of state parameters and a plurality of corresponding standard parameter intervals.

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

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

9. A two-dimensional remote control device for a tower fan, characterized in that: A controller applied to the remote controller, wherein the remote controller has a built-in gyroscope, the device comprises: a response unit, configured to send a first message to the tower fan in response to a remote operation start instruction, wherein the first message is used to indicate that the tower fan is in a preset initial orientation, wherein the initial orientation includes an initial direction and an initial position relative to a target blowing area; a first determining unit, configured to determine an effective two-dimensional operating angle range of the remote controller according to the initial direction, the movement angle range of the tower fan, and the movement angle range of the remote controller; a second determining unit, configured to collect monitoring data of the gyroscope during a user's remote operation of the target blowing area, and determine a two-dimensional angular velocity and a two-dimensional angular acceleration of the remote controller based on the monitoring data, wherein the two-dimensional angular velocity and the two-dimensional angular acceleration include 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, and the movement direction of the tower fan on the Z-axis is a horizontal shaking direction; a processing unit configured to, if it is detected that the remote control moves within the effective two-dimensional operating angle range, detect whether a change in an angle between the first direction and the second direction when the motion trajectory of the remote control moves from a first direction to a second direction at adjacent moments is less than a preset threshold; if it is detected that the change in the angle 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 tower fan based on a first preset relationship, a second preset relationship, a two-dimensional angular velocity, and a two-dimensional angular acceleration of the remote control, wherein the first preset relationship represents a relationship between a rotational speed of the steering motor and the two-dimensional angular velocity of the remote control, and the second preset relationship represents a relationship between an acceleration of the steering motor and the two-dimensional angular acceleration of the remote control; and, if it is detected that the change in the angle between the first direction and the second direction is greater than the preset threshold, obtain a preset inflection point optimization algorithm; determine, based on the inflection point optimization algorithm, a target PWM signal corresponding to the steering motor of the tower fan based on the first preset relationship, the second preset relationship, the two-dimensional angular velocity, and the two-dimensional angular acceleration of the remote control; and send the target PWM signal to the tower fan to enable the tower fan to follow the trajectory of the remote control.

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