Target detection method and device, electronic equipment and storage medium

Abstract

The invention provides a target detection method and device, electronic equipment and a storage medium, and the method comprises the steps: carrying out the dynamic detection of a target region through a sensing assembly, and determining a motion track in the target region; and in response to a target movement track existing in the movement tracks, performing static detection on the target area by adopting a sensing assembly. Therefore, under the condition that the track obtained through dynamic detection determines that the specific object exists, the specific object is further determined through static detection, and the detection accuracy of the specific object is improved through the detection mode that the motion track and the static detection result are combined.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection, and particularly relates to a target detection method and device, electronic equipment and a storage medium. BACKGROUND

[0002] With the progress of technology, air conditioning equipment gradually develops in the direction of intelligence and individualization. By matching a sensing component, whether a target object, such as a person, exists in an environment is detected, so as to realize intelligent wind control, people-sensing energy saving and other functions.

[0003] However, in the related art, target object detection has the technical problem of low detection accuracy. SUMMARY

[0004] The present application aims to at least partly solve one of the technical problems in the related art.

[0005] To this end, the present application proposes a target detection method and device, electronic equipment and a storage medium to improve the accuracy of specific object detection by combining motion trajectories and static detection results.

[0006] An embodiment of the present application proposes a target detection method, comprising:

[0007] dynamically detecting a target area by using a sensing component to determine a motion trajectory in the target area;

[0008] in response to the presence of a target motion trajectory in the motion trajectory, statically detecting the target area by using the sensing component.

[0009] In an implementation manner of the embodiment of the present application, the motion feature of the target motion trajectory includes a motion feature consistent with a motion feature of an interference object.

[0010] The method further comprises:

[0011] determining whether an object corresponding to the target motion trajectory is an interference object according to a static detection result;

[0012] in response to the object corresponding to the target motion trajectory being an interference object, determining a motion range of the interference object;

[0013] detecting a target object based on position data not in the motion range of the interference object.

[0014] In an implementation manner of the embodiment of the present application, the detecting a target object based on position data not in the motion range of the interference object comprises:

[0015] The position data in the position data obtained by subsequent dynamic detection of the sensing assembly and located in the motion range of the interference object is deleted to obtain corrected position data.

[0016] According to the number of the corrected position data, it is determined whether the target object exists in the target region.

[0017] In an implementation manner of the embodiment of the present application, the determining whether the object corresponding to the target motion track is an interference object according to the static detection result comprises:

[0018] According to the energy data in the target region obtained by the static detection, target energy data is determined.

[0019] In response to the target energy data being less than a set threshold, the object corresponding to the target motion track is determined to be an interference object.

[0020] In an implementation manner of the embodiment of the present application, the method further comprises:

[0021] For any motion track, according to a plurality of track points in the motion track, a center position of the motion track is determined.

[0022] In response to the plurality of track points all being located in a set range with the center position as the center, the motion track is determined to be the target motion track.

[0023] In an implementation manner of the embodiment of the present application, the determining the motion range of the interference object in response to the object corresponding to the target motion track being an interference object comprises:

[0024] In response to the object corresponding to the target motion track being an interference object, a motion range of the interference object is determined according to a closed curve enclosing a target track point, wherein the target track point is at least part of the track points in the target motion track.

[0025] In an implementation manner of the embodiment of the present application, the dynamic detection of the target region by the sensing assembly to determine the motion track in the target region comprises:

[0026] The target region is dynamically detected by the sensing assembly;

[0027] According to the position data in the target region obtained by the dynamic detection, the motion track in the target region is determined.

[0028] In an implementation manner of the embodiment of the present application, the method further comprises:

[0029] in response to the air conditioning device starting the human sensing temperature control instruction and the target object existing in the target area, controlling the air conditioning device not to enter the human sensing temperature control state;

[0030] in response to the air conditioning device starting the human sensing temperature control instruction and the target object not existing in the target area for a first set time length, controlling the air conditioning device to enter the human sensing temperature control state;

[0031] in response to the air conditioning device starting the human sensing shutdown instruction and the target object existing in the target area, controlling the air conditioning device not to shut down;

[0032] in response to the air conditioning device starting the human sensing shutdown instruction and the target object not existing in the target area for a second set time length, controlling the air conditioning device to shut down.

[0033] In an implementation manner of the embodiment of the application, the controlling the air conditioning device to enter the human sensing energy saving state comprises at least one of the following operations:

[0034] controlling the air conditioning device to increase a set temperature in a cooling mode;

[0035] controlling the air conditioning device to decrease a set temperature in a heating mode.

[0036] In an implementation manner of the embodiment of the application, the method further comprises:

[0037] in response to the air conditioning device starting the following mode and one of the target objects existing in the target area, controlling the air conditioning device to perform a function corresponding to the following mode on the target object;

[0038] in response to the air conditioning device starting the following mode and a plurality of the target objects existing in the target area, controlling the air conditioning device to perform the function corresponding to the following mode among the plurality of the target objects.

[0039] In an implementation manner of the embodiment of the application, the method further comprises:

[0040] in response to the air conditioning device starting the avoiding mode and the target object existing in the target area, controlling the air conditioning device to avoid the target object to perform a function corresponding to the avoiding mode.

[0041] Another aspect of the embodiment of the application provides a target detection device, comprising:

[0042] a dynamic detection module, configured to perform dynamic detection on a target area by using a sensing assembly, and determine a motion track in the target area.

[0043] The static detection module is configured to, in response to the presence of a target motion trajectory in the motion trajectories, perform static detection on the target region by using the sensing assembly.

[0044] In an implementation form of the embodiment of the application, the motion feature of the target motion trajectory comprises a motion feature consistent with a motion feature of an interference object.

[0045] The device further comprises:

[0046] The object determination module is configured to determine, according to the static detection result, whether the object corresponding to the target motion trajectory is an interference object.

[0047] The range determination module is configured to, in response to the object corresponding to the target motion trajectory being an interference object, determine a motion range of the interference object.

[0048] The detection module is configured to detect a target object based on position data not in the motion range of the interference object.

[0049] In an implementation form of the embodiment of the application, the detection module is further configured to:

[0050] delete position data in position data obtained by the sensing assembly in subsequent dynamic detection and within the motion range of the interference object, to obtain corrected position data;

[0051] determine whether the target object exists in the target region according to a quantity of the corrected position data.

[0052] In an implementation form of the embodiment of the application, the object determination module is further configured to:

[0053] determine target energy data according to energy data in the target region obtained by the static detection;

[0054] in response to the target energy data being less than a set threshold, determine that the object corresponding to the target motion trajectory is an interference object.

[0055] In an implementation form of the embodiment of the application, the device further comprises:

[0056] The position determination module is configured to, for any motion trajectory, determine a central position of the motion trajectory according to a plurality of trajectory points in the motion trajectory.

[0057] The trajectory determination module is configured to, in response to the plurality of trajectory points all being located in a set range with the central position as the center, determine the motion trajectory as the target motion trajectory.

[0058] In an implementation form of the embodiment of the application, the range determining module is further configured to:

[0059] In response to the object corresponding to the target motion trajectory being an interference object, determine a motion range of the interference object according to a closed curve enclosing the target trajectory point, wherein the target trajectory point is at least part of the target motion trajectory.

[0060] In an implementation form of the embodiment of the application, the dynamic detection module is further configured to:

[0061] perform dynamic detection on the target region by using the sensing assembly;

[0062] determine a motion trajectory in the target region according to the position data in the target region obtained through the dynamic detection.

[0063] In an implementation form of the embodiment of the application, the apparatus further comprises:

[0064] an instruction control module configured to, in response to a human-sensing temperature control instruction of the air conditioning device being turned on and the target object existing in the target region, control the air conditioning device not to enter a human-sensing temperature control state.

[0065] The instruction control module is further configured to, in response to the human-sensing temperature control instruction of the air conditioning device being turned on and a duration in which the target object does not exist in the target region reaching a first set duration, control the air conditioning device to enter the human-sensing temperature control state.

[0066] The instruction control module is further configured to, in response to a human-sensing shutdown instruction of the air conditioning device being turned on and the target object existing in the target region, control the air conditioning device not to shut down.

[0067] The instruction control module is further configured to, in response to the human-sensing shutdown instruction of the air conditioning device being turned on and a duration in which the target object does not exist in the target region reaching a second set duration, control the air conditioning device to shut down.

[0068] In an implementation form of the embodiment of the application, the instruction control module is further configured to perform at least one of the following operations:

[0069] control the air conditioning device to increase a set temperature in a cooling mode;

[0070] control the air conditioning device to decrease a set temperature in a heating mode.

[0071] In an implementation form of the embodiment of the application, the apparatus further comprises:

[0072] The following mode control module is configured to, in response to the air conditioning device starting a following mode and one target object existing in the target area, control the air conditioning device to perform a function corresponding to the following mode on the target object.

[0073] The following mode control module is further configured to, in response to the air conditioning device starting the following mode and a plurality of target objects existing in the target area, control the air conditioning device to perform the function corresponding to the following mode among the plurality of target objects.

[0074] In an implementation form of the apparatus, the apparatus further comprises:

[0075] The avoiding mode control module is configured to, in response to the air conditioning device starting an avoiding mode and the target object existing in the target area, control the air conditioning device to avoid the target object to perform a function corresponding to the avoiding mode.

[0076] In another aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method according to the foregoing aspect when executing the program.

[0077] In another aspect, an embodiment of the present application provides an air conditioning device configured to implement the method according to the foregoing aspect.

[0078] In another aspect, an embodiment of the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, and the computer program is executable on a processor to implement the method according to the foregoing aspect.

[0079] In another aspect, an embodiment of the present application provides a computer program product having a computer program stored thereon, and the program is executable on a processor to implement the method according to the foregoing aspect.

[0080] The target detection method, device, electronic device, and storage medium provided by the present application adopt a sensing assembly to dynamically detect a target area and determine a motion trajectory in the target area; and in response to a target motion trajectory existing in the motion trajectory, the sensing assembly is used to statically detect the target area. In this way, the trajectory obtained by dynamic detection determines the existence of a specific object, and the specific object is further determined by static detection. The detection method combining the motion trajectory and the static detection result improves the accuracy of specific object detection.

[0081] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0082] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of embodiments, taken in conjunction with the accompanying drawings, in which:

[0083] Figure 1 A flowchart of a target detection method provided by an embodiment of the present application;

[0084] Figure 2 A flowchart of another target detection method provided by an embodiment of the present application;

[0085] Figure 3 A flowchart of another target detection method provided by an embodiment of the present application;

[0086] Figure 4 A flowchart of another target detection method provided by an embodiment of the present application;

[0087] Figure 5 A flowchart of another target detection method provided by an embodiment of the present application;

[0088] Figure 6 A structural diagram of a control device provided by an embodiment of the present application;

[0089] Figure 7 A block diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0090] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar components have the same or similar designations and functions throughout various figures and / or descriptions. The embodiments described below are examples intended to provide an explanation of the present application and are not intended to restrict the present application.

[0091] In the related art, an air conditioning device detects a target object by matching a sensing component, and in the detection process, a non-target object is easily misdetected as a target object, resulting in inaccurate detection. For example, the target object is a person, and in the detection process, a fan shaking its head, a green plant blown by the wind, etc. are easily misdetected as a person. To solve this problem, the dynamic detection trajectory determines the presence of a specific object, and static detection is used to further determine the specific object. Through the detection method of combining the motion trajectory and the static detection result, the accuracy of specific object detection is improved.

[0092] The target detection method, device, electronic device, and storage medium of the embodiments of the present application are described below with reference to the accompanying drawings.

[0093] Figure 1A flowchart of a target detection method provided by an embodiment of the present application.

[0094] An embodiment of the present application takes the target detection method configured in a control device as an example, which can be applied to any electronic device to enable the electronic device to perform a control function.

[0095] The electronic device can be any device with computing capability, such as a hardware device with air conditioning function, such as an air conditioner, an air purifier, etc.

[0096] As shown in Figure 1 The method can include the following steps:

[0097] Step 101: dynamically detecting the target area by using the sensing assembly to determine the motion trajectory in the target area.

[0098] In an embodiment of the present application, the target area is all or part of the area within the working range of the air conditioning device, for example, assuming that the working range of the air conditioning device is a certain room, the target area is all or part of the area occupied by the room.

[0099] It should be noted that the target area also needs to be within the area that the sensing assembly can detect, for example, assuming that the area that the sensing assembly can detect is the area within a certain distance (for example, 7 meters) from the sensing assembly, the target area also needs to be within the area within the certain distance from the sensing assembly.

[0100] In an embodiment of the present application, the sensing assembly is, for example, a millimeter wave radar, a laser radar, etc., which transmits modulated electromagnetic waves through the transmitting antenna of the sensing assembly, and receives the electromagnetic wave signals reflected back by the objects in the target area through the receiving antenna, i.e., the echo signals, and determines the position of the objects and other detection information by analyzing the echo signals. The objects in the target area include any moving object in the target area, such as a moving person, a fan shaking its head, a plant swayed by the wind, etc.

[0101] In an implementation manner of an embodiment of the present application, the sensing assembly is mounted on the air conditioning device, and the sensing assembly on the air conditioning device is used to dynamically detect the target area to determine the motion trajectory in the target area.

[0102] In an embodiment of the present application, the sensing assembly is used to dynamically detect the target area to detect at least the position data of the dynamic objects in the target area.

[0103] As an example, the dynamic detection is used to detect the position data of the dynamic objects within a first set distance range from the sensing assembly, such as (x1, y1, x2, y2, x3, y3, …, x n , yn ), x represents the horizontal coordinate, y represents the vertical coordinate, and the energy data and distance data of the dynamic object in the second set distance range of the distance sensing component are detected, such as (m1, y1, m2, y2, m3, y3, …, m n n ), m represents the energy value, and Y represents the y-axis distance of the detected energy value. The second set distance is less than the first set distance. For example, the dynamic detection is used to detect the position data of the dynamic object in the 7-meter range of the distance sensing component, and the energy data and distance data of the dynamic object in the 3-meter range of the distance sensing component. It should be noted that the position data detected by the dynamic detection needs to cover the target area, but the energy data and distance data detected by the dynamic detection can not cover the target area.

[0104] In an implementation manner of the embodiment of the application, the target area is dynamically detected multiple times by using the sensing component on the air conditioning equipment, and the motion trajectory in the target area is determined based on the position data in the target area obtained by the multiple dynamic detections.

[0105] As an example, the target area can be dynamically detected every T milliseconds by using the sensing component on the air conditioning equipment, at least a group of position data in the target area is detected each time, and then the motion trajectory in the target area is determined based on the multiple groups of position data in the target area.

[0106] In step 102, in response to the presence of the target motion trajectory in the motion trajectory, the target area is statically detected by using the sensing component.

[0107] In the embodiment of the application, the target motion trajectory can be a motion trajectory corresponding to a specific object. The specific object can be an interference object or other objects, which are not limited in the embodiment.

[0108] In the related art, the air conditioning equipment detects the target object by matching the sensing component. If the target object is a person, the fan shaking its head and the green plants blown by the wind are easily misdetected as a person in the detection process. In this case, the target motion feature is the motion trajectory corresponding to the fan shaking its head and the green plants blown by the wind. At this time, the specific object is the fan, the green plants, etc.

[0109] It should be noted that the number of specific objects can be one or more, and accordingly, the number of target motion trajectories can also be one or more, which are not limited in the embodiment.

[0110] ​In the embodiments of the present application, after the motion track in the target area is determined, it can be determined whether to use the sensing assembly to perform static detection on the target area by judging whether the target motion track exists in the motion track, that is, whether to switch the sensing assembly from dynamic detection to static detection. One implementation is that in the case that the target motion track exists in the motion track, it is preliminarily determined that the specific object exists in the target area, at this time, the sensing assembly is switched from dynamic detection to static detection, so as to further determine whether the specific object exists in the target area by combining the static detection result. Another implementation is that in the case that the target motion track does not exist in the motion track, it is determined that the specific object does not exist in the target area, at this time, the sensing assembly does not need to be switched from dynamic detection to static detection, that is, the sensing assembly continues to perform dynamic detection.

[0111] In the embodiments of the present application, the sensing assembly is used to perform static detection on the target area to detect at least the energy data of the dynamic object in the target area.

[0112] As an example, the static detection is used to detect the energy data and distance data of the dynamic object within the third set distance range of the sensing assembly, such as (m1, Y1, m2, Y2, m3, Y3, …, m n n ), where m represents the energy value, and Y represents the y-axis distance of the detected energy value. The third set distance range of the sensing assembly can cover the target area. For example, the static detection can detect the energy data and distance data of the object within 7 meters of the sensing assembly. It should be noted that even if the energy data and distance data detected by the dynamic detection can cover the target area, because the continuous duration of the dynamic detection is uncontrollable, the sensing assembly still needs to be switched from dynamic detection to static detection, and the static detection result is obtained after the continuous set duration, and the static detection result is combined to further determine whether the specific object exists in the target area.

[0113] In one implementation of the embodiments of the present application, the sensing assembly on the air conditioning equipment can be used to perform static detection on the target area for a set duration to obtain the static detection result.

[0114] As an example, the sensing assembly on the air conditioning equipment can be used to perform static detection on the target area every T milliseconds, and the static detection result of this time is obtained by continuing for 3 minutes.

[0115] ​In the target detection method of the embodiments of the present application, the sensing assembly is used to perform dynamic detection on the target region to determine the motion trajectory in the target region; and in response to the presence of a target motion trajectory in the motion trajectory, the sensing assembly is used to perform static detection on the target region. In this way, the dynamic detection trajectory determines the presence of a specific object, and the static detection is used to further determine the specific object. Through the detection method of combining the motion trajectory and the static detection result, the accuracy of specific object detection is improved.

[0116] Based on the above embodiments, Figure 2 Another flowchart of a target detection method provided by the embodiments of the present application is shown in FIG. 6. As shown in FIG. 6, the method comprises the following steps: Figure 2

[0117] In step 201, the sensing assembly is used to perform dynamic detection on the target region to determine the motion trajectory in the target region.

[0118] In one implementation of the embodiments of the present application, the sensing assembly is used to perform dynamic detection on the target region; and the position data in the target region obtained through dynamic detection is used to determine the motion trajectory in the target region.

[0119] In step 201, the sensing assembly is used to perform dynamic detection on the target region to determine the motion trajectory in the target region.

[0120] In step 202, in response to the presence of a target motion trajectory in the motion trajectory, the sensing assembly is used to perform static detection on the target region.

[0121] In the embodiments of the present application, the motion characteristics of the target motion trajectory include motion characteristics consistent with the motion characteristics of the interference object.

[0122] In step 202, the sensing assembly is used to perform static detection on the target region.

[0123] In step 203, the static detection result is used to determine whether the object corresponding to the target motion trajectory is an interference object.

[0124] In one implementation of the embodiments of the present application, the sensing assembly on the air conditioning device can be used to perform static detection on the target region for a plurality of times within a set time period, and the energy data in the target region obtained through the plurality of times of dynamic detection is determined as the static detection result.

[0125] As an example, the sensing assembly on the air conditioning device can be used to perform static detection on the target region every T milliseconds, and the static detection is performed for 3 minutes. Each time of static detection detects at least a group of energy data in the target region. Assuming that N groups of energy data are obtained within 3 minutes, the N groups of energy data can be determined as the static detection result of this time of static detection. ​

[0126] In an implementation form of the embodiment, the target energy data is determined according to the energy data in the target region obtained by the static detection; and in response to the target energy data being less than a set threshold, the object corresponding to the target motion trajectory is determined as the interference object.

[0127] The set threshold is an energy data threshold corresponding to the interference object.

[0128] As an example, the maximum value in the N groups of energy data can be determined as the target energy data, so that in the case that the maximum value in the N groups of energy data is less than the set threshold, the object corresponding to the target motion trajectory is determined as the interference object.

[0129] In response to the object corresponding to the target motion trajectory being the interference object, the motion range of the interference object is determined.

[0130] In the embodiment, if the object corresponding to the target motion trajectory is the interference object, the motion range of the interference object can be determined according to the plurality of trajectory points in the target motion trajectory. The motion range of the interference object is used to indicate the activity range of the interference object in the time period of the dynamic detection.

[0131] In an implementation form of the embodiment, the center position of the target motion trajectory can be determined according to the plurality of trajectory points in the target motion trajectory, and the motion range of the interference object is determined according to the center position of the target motion trajectory.

[0132] As an example, the geometric median of the plurality of trajectory points in the target motion trajectory can be determined as the center position of the target motion trajectory, and a set range centered on the center position of the target motion trajectory is determined as the motion range of the interference object.

[0133] The set range centered on the center position of the target motion trajectory refers to a specific region drawn around the center position of the target motion trajectory, and the boundary of the specific region is determined by a pre-set parameter (such as a radius, a set distance, etc.). Similarly, the set range centered on the center position of the target motion trajectory can be a circular range with the center position of the target motion trajectory as the center and a set value R as the radius; can be a square range formed by extending a set distance upward, downward, leftward and rightward from the center position of the target motion trajectory; or can be an irregular range formed by extending different set distances in different directions from the center position of the target motion trajectory, etc.

[0134] It should be noted that the set range centered on the center position of the target motion trajectory can be corrected in combination with the actual environment (such as the room contour, the area occupied by the obstacles (such as tables, chairs, sofas, etc. in the room)).

[0135] As an example, a range (such as a circular range, a square range, an irregular range, etc.) can be preliminarily delimited with the center position of the target motion trajectory as the center, and then the delimited range is corrected according to actual environmental conditions (such as the room contour, the area occupied by obstacles (such as tables, chairs, sofas, etc. in the room)), to ensure that the corrected range does not overlap with the obstacles and does not exceed the room boundary.

[0136] In an implementation manner of the embodiment of the present application, a clustering algorithm can be used to determine the motion range of the interference object according to the plurality of trajectory points in the target motion trajectory.

[0137] As an example, a clustering algorithm (such as a K-means clustering algorithm or a DBSCAN (Density-Based Spatial Clustering of Applications with Noise) algorithm) is used to determine at least one cluster from the plurality of trajectory points in the target motion trajectory, any cluster is composed of a cluster center and trajectory points with a distance less than a set distance from the cluster center, and the cluster center of any cluster is any trajectory point selected from the plurality of trajectory points in the target motion trajectory; for any cluster, an outer envelope corresponding to the cluster is determined according to the plurality of trajectory points included in the cluster; and the motion range of the interference object is determined according to the outer envelope corresponding to each cluster.

[0138] In an implementation manner of the embodiment of the present application, a range of a set size containing the plurality of trajectory points in the target motion trajectory can be determined as the motion range of the interference object.

[0139] In an implementation manner of the embodiment of the present application, a predicted motion trajectory of the target motion trajectory can be determined according to the plurality of trajectory points in the target motion trajectory (such as being determined by using a trajectory prediction algorithm, or being inferred based on the motion direction and the motion speed of the target motion trajectory); and a specific region containing the target motion trajectory and the predicted motion trajectory is determined as the motion range of the interference object in combination with actual environmental conditions (such as the room contour, the area occupied by obstacles (such as tables, chairs, sofas, etc. in the room)).

[0140] In an implementation manner of the embodiment of the present application, the target region can be divided into a plurality of grids; the occurrence frequency of the interference object in the plurality of grids is determined according to the plurality of trajectory points in the target motion trajectory; and a region composed of grids with an occurrence frequency higher than a frequency threshold is determined as the motion range of the interference object.

[0141] In an implementation form of the embodiment of the application, the KDE (Kernel Density Estimation) or GMM (Gaussian Mixture Model) can be used to determine the probability density distribution of each trajectory point according to the plurality of trajectory points in the target motion trajectory; and the region composed of the trajectory points with the probability density distribution higher than the density threshold is determined as the motion range of the interference object.

[0142] In step 205, the target object is detected based on the position data not in the motion range of the interference object.

[0143] In the embodiment of the application, after the motion range of the interference object is determined, the target object can be detected based on the position data not in the motion range of the interference object in the position data obtained through dynamic detection.

[0144] It should be noted that in the embodiment of the application, the sensing assembly will switch back to dynamic detection after completing static detection, and if the motion range of the interference object is determined at this time, the target object can be detected based on the position data not in the motion range of the interference object for subsequent dynamic detection.

[0145] In an implementation form of the embodiment of the application, the position data in the motion range of the interference object in the position data obtained through subsequent dynamic detection of the sensing assembly is deleted to obtain corrected position data; and whether there is a target object in the target region is determined according to the number of the corrected position data.

[0146] As an example, it is assumed that 5 position data are obtained through subsequent dynamic detection, and 2 position data are in the motion range of the interference object, so that the position data in the motion range of the interference object in the position data obtained through subsequent dynamic detection of the sensing assembly is deleted to obtain 3 position data, and it can be determined that there is a target object in the target region and the number of the target object is 3.

[0147] It should be noted that the motion range of the interference object is not always applicable after being determined, but has an applicable duration. That is, the motion range of the interference object can be used for target object detection in a subsequent setting time after being determined.

[0148] As an example, the motion range of the interference object can be used for target object detection in the subsequent 72 hours.

[0149] The target detection method provided in the embodiments of the present application comprises the following steps: a sensing component is used to dynamically detect a target region to determine a motion trajectory in the target region; in response to the presence of a target motion trajectory in the motion trajectory, the sensing component is used to statically detect the target region; according to a static detection result, it is determined whether an object corresponding to the target motion trajectory is an interference object; in response to the object corresponding to the target motion trajectory being the interference object, a motion range of the interference object is determined; and a target object is detected based on position data that is not in the motion range of the interference object. Thus, the dynamic detection provides real-time trajectory preliminary screening, the static detection provides high-precision verification, and the dual-mode collaborative manner effectively reduces the misrecognition rate of the interference object, improves the recognition accuracy of the interference object in a complex scene, and further reduces the false detection caused by the interference object and improves the accuracy of target object detection.

[0150] Based on the above embodiments, Figure 3 Another flowchart of a target detection method provided in the embodiments of the present application is shown in FIG. 3. As shown in FIG. 3, the method comprises the following steps: Figure 3

[0151] In step 301, a sensing component is used to dynamically detect a target region to determine a motion trajectory in the target region.

[0152] In step 301, a sensing component is used to dynamically detect a target region to determine a motion trajectory in the target region.

[0153] In step 302, for any motion trajectory, a center position of the motion trajectory is determined according to a plurality of trajectory points in the motion trajectory.

[0154] In one implementation manner of the embodiments of the present application, for any motion trajectory, the geometric median of a plurality of trajectory points of the motion trajectory can be determined as the center position of the motion trajectory.

[0155] In step 303, in response to the plurality of trajectory points being located within a set range centered on the center position, the motion trajectory is determined as a target motion trajectory.

[0156] In the embodiments of the present application, the set range centered on the center position refers to a specific region defined around the center position, and the boundary of the specific region is determined by a pre-set parameter (such as a radius, a set distance, etc.).

[0157] As an example, the set range centered on the center position can be a circular range with the center position as the center and a set value R as the radius; can be a square range formed by extending a set distance upward, downward, leftward and rightward from the center position; can be an irregular range formed by extending different set distances in different directions from the center position, etc.

[0158] ​In the embodiments of the present application, if all the trajectory points of the motion trajectory are within the set range centered on the center position of the motion trajectory, the motion trajectory is determined as the target motion trajectory.

[0159] In this way, the center position of the motion trajectory is first determined, which reflects the overall distribution characteristics of the motion trajectory, and then a reasonable range (such as a circular range, a square range, an irregular range, etc.) centered on the center position is set. Only when all the trajectory points of the motion trajectory are located within the range, the motion trajectory is determined as the target motion trajectory, and the risk of misjudgment is reduced through double verification (center positioning + range constraint).

[0160] In step 304, in response to the presence of the target motion trajectory in the motion trajectory, the target region is detected statically by using the sensing component.

[0161] In the embodiments of the present application, the motion characteristics of the target motion trajectory include motion characteristics consistent with the motion characteristics of the interference object.

[0162] In step 304, the related explanations in the foregoing embodiments can be referred to for description, and the principles are the same, which will not be described here again.

[0163] In step 305, whether the object corresponding to the target motion trajectory is an interference object is determined according to the static detection result.

[0164] In step 305, the related explanations in the foregoing embodiments can be referred to for description, and the principles are the same, which will not be described here again.

[0165] In step 306, in response to the object corresponding to the target motion trajectory being an interference object, the motion range of the interference object is determined according to the closed curve enclosing the target trajectory point.

[0166] In the embodiments of the present application, if the object corresponding to the target motion trajectory is an interference object, the motion range of the interference object can be determined according to the closed curve enclosing the target trajectory point. The target trajectory point is at least part of the trajectory points in the target motion trajectory.

[0167] As an example, the convex hull algorithm and / or the alpha-shape algorithm can be used to generate the closed curve enclosing the target trajectory point, so as to automatically filter outliers and retain the core area of the trajectory, thereby more accurately depicting the actual motion range of the interference object.

[0168] In this way, compared with determining the motion range of the interference object by relying on a fixed threshold or a simple geometric model, which is easily affected by abnormal points, by enclosing at least part of the trajectory points in the target motion trajectory by using the closed curve, the spatial distribution characteristics of the trajectory points can be used to construct a dynamic boundary, effectively filter out the interference of abnormal points, and accurately depict the actual motion range of the interference object.

[0169] In the embodiments of the present application, if the target motion trajectory is nonlinear (such as a curve or a broken line), a fixed-shaped boundary (such as a circle or a rectangle) can not accurately cover the motion range of the interference object. The closed curve (such as a Bezier curve or a B-spline curve) can be adjusted by parameterization to fit the complex trajectory shape, adapt to different motion trajectories, and enhance the scene generalization capability.

[0170] In step 307, the target object is detected based on the position data that is not in the motion range of the interference object.

[0171] In step 307, the target object is detected based on the position data that is not in the motion range of the interference object.

[0172] In the target detection method of the embodiments of the present application, the center position of the motion trajectory is first determined, which reflects the overall distribution characteristics of the motion trajectory. Then, a reasonable range (such as a circular range, a square range, or an irregular range) centered on the center position is set. Only when all the trajectory points of the motion trajectory are located in the range, the motion trajectory is determined as the target motion trajectory. Through double verification (center positioning + range constraint), the risk of misjudgment is reduced. In response to the object corresponding to the target motion trajectory being an interference object, the motion range of the interference object is determined according to the closed curve enclosing the target trajectory points, wherein the target trajectory points are at least part of the trajectory points in the target motion trajectory. Thus, by enclosing at least part of the trajectory points in the target motion trajectory with the closed curve, the spatial distribution characteristics of the trajectory points can be used to construct a dynamic boundary, effectively filter out abnormal point interference, and accurately depict the actual motion range of the interference object.

[0173] Based on the above embodiments, Figure 4 Another flowchart of a target detection method provided by the embodiments of the present application is shown in FIG. 4. Figure 4 As shown in FIG. 4, the method comprises the following steps:

[0174] In step 401, the target region is dynamically detected by using a sensing component to determine the motion trajectory in the target region.

[0175] In step 402, in response to the presence of a target motion trajectory in the motion trajectory, the target region is statically detected by using the sensing component.

[0176] In step 403, whether the object corresponding to the target motion trajectory is an interference object is determined according to the static detection result.

[0177] In step 404, in response to the object corresponding to the target motion trajectory being an interference object, the motion range of the interference object is determined.

[0178] In step 405, the target object is detected based on the position data that is not in the motion range of the interference object.

[0179] In the step 401 to step 405, refer to the related explanation in the foregoing embodiments for the same principles, which will not be repeated here.

[0180] In step 406, in response to the air conditioning device starting the human sensing temperature control instruction and the target object existing in the target area, the air conditioning device is controlled not to enter the human sensing temperature control state.

[0181] In the embodiment of the present application, if the target object existing in the target area is detected, even if the air conditioning device starting the human sensing temperature control instruction is detected, the air conditioning device will not enter the human sensing temperature control state.

[0182] In step 407, in response to the air conditioning device starting the human sensing temperature control instruction and the target object not existing in the target area for a duration reaching a first set duration, the air conditioning device is controlled to enter the human sensing temperature control state.

[0183] In the embodiment of the present application, if the air conditioning device starting the human sensing temperature control instruction is detected and the target object not existing in the target area for a duration reaching a first set duration, the air conditioning device is controlled to enter the human sensing temperature control state in response to the instruction.

[0184] In one implementation of the embodiment of the present application, the air conditioning device entering the human sensing temperature control state includes at least one of the following operations:

[0185] Controlling the air conditioning device to increase the set temperature in the cooling mode;

[0186] Controlling the air conditioning device to decrease the set temperature in the heating mode.

[0187] As an example, assuming that the target object is a person and the target area is a room, if the air conditioning device starting the human sensing temperature control instruction is detected, it is determined whether there is a person in the room, if there is a person in the room, the air conditioning device is controlled not to enter the human sensing temperature control state, and if there is no person in the room for a duration t1, the air conditioning device is controlled to enter the human sensing temperature control state.

[0188] In step 408, in response to the air conditioning device starting the human sensing shutdown instruction and the target object existing in the target area, the air conditioning device is controlled not to shut down.

[0189] In the embodiment of the present application, if the target object existing in the target area is detected, even if the air conditioning device starting the human sensing shutdown instruction is detected, the air conditioning device will not shut down.

[0190] In step 409, in response to the air conditioning device starting the human sensing shutdown instruction and the target object not existing in the target area for a duration reaching a second set duration, the air conditioning device is controlled to shut down.

[0191] In the embodiments of the present application, if the air conditioning device is detected to open the human sensing control temperature instruction, and the duration of the absence of the target object in the target area reaches the second set duration, the air conditioning device is controlled to be turned off in response to the instruction.

[0192] As an example, assuming that the target object is a person, and the target area is a room, if the air conditioning device is detected to open the human sensing turn-off instruction, it is determined whether there is a person in the room, if it is determined that there is a person in the room, the air conditioning device is controlled not to be turned off, and if it is determined that there is no person in the room for a duration of t2, the air conditioning device is controlled to be turned off.

[0193] Step 410, in response to the air conditioning device opening the follow-up mode, and the target area existing a target object, the air conditioning device is controlled to perform the function corresponding to the follow-up mode on the target object.

[0194] In the embodiments of the present application, if the target area exists a target object, and the air conditioning device is detected to open the follow-up mode, the air conditioning device is controlled to perform the function corresponding to the follow-up mode on the target object in response to the mode.

[0195] As an example, assuming that the target object is a person, and the follow-up mode is the wind blowing person mode, if the air conditioning device is detected to open the follow-up mode, it is determined whether there is a person in the room, if it is determined that there is a person in the room, and only one person, the air deflector of the air conditioning device is controlled to blow on the person.

[0196] Step 411, in response to the air conditioning device opening the follow-up mode, and the target area existing multiple target objects, the air conditioning device is controlled to perform the function corresponding to the follow-up mode among the multiple target objects.

[0197] In the embodiments of the present application, if the target area exists multiple target objects, and the air conditioning device is detected to open the follow-up mode, the air conditioning device is controlled to perform the function corresponding to the follow-up mode among the multiple target objects in response to the mode.

[0198] As an example, assuming that the target object is a person, and the follow-up mode is the wind blowing person mode, if the air conditioning device is detected to open the follow-up mode, it is determined whether there is a person in the room, if it is determined that there is a person in the room, and there are multiple persons, the air deflector of the air conditioning device is controlled to sweep the wind among the multiple persons, to ensure that each person can blow the wind.

[0199] Step 412, in response to the air conditioning device opening the avoidance mode, and the target area existing a target object, the air conditioning device is controlled to avoid the target object to perform the function corresponding to the avoidance mode.

[0200] In the embodiments of the present application, if the target object exists in the target area and the air conditioning device is detected to start the avoidance mode, the air conditioning device is controlled to perform the function corresponding to the avoidance mode in response to the mode, avoiding the target object.

[0201] As an example, assuming that the target object is a person and the avoidance mode is a wind-avoiding-person mode, if the air conditioning device is detected to start the avoidance mode, it is determined whether there is a person in the room at this time, and if there is only one person in the room, the air deflector of the air conditioning device is controlled to avoid blowing on the person; if there are multiple persons in the room, the air deflector of the air conditioning device is controlled to avoid all persons.

[0202] In the target detection method of the embodiments of the present application, in response to the air conditioning device starting the human-sensing temperature control instruction and the target object existing in the target area, the air conditioning device is controlled not to enter the human-sensing temperature control state; in response to the air conditioning device starting the human-sensing shutdown instruction and the target object existing in the target area, the air conditioning device is controlled not to shut down; in response to the air conditioning device starting the following mode and one target object existing in the target area, the air conditioning device is controlled to perform the function corresponding to the following mode on the target object; in response to the air conditioning device starting the following mode and multiple target objects existing in the target area, the air conditioning device is controlled to perform the function corresponding to the following mode among the multiple target objects; and in response to the air conditioning device starting the avoidance mode and the target object existing in the target area, the air conditioning device is controlled to perform the function corresponding to the avoidance mode, avoiding the target object, so that the air conditioning device can be more intelligent and precise.

[0203] Based on the above embodiments, the following examples are provided. Figure 5 Another flowchart of a target detection method provided by the embodiments of the present application is shown in FIG. 6. Figure 5 As shown in the figure, the method comprises the following steps:

[0204] In step 501, the sensing assembly is used to perform dynamic detection on the target area every T1 milliseconds, and the motion trajectory in the target area is determined according to the position data obtained by the dynamic detection.

[0205] The motion feature of the target motion trajectory includes a motion feature consistent with the motion feature of the interference object.

[0206] In the related art, the air conditioning device detects the target object by matching the sensing assembly, and if the target object is a person, the fan with shaking head or the green plant blown by the wind is easily misjudged as a person. In this case, the fan with shaking head or the green plant blown by the wind is an interference object, and the motion feature of the target motion trajectory includes a motion feature consistent with the motion feature of the fan with shaking head or the green plant blown by the wind.

[0207] In the embodiment of the present application, the sensing assembly performs dynamic detection on the target area every T1 milliseconds, and continuously collects position data in the target area obtained through multiple dynamic detections to determine the motion trajectory in the target area.

[0208] As an example, the dynamic detection is used to detect position data of an object within a first set distance range of the sensing assembly, such as (x1, y1, x2, y2, x3, y3, …, x n n ), where x represents the horizontal coordinate and y represents the vertical coordinate, and to detect energy data and distance data of the object within a second set distance range of the sensing assembly, such as (m1, Y1, m2, Y2, m3, Y3, …, m n n ), where m represents the energy value and Y represents the y-axis distance of the detected energy value. The second set distance is smaller than the first set distance. For example, the dynamic detection can detect position data of an object within a range of 7 meters from the sensing assembly, and detect energy information of an object within a range of 3 meters from the sensing assembly. It should be noted that the position data detected by the dynamic detection needs to cover the target area, but the energy data and distance data detected by the dynamic detection can not cover the target area.

[0209] As an example, the sensing assembly performs dynamic detection on the target area every T1 milliseconds, and obtains detection data (position data, energy data, and distance data in the target area) reported by the sensing assembly. In an implementation, the data format of the reported detection data is x represents the horizontal coordinate, y represents the vertical coordinate, m represents the energy value, and Y represents the y-axis distance of the detected energy value. Thus, the motion trajectory in the target area can be determined according to the position data (x1, y1, x2, y2, x3, y3, …, x n n ) in the target area obtained through multiple dynamic detections.

[0210] In step 502, in response to the presence of a target motion trajectory in the motion trajectory, the sensing assembly performs static detection on the target area every T2 milliseconds, and determines whether the object corresponding to the target motion trajectory is an interference object according to the static detection result.

[0211] In the embodiment of the present application, the process of determining whether there is a target motion trajectory in the motion trajectory includes:

[0212] ​​​For any motion trajectory, the latest set number of position data of the motion trajectory is continuously collected, and the geometric median (x0, y0) of the set number of position data collected each time is determined, where the sum of distances between the geometric median collected each time and the set number of position data collected each time is minimum. For example, assuming that the set number is 10, t1 collects position data, t2 collects position data, and so on, t 10 After the position data is collected, t1-t 10 The geometric median of the 10 position data is determined, t 11 After the position data is collected, t2-t 11 The geometric median of the 10 position data is determined, t 12 After the position data is collected, t3-t 12 The geometric median of the 10 position data is determined, and so on.

[0213] When the set number of position data collected each time all fall within a circular range with the geometric median (x0, y0) of the set number of position data collected each time as the center and R (R is 50 cm by default) as the radius, the motion trajectory is determined as the target motion trajectory. The radius R is obtained according to laboratory tests.

[0214] In the embodiments of the present application, in response to the presence of the target motion trajectory in the motion trajectory, the sensing assembly performs static detection on the target region every T2 milliseconds, and continuously collects energy data in the target region obtained through multiple static detections to determine whether the object corresponding to the target motion trajectory is an interference object.

[0215] As an example, the static detection is used to detect energy data and distance data of objects within a third set distance range of the sensing assembly, such as (m1, Y1, m2, Y2, m3, Y3, …, m n Y n ), where m represents an energy value, and Y represents the y-axis distance of the detected energy value. The third set distance range of the sensing assembly can cover the target region. For example, the static detection can detect energy data and distance data of objects within a range of 7 meters from the sensing assembly.

[0216] As an example, the sensing assembly performs static detection on the target region every T2 milliseconds to obtain the detection data (energy data and distance data in the target region) reported by the sensing assembly. In an implementation, the data format of the reported detection data is m represents an energy value, and Y represents the y-axis distance of the detected energy value. Thus, the energy data in the target region detected through multiple static detections can be used to determine whether the object corresponding to the target motion trajectory is an interference object.

[0217] It should be noted that even if the dynamically detected energy data and distance data can cover the target area, since the duration of dynamic detection is uncontrollable, it is still necessary to switch the sensing component from dynamic detection to static detection, and obtain the static detection results after the set duration, and combine the static detection results to determine whether the object corresponding to the target motion trajectory is an interference object.

[0218] As an example, assuming that the static detection continues for 3 minutes, N groups of energy data in the target area are obtained (T2 <= 1000 milliseconds, N> = 180). When the maximum energy value of the N groups of energy data is greater than or equal to the set threshold (the energy value threshold M corresponding to the interference object), it is determined that the object corresponding to the target motion trajectory is not an interference object; when the maximum energy value of the N groups of energy data is less than the set threshold (the energy value threshold M corresponding to the interference object), it is further determined that the object corresponding to the target motion trajectory is an interference object. Among them, the energy value threshold M corresponding to the interference object is obtained based on laboratory tests. The test found that when the Y value is larger, the energy value m of the moving object is smaller; when the Y value is the same, the energy value of a person is statistically higher than the energy value of a fan, green plant, etc.

[0219] It should be noted that after the static detection is completed, the sensing component will switch back to dynamic detection.

[0220] Step 503: In response to the object corresponding to the target motion trajectory being an interference object, a motion range of the interference object is determined.

[0221] As an example, for any motion trajectory, when a set number of position data collected at a certain time all fall within a circular range with the geometric median (x0, y0) of the set number of position data collected at a certain time as the center and a radius R (R is 50 cm by default), the motion trajectory is determined to be the target motion trajectory, and after static detection, it is determined that the object corresponding to the target motion trajectory is an interference object, then the circular range with the geometric median (x0, y0) of the set number of position data collected at a certain time as the center and R (R is 50 cm by default) as the radius is determined as the motion range of the interference object.

[0222] Step 504 : Detect the target object based on the position data that is not within the motion range of the interfering object.

[0223] As an example, the geometric median (x0, y0) of the set number of position data collected at a certain time can be stored, and when the sensing assembly switches back to dynamic detection, the position data in the target area is detected every T1 milliseconds, and the position data in the circular range with (x0, y0) as the center and R (R is 50 cm by default) as the radius is deleted to obtain the corrected position data. According to the number of corrected position data, it is determined whether there is a target object in the target area.

[0224] It should be noted that the motion range of the interference object is determined, and is not always applicable, but has a applicable time length. That is, the motion range of the interference object can be used for target object detection in the subsequent setting time after being determined.

[0225] As an example, the motion range of the interference object can be used for target object detection in the subsequent 72 hours.

[0226] In the embodiments of the application, the air conditioning equipment can also be controlled based on whether there is a target object in the target area.

[0227] As an example, assuming that the target object is a person and the target area is a room, if it is detected that the air conditioning equipment opens a person-sensing temperature control instruction, it is determined whether there is a person in the room at this time. If it is determined that there is a person in the room, the air conditioning equipment is controlled not to enter the person-sensing temperature control state. If it is determined that there is no person in the room for a continuous t1 time, the air conditioning equipment is controlled to enter the person-sensing temperature control state.

[0228] As an example, assuming that the target object is a person and the target area is a room, if it is detected that the air conditioning equipment opens a person-sensing temperature control instruction, it is determined whether there is a person in the room at this time. If it is determined that there is a person in the room, the air conditioning equipment is controlled not to enter the person-sensing temperature control state. If it is determined that there is no person in the room for a continuous t1 time, the air conditioning equipment is controlled to enter the person-sensing temperature control state.

[0229] As an example, assuming that the target object is a person and the target area is a room, if it is detected that the air conditioning equipment opens a person-sensing temperature control instruction, it is determined whether there is a person in the room at this time. If it is determined that there is a person in the room, the air conditioning equipment is controlled not to enter the person-sensing temperature control state. If it is determined that there is no person in the room for a continuous t1 time, the air conditioning equipment is controlled to enter the person-sensing temperature control state.

[0230] As an example, assuming that the target object is a person and the target area is a room, if it is detected that the air conditioning equipment opens a person-sensing temperature control instruction, it is determined whether there is a person in the room at this time. If it is determined that there is a person in the room, the air conditioning equipment is controlled not to enter the person-sensing temperature control state. If it is determined that there is no person in the room for a continuous t1 time, the air conditioning equipment is controlled to enter the person-sensing temperature control state.

[0231] As an example, assuming that the target object is a person, the avoidance mode is a wind-avoiding-person mode, if it is detected that the air conditioning device opens the avoidance mode, at this time, it is judged whether there is a person in the room, if it is judged that there is a person in the room and only one person, the air deflector of the air conditioning device is controlled to avoid blowing on this person; if it is judged that there is a person in the room and there are multiple persons, the air deflector of the air conditioning device is controlled to avoid blowing on all the persons.

[0232] In the target detection method of the embodiment of the application, the sensing assembly is used to perform dynamic detection on the target region every T1 milliseconds, the position data in the target region obtained through dynamic detection is used to determine the motion trajectory in the target region, in response to the presence of a target motion trajectory in the motion trajectory, the sensing assembly is used to perform static detection on the target region, and it is determined whether the object corresponding to the target motion trajectory is an interference object, in response to the object corresponding to the target motion trajectory being an interference object, the motion range of the interference object is determined, and the target object is detected based on the position data not in the motion range of the interference object. The dynamic detection provides real-time trajectory preliminary screening, the static detection performs high-precision verification, and the dual-mode collaborative manner effectively reduces the misrecognition rate of the interference object, improves the recognition accuracy of the interference object in a complex scene, and then reduces the false detection caused by the interference object by determining the motion range of the interference object, thereby improving the accuracy of target object detection.

[0233] To realize the above-mentioned embodiment, the embodiment of the application further provides a target detection device.

[0234] Figure 6 A structural schematic diagram of a target detection device provided by the embodiment of the application.

[0235] As shown in Figure 6 the device can include:

[0236] The dynamic detection module 61 is configured to use the sensing assembly to perform dynamic detection on the target region and determine the motion trajectory in the target region.

[0237] The static detection module 62 is configured to use the sensing assembly to perform static detection on the target region in response to the presence of a target motion trajectory in the motion trajectory.

[0238] Further, in an implementation manner of the embodiment of the application, the motion feature of the target motion trajectory includes a motion feature consistent with the motion feature of the interference object.

[0239] The device further includes:

[0240] The object determination module is configured to determine whether the object corresponding to the target motion trajectory is an interference object according to the static detection result.

[0241] a range determination module, configured to determine a motion range of the interfering object in response to an object corresponding to the target motion trajectory being an interfering object;

[0242] The detection module is configured to detect the target object based on the position data that is not within the motion range of the interfering object.

[0243] Furthermore, in one implementation of the embodiment of the present application, the detection module is further configured to:

[0244] Deleting position data within the motion range of the interference object from position data obtained by subsequent dynamic detection of the sensor component to obtain corrected position data;

[0245] Determine whether a target object exists in the target area based on the amount of corrected position data.

[0246] Furthermore, in one implementation of the embodiment of the present application, the object determination module is further configured to:

[0247] Determine target energy data based on energy data within the target area obtained by static detection;

[0248] In response to the target energy data being less than a set threshold, it is determined that the object corresponding to the target motion trajectory is an interference object.

[0249] Furthermore, in one implementation of the embodiment of the present application, the apparatus further includes:

[0250] A position determination module is used to determine the center position of any motion trajectory based on multiple trajectory points in the motion trajectory;

[0251] The trajectory determination module is configured to determine the motion trajectory as a target motion trajectory in response to the plurality of trajectory points being located within a set range centered on the center position.

[0252] Furthermore, in one implementation of the embodiment of the present application, the range determination module is further configured to:

[0253] In response to the object corresponding to the target motion trajectory being an interference object, a motion range of the interference object is determined based on a closed curve enclosing target trajectory points; wherein the target trajectory points are at least some trajectory points in the target motion trajectory.

[0254] Furthermore, in one implementation of the embodiment of the present application, the dynamic detection module 61 is further configured to:

[0255] Use sensing components to dynamically detect the target area;

[0256] The motion trajectory within the target area is determined based on the position data within the target area obtained by dynamic detection.

[0257] Further, in an implementation form of the embodiment of the application, the apparatus further comprises:

[0258] The instruction control module is configured to, in response to the air conditioning device starting the human sensing control temperature instruction and the target object existing in the target area, control the air conditioning device not to enter the human sensing control temperature state.

[0259] The instruction control module is further configured to, in response to the air conditioning device starting the human sensing control temperature instruction and the target object not existing in the target area for a duration reaching a first set duration, control the air conditioning device to enter the human sensing control temperature state.

[0260] The instruction control module is further configured to, in response to the air conditioning device starting the human sensing shutdown instruction and the target object existing in the target area, control the air conditioning device not to shut down.

[0261] The instruction control module is further configured to, in response to the air conditioning device starting the human sensing shutdown instruction and the target object not existing in the target area for a duration reaching a second set duration, control the air conditioning device to shut down.

[0262] Further, in an implementation form of the embodiment of the application, the instruction control module is further configured to perform at least one of the following operations:

[0263] Control the air conditioning device to increase the set temperature in the cooling mode.

[0264] Control the air conditioning device to decrease the set temperature in the heating mode.

[0265] Further, in an implementation form of the embodiment of the application, the apparatus further comprises:

[0266] The following mode control module is configured to, in response to the air conditioning device starting the following mode and one target object existing in the target area, control the air conditioning device to perform the function corresponding to the following mode on the target object.

[0267] The following mode control module is further configured to, in response to the air conditioning device starting the following mode and multiple target objects existing in the target area, control the air conditioning device to perform the function corresponding to the following mode among the multiple target objects.

[0268] Further, in an implementation form of the embodiment of the application, the apparatus further comprises:

[0269] The avoidance mode control module is configured to, in response to the air conditioning device starting the avoidance mode and the target object existing in the target area, control the air conditioning device to avoid the target object to perform the function corresponding to the avoidance mode.

[0270] It should be noted that the foregoing explanation of the target detection method embodiment is also applicable to the target detection device of this embodiment, which will not be repeated here.

[0271] In the target detection device of the embodiment of the present application, the sensing assembly is used to dynamically detect the target region and determine the motion trajectory in the target region; and in response to the presence of a target motion trajectory in the motion trajectory, the sensing assembly is used to statically detect the target region. Thus, the trajectory obtained by dynamic detection determines the presence of a specific object, and the specific object is further determined by static detection. Through the detection method of combining the motion trajectory and the static detection result, the accuracy of specific object detection is improved.

[0272] To implement the above-mentioned embodiments, the present application further provides an air conditioning device configured to implement the method as described in the foregoing method embodiments.

[0273] To implement the above-mentioned embodiments, the present application further provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method as described in the foregoing method embodiments when executing the program.

[0274] To implement the above-mentioned embodiments, the present application further provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the method as described in the foregoing method embodiments.

[0275] To implement the above-mentioned embodiments, the present application further provides a computer program product having a computer program stored thereon, wherein the computer program is executed by a processor to implement the method as described in the foregoing method embodiments.

[0276] Figure 7 A block diagram of an electronic device provided by an embodiment of the present application is shown. For example, the electronic device 700 can be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, an air conditioning device, etc.

[0277] Referring to Figure 7 The electronic device 700 can include one or more of the following components: a processing component 702, a memory 704, a power component 706, a multimedia component 708, an audio component 710, an input / output (I / O) interface 712, a sensor component 714, and a communication component 716.

[0278] The processing component 702 generally controls the overall operations of the electronic device 700, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 702 can include one or more processors 720 to execute instructions to complete the steps of the methods described above, in whole or in part. Moreover, the processing component 702 can include one or more modules to facilitate the interaction between the processing component 702 and other components. For example, the processing component 702 can include a multimedia module to facilitate the interaction between the multimedia component 708 and the processing component 702.

[0279] The memory 704 is configured to store various types of data to support operations of the electronic device 700. Examples of these data include instructions to operate any applications or methods on the electronic device 700, contact data, phonebook data, messages, pictures, videos, and so on. The memory 704 can be realized by any type of volatile or nonvolatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0280] The power component 706 provides power to various components of the electronic device 700. The power component 706 can include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 700.

[0281] The multimedia component 708 includes a screen to provide an output interface between the electronic device 700 and a user. In some embodiments, the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes the touch panel, the screen can be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense a touch, a slide, and a gesture on the touch panel. The touch sensor can not only sense a boundary of a touching or a sliding action, but also detect duration and pressure related to the touching or sliding action. In some embodiments, the multimedia component 708 includes a front camera and / or a back camera. The front camera and / or the back camera can receive external multimedia data when the electronic device 700 is in an operating mode, such as a shooting mode or a video mode. Each of the front camera and the back camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0282] The audio component 710 is configured to output and / or input audio signals. For example, the audio component 710 includes a microphone (MIC) that is configured to receive an external audio signal when the electronic device 700 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 704 or transmitted via the communication component 716. In some embodiments, the audio component 710 also includes a speaker for outputting audio signals.

[0283] The I / O interface 712 provides an interface between the processing component 702 and peripheral interface modules, which can be a keypad, a click wheel, buttons, and the like. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0284] The sensor component 714 includes one or more sensors for providing status assessments of various aspects of the electronic device 700. For example, the sensor component 714 can detect an open / closed position of the electronic device 700, relative positioning of components, such as a display and a keypad of the electronic device 700, a change of location of the electronic device 700 or a component of the electronic device 700, the presence or absence of user contact with the electronic device 700, the orientation or acceleration / deceleration of the electronic device 700, and a temperature change of the electronic device 700. The sensor component 714 can include an orientation sensor, an acceleration sensor, a proximity sensor, a gesture sensor, a biometric sensor, a temperature / humidity sensor, an illumination sensor, and / or an interaction sensor. The sensor component 714 can further include an electronic component, for example, a camera, a microphone, and / or a user input interface, to measure a physical quantity or to generate a user interface.

[0285] The communication component 716 is configured to facilitate wired or wireless communication between the electronic device 700 and other devices. The electronic device 700 can access a wireless network based on a communication standard, such as WiFi, 4G, or 5G, or a combination thereof. In an example embodiment, the communication component 716 receives a broadcast signal or broadcast-related information from an external broadcasting management system via a broadcast channel. In an example embodiment, the communication component 716 further includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technology.

[0286] In exemplary embodiments, the electronic device 700 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements, for performing the above-described methods.

[0287] In exemplary embodiments, a non-transitory computer-readable storage medium including instructions, such as the memory 704 including instructions, is also provided, which can be executed by the processor 720 of the electronic device 700 to accomplish the above-described methods. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disc, and an optical data storage device, etc.

[0288] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples, without contradiction.

[0289] In addition, the terms "first", "second", etc. are used only for the purpose of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0290] Any process or method descriptions or descriptions of the flow diagrams described herein or otherwise described in the specification can be understood as representing the modules, segments, or portions of code that include executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of the present application includes additional implementation in which the functions are performed in different orders, in substantially simultaneous fashion, or in reverse order, depending on the functionality involved, as would be understood by those skilled in the art.

[0291] The logic and / or steps represented in the flowcharts and / or described herein, for example, can be considered as a sequence of executable instructions stored in a computer readable medium, which can be executed by an instruction execution system, apparatus or device, such as a computer-based system, processor- based system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions, or a combination thereof. For the purposes of this specification, a "computer readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer readable medium can specifically include the following, which are non-exhaustive list: electrical connection (electrical device having one or more wires), portable computer diskette (magnetic device), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fiber device, and portable compact disc read-only memory (CDROM). In addition, the computer readable medium can even be paper or other suitable medium upon which the program is printed, as the program can be electronically captured, for example, by optically scanning the paper or other suitable medium, then electronically converted into a form that can be edited, compiled, or interpreted, or otherwise processed in electronic form into an executable form suitable for use in the instruction execution system, apparatus or device.

[0292] It should be understood that parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, a plurality of steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if implemented in hardware, and in another embodiment, any of the following technologies known in the art or their combination can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

[0293] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing relevant hardware, and the programs can be stored in a computer readable storage medium, and when executed, include one or a combination of steps of the method embodiments.

[0294] In addition, each of the functional units in the various embodiments of the present application can be integrated in one processing module, or each of the units can be physically present separately, or two or more units can be integrated in one module. The integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0295] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A target detection method, characterized in that: include: Using a sensor component to dynamically detect the target area and determine the motion trajectory within the target area; In response to the presence of a target motion trajectory in the motion trajectory, the sensing component is used to perform static detection on the target area.

2. The method according to claim 1, characterized in that The motion characteristics of the target motion trajectory include motion characteristics that are consistent with the motion characteristics of the interference object; The method further comprises: Determining whether the object corresponding to the target motion trajectory is an interference object based on the static detection result; In response to the object corresponding to the target motion trajectory being an interference object, determining a motion range of the interference object; The target object is detected based on the position data that is not within the motion range of the interfering object.

3. The method according to claim 2, characterized in that The detecting the target object based on the position data that is not within the motion range of the interfering object includes: Deleting position data within the motion range of the interfering object from position data subsequently obtained by the sensor component through dynamic detection to obtain corrected position data; Determine whether the target object is within the target area according to the amount of the corrected position data.

4. The method according to claim 2, characterized in that The determining, based on the static detection result, whether the object corresponding to the target motion trajectory is an interference object includes: determining target energy data based on the energy data within the target area obtained by the static detection; In response to the target energy data being less than a set threshold, it is determined that the object corresponding to the target motion trajectory is an interference object.

5. The method according to claim 2, characterized in that The method further comprises: For any of the motion trajectories, determining a center position of the motion trajectory according to a plurality of trajectory points in the motion trajectory; In response to the plurality of trajectory points being all located within a set range centered on the center position, the motion trajectory is determined to be the target motion trajectory.

6. The method according to claim 5, characterized in that In response to the object corresponding to the target motion trajectory being an interference object, determining the motion range of the interference object includes: In response to the object corresponding to the target motion trajectory being an interference object, a motion range of the interference object is determined based on a closed curve enclosing target trajectory points; wherein the target trajectory points are at least part of the trajectory points in the target motion trajectory.

7. The method according to claim 1, characterized in that The use of a sensor component to dynamically detect the target area and determine the motion trajectory within the target area includes: Using the sensing component to dynamically detect the target area; The motion trajectory within the target area is determined according to the position data within the target area obtained by the dynamic detection.

8. The method according to any one of claims 2 to 7, characterized in that: The method further comprises: In response to an instruction for turning on a human-sensing temperature control function for an air-conditioning device, and the target object being present in the target area, controlling the air-conditioning device not to enter a human-sensing temperature control state; In response to the air conditioning device starting a human-sensing temperature control instruction, and the target object not being present in the target area for a continuous period reaching a first set time, controlling the air conditioning device to enter a human-sensing temperature control state; In response to a human-sensing shutdown instruction of the air-conditioning device, and the target object is present in the target area, controlling the air-conditioning device not to shut down; In response to a human-sensing shutdown instruction for the air conditioning device, and the duration for which the target object is absent in the target area reaches a second set duration, the air conditioning device is controlled to shut down.

9. The method according to claim 8, characterized in that The controlling the air conditioning equipment to enter the human-sensing energy-saving state includes at least one of the following operations: Controlling the air conditioning equipment to increase the set temperature in cooling mode; The air conditioning device is controlled to lower the set temperature in heating mode.

10. The method according to any one of claims 2 to 7, characterized in that: The method further comprises: In response to the air conditioning device turning on the follow mode and there being a target object in the target area, controlling the air conditioning device to perform a function corresponding to the follow mode on the target object; In response to the air conditioning device turning on the follow mode and there being a plurality of target objects in the target area, the air conditioning device is controlled to perform a function corresponding to the follow mode among the plurality of target objects.

11. The method according to any one of claims 2 to 7, characterized in that: The method further comprises: In response to the air conditioning device turning on the avoidance mode and the target object being present in the target area, the air conditioning device is controlled to avoid the target object and perform a function corresponding to the avoidance mode.

12. A target detection device, characterized in that: include: A dynamic detection module, configured to perform dynamic detection on a target area using a sensor component to determine a motion trajectory within the target area; The static detection module is configured to perform static detection on the target area using the sensing component in response to the presence of a target motion trajectory in the motion trajectory.

13. The device according to claim 12, characterized in that The motion characteristics of the target motion trajectory include motion characteristics that are consistent with the motion characteristics of the interference object; The device further comprises: An object determination module is used to determine whether the object corresponding to the target motion trajectory is an interference object based on the static detection result; a range determination module, configured to determine a motion range of the interfering object in response to an object corresponding to the target motion trajectory being an interfering object; The detection module is configured to detect the target object based on the position data that is not within the motion range of the interfering object.

14. The device according to claim 13, characterized in that The detection module is further used to: Deleting position data within the motion range of the interfering object from position data subsequently obtained by the sensor component through dynamic detection to obtain corrected position data; Determine whether the target object is within the target area according to the amount of the corrected position data.

15. The device according to claim 13, characterized in that The object determination module is further configured to: determining target energy data based on the energy data within the target area obtained by the static detection; In response to the target energy data being less than a set threshold, it is determined that the object corresponding to the target motion trajectory is an interference object.

16. The device according to claim 13, characterized in that The device further comprises: a position determination module, configured to determine, for any of the motion trajectories, a center position of the motion trajectory based on a plurality of trajectory points in the motion trajectory; The trajectory determination module is configured to determine that the motion trajectory is the target motion trajectory in response to the plurality of trajectory points being located within a set range centered on the center position.

17. The device according to claim 16, characterized in that The range determination module is further configured to: In response to the object corresponding to the target motion trajectory being an interference object, a motion range of the interference object is determined based on a closed curve enclosing target trajectory points; wherein the target trajectory points are at least part of the trajectory points in the target motion trajectory.

18. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 11 is implemented.

19. An air conditioning device, characterized in that: The air conditioning device is configured to perform the method according to any one of claims 1-11.

20. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

21. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 11.

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