Air supply control method and device, electronic equipment and computer readable storage medium

Abstract

The invention relates to the technical field of power electronics, in particular to an air supply control method and device, electronic equipment and a computer readable storage medium. The air supply control method comprises the steps that firstly, a house type image corresponding to the environment where the air conditioner is located is obtained; then, user position information of a user in the house type image and air conditioner position information of an air conditioner in the house type image are obtained; then, based on the user position information and the air conditioner position information, the target position relation between the air conditioner and the user is determined; and finally, mechanical arm control parameters of the air conditioner are determined based on the target position relation, and a mechanical arm of the air conditioner is controlled to operate according to the mechanical arm control parameters. By means of the method, the specific position change of the user in the indoor environment can be dynamically responded, directional air supply is achieved, and the pertinence and accuracy of air supply of the air conditioner are improved.

Description

Technical Field

[0001] This application relates to the field of power electronics technology, specifically to an air supply control method, device, electronic equipment, and computer-readable storage medium. Background Technology

[0002] With the continuous development of smart air conditioning technology, users have increasingly higher requirements for the precision and comfort of air delivery. Traditional air conditioning deflectors are mostly fixed or simply swinging designs, which can only achieve wide-range diffused air delivery or fixed-direction air delivery, and cannot be adjusted according to the user's specific location, making it difficult to meet the user's personalized directional air delivery needs.

[0003] While new air duct technologies on the market have improved air delivery coverage by optimizing the duct structure or adding air delivery dimensions, they are still unable to achieve precise targeted air delivery to the user's location. Ultimately, there are still problems such as air delivery deviation and insufficient targeting, which affect the user's comfort. Summary of the Invention

[0004] This application provides an air supply control method, device, electronic device, and computer-readable storage medium, which enables the air conditioner to deliver air in a directional manner according to the user's location, thereby improving the targeting and accuracy of the air supply.

[0005] In a first aspect, embodiments of this application provide an air supply control method, the air supply control method comprising: acquiring a floor plan corresponding to the environment where the air conditioner is located; acquiring user location information and air conditioner location information in the floor plan; determining a target positional relationship between the air conditioner and the user based on the user location information and the air conditioner location information; determining robotic arm control parameters of the air conditioner based on the target positional relationship, and controlling the robotic arm of the air conditioner to operate according to the robotic arm control parameters.

[0006] In some embodiments, the target positional relationship includes a horizontal azimuth angle, a vertical pitch angle, and an air supply elevation angle. Determining the target positional relationship between the air conditioner and the user based on the user's position information and the air conditioner's position information includes: acquiring the user's posture information; calculating the horizontal azimuth angle and the vertical pitch angle based on the user's position information and the air conditioner's position information; and determining the air supply elevation angle based on the user's position information and the posture information.

[0007] In some embodiments, determining the air supply elevation angle based on the user location information and the posture information includes: obtaining the user height based on the user location information; determining the air supply elevation angle as a first elevation angle when the posture information is a lying posture and the user height is less than a first threshold; determining the air supply elevation angle as a second elevation angle when the posture information is a sitting posture and the user height is greater than or equal to the first threshold and less than a second threshold; and determining the air supply elevation angle as a third elevation angle when the posture information is a standing posture and the user height is greater than or equal to the second threshold; wherein the first elevation angle is less than the second elevation angle, and the second elevation angle is less than the third elevation angle.

[0008] In some embodiments, determining the robotic arm control parameters of the air conditioner based on the target position relationship includes: detecting obstructions based on the floor plan to obtain obstruction detection results; and determining the robotic arm control parameters of the air conditioner based on the obstruction detection results and the target position relationship.

[0009] In some embodiments, the target position relationship includes a horizontal azimuth angle, a vertical pitch angle, and an air supply elevation angle; the robotic arm control parameters include a base joint angle, a second joint angle, and an air guide plate angle; determining the robotic arm control parameters of the air conditioner based on the obstruction detection result and the target position relationship includes: setting the horizontal azimuth angle as the base joint angle and the air supply elevation angle as the air guide plate angle; when the obstruction detection result is a first detection result, determining the vertical pitch angle as the second joint angle; the first detection result indicates that there is no obstruction in the air supply path of the air conditioner; when the obstruction detection result is a second detection result, determining the second joint angle based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction; the second detection result indicates that there is an obstruction in the air supply path of the air conditioner.

[0010] In some embodiments, determining the second joint angle based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction includes: calculating an avoidance angle based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction; summing the vertical pitch angle and the avoidance angle, and determining the sum of the vertical pitch angle and the avoidance angle as the second joint angle.

[0011] In some embodiments, calculating the avoidance angle based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction includes: subtracting the height of the obstruction from the installation height of the air conditioner to obtain a first height; dividing the first height from the horizontal distance of the obstruction to obtain a second height; performing an inverse trigonometric function operation on the second height to obtain a first angle; and subtracting the first angle from the vertical pitch angle to obtain the avoidance angle.

[0012] Secondly, embodiments of this application also provide an air supply control device, the air supply control device comprising: a floor plan acquisition module, used to acquire a floor plan corresponding to the environment where the air conditioner is located; an information acquisition module, used to acquire user location information in the floor plan and air conditioner location information in the floor plan; a position relationship determination module, used to determine a target position relationship between the air conditioner and the user based on the user location information and the air conditioner location information; and a parameter determination module, used to determine robotic arm control parameters of the air conditioner based on the target position relationship.

[0013] Thirdly, embodiments of this application provide an electronic device, the electronic device including: one or more processors, a memory, and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the air supply control method as described above.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, the computer program being loaded by a processor to perform the steps in the air supply control method described above.

[0015] The beneficial effects of the present invention are as follows: The embodiments of this application provide an air supply control method, device, electronic device and computer-readable storage medium. By obtaining user location information and air conditioner location information from the floor plan, the target location relationship is dynamically determined and the control parameters of the robotic arm are adjusted to ensure that the air supply airflow accurately reaches the user's location. It can dynamically respond to the specific location changes of the user in the indoor environment, realize directional air supply, and improve the targeting and accuracy of air conditioning air supply. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1This is a schematic flowchart of an air supply control method provided in an embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the specific process of determining the target position relationship in an air supply control method provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a floor plan provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a robotic arm for an air conditioner provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the specific process for determining the control parameters of the robotic arm of an air conditioner in an air supply control method provided in an embodiment of the present invention; Figure 6 This is a schematic block diagram of an air supply control device provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] In the description of this application, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," "third," etc., may explicitly or implicitly include one or more features.

[0020] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0021] It should be noted that since the method in this application embodiment is executed in a computer device, the processing objects of each computer device exist in the form of data or information, such as time, which is essentially time information. It is understood that if size, quantity, position, etc. are mentioned in subsequent embodiments, they are all corresponding data that exist so that the computer device can process them. Specific details will not be elaborated here.

[0022] like Figure 1 As shown in the figure, this application provides an air supply control method, which includes the following steps S1 to S4: Step S1: Obtain the floor plan of the apartment corresponding to the environment where the air conditioner is located.

[0023] The floor plan includes structural information about the rooms, such as the shape and location of elements like walls and furniture. Each element in the floor plan has its own coordinates. Furthermore, the floor plan allows for labeling of elements such as walls, furniture, doors, and windows.

[0024] Specifically, obtaining the floor plan corresponding to the environment where the air conditioner is located can be done by extracting spatial layout data that matches the current environment from storage devices or cloud servers. For example, this can be done by scanning paper floor plans and digitizing them, or by directly calling pre-stored electronic floor plan files. The main purpose is to provide an environmental spatial benchmark to support subsequent location calculations.

[0025] Step S2: Obtain the user's location information on the floor plan and the air conditioner's location information on the floor plan.

[0026] The user location information can be the user's three-dimensional coordinates on the floor plan. The air conditioner location information can be the air conditioner's three-dimensional coordinates on the floor plan.

[0027] Specifically, obtaining user location information on the floor plan can be achieved through wireless signal positioning technology, such as millimeter-wave radar or infrared detectors. Alternatively, image recognition technology can be used to detect the user's specific location in the room. The goal is to map the user's location onto a unified coordinate system for geometric calculations.

[0028] The location information of the air conditioner on the floor plan can be obtained through manual marking during installation or automatic positioning devices. For example, infrared sensors can be used to detect the distance and direction of the air conditioner relative to fixed reference objects in the room, thereby determining its specific location on the floor plan. The purpose is to map the location of the air conditioner to the same coordinate system.

[0029] For example, the coordinate system of a floor plan can include an X-axis, a Y-axis, and a Z-axis, which can be perpendicular to each other. The X-axis can be a horizontal axis (parallel to the horizontal plane), the Y-axis can be a horizontal axis perpendicular to the X-axis, and the Z-axis can be a vertical axis (perpendicular to the horizontal plane). User location information can be represented as... The unit is meters. Air conditioner location information can be represented as... The unit is meters.

[0030] Step S3: Based on the user's location information and the air conditioner's location information, determine the target location relationship between the air conditioner and the user.

[0031] Among them, the target position relationship refers to the relationship between the air conditioner and the user in terms of relative spatial position. It can be realized using angle data, distance data or other data, such as quantification through the direction angle in a three-dimensional coordinate system.

[0032] Specifically, the process of determining the target location relationship between the air conditioner and the user based on user location information and air conditioner location information can be achieved in various ways. For example, airflow direction parameters can be generated by calculating the straight-line distance and angular relationship between the two, mainly to ensure that the airflow path accurately points to the user's location.

[0033] In some embodiments, the target positional relationship includes the horizontal azimuth angle, the vertical pitch angle, and the air supply elevation angle. For example... Figure 2 As shown, step S3 above, determining the target location relationship between the air conditioner and the user based on user location information and air conditioner location information, includes: Step S31: Obtain the user's posture information.

[0034] The posture information refers to the user's current body posture, such as lying down, sitting, or standing. This can be achieved through posture recognition algorithms captured by a camera, sensor data from wearable devices, or manual input by the user.

[0035] Step S32: Calculate the horizontal azimuth and vertical pitch angles based on the user's location information and the air conditioner's location information.

[0036] The user location information includes the user's X-axis coordinate, Y-axis coordinate, and Z-axis coordinate. The user's X-axis coordinate represents their position on the X-axis within the coordinate system of the floor plan. The user's Y-axis coordinate represents their position on the Y-axis within the coordinate system of the floor plan. The user's Z-axis coordinate represents their position on the Z-axis within the coordinate system of the floor plan.

[0037] The air conditioner location information includes its X-axis coordinate, Y-axis coordinate, and Z-axis coordinate. The X-axis coordinate represents the air conditioner's position on the X-axis within the floor plan's coordinate system. The Y-axis coordinate represents the air conditioner's position on the Y-axis within the floor plan's coordinate system. The Z-axis coordinate represents the air conditioner's position on the Z-axis within the floor plan's coordinate system.

[0038] Specifically, user location information can be represented as The unit is meters; X u Represents the user's X-axis coordinate, Y-axis coordinate. u Represents the user's Y-axis coordinate, Z-axis coordinate... u This represents the user's Z-axis coordinate. Air conditioner location information can be represented as... The unit is meters; X a Represents the X-axis coordinate of the air conditioner, Y-axis coordinate. a Represents the Y-axis coordinate of the air conditioner, Z... a This represents the Z-axis coordinate of the air conditioner.

[0039] The horizontal azimuth angle represents the angle from the positive direction of the air conditioner (such as the positive direction of the X-axis) to the user's horizontal direction. The vertical pitch angle represents the angle from the horizontal plane of the air conditioner to the user's direction. A positive vertical pitch angle is called a depression angle, and a negative vertical pitch angle is called an elevation angle.

[0040] In some embodiments, the above-described step S32, the method of calculating the horizontal azimuth and vertical pitch angle based on user location information and air conditioner location information, may include: calculating the horizontal azimuth based on user location information and air conditioner location information; and calculating the vertical pitch angle based on user location information and air conditioner location information.

[0041] In some embodiments, the method for calculating the horizontal azimuth angle based on user location information and air conditioner location information may include: performing a four-quadrant arctangent function operation on the difference between the user's Y-axis coordinate and the air conditioner's Y-axis coordinate, and the difference between the user's X-axis coordinate and the air conditioner's X-axis coordinate, to obtain the horizontal azimuth angle.

[0042] Specifically, the method for calculating the horizontal azimuth angle based on user location information and air conditioner location information can be expressed as: ;in, Indicates the horizontal azimuth angle (unit: degrees). Let X represent the inverse tangent function in the four quadrants. u Represents the user's X-axis coordinate (unit: meters), Y... u Represents the user's Y-axis coordinate (unit: meters), X a Represents the X-axis coordinate of the air conditioner (unit: meters), Y... a This represents the Y-axis coordinate of the air conditioner (unit: meters).

[0043] In some embodiments, the method for calculating the vertical pitch angle based on user location information and air conditioner location information may include: calculating the horizontal distance between the user and the air conditioner based on the user's X-axis coordinate, user's Y-axis coordinate, air conditioner's X-axis coordinate, and air conditioner's Y-axis coordinate; dividing the difference between the user's Z-axis coordinate and the air conditioner's Z-axis coordinate by the horizontal distance; and performing an arctangent function operation on the quotient to obtain the vertical pitch angle.

[0044] Specifically, the method for calculating the vertical pitch angle based on user location information and air conditioner location information can be expressed as: ;in, X represents the vertical pitch angle (unit: degrees), arctan represents the arctangent function, and X... u Represents the user's X-axis coordinate (unit: meters), Y... u Represents the user's Y-axis coordinate (unit: meters), Z... u Represents the user's Z-axis coordinate (unit: meters), X a Represents the X-axis coordinate of the air conditioner (unit: meters), Y... a This represents the Y-axis coordinate of the air conditioner (unit: meters), Z... a This indicates the Z-axis coordinate of the air conditioner (unit: meters).

[0045] For example, such as Figure 3 As shown, this floor plan is a 3D coordinate graph, including the X-axis, Y-axis, and Z-axis. The floor plan includes the air conditioner location 'a' and the user location 'U'. The air conditioner location 'a' can be represented as (X... a Y a Z a The user's location U can be represented as (X) u Y u Z u At the same time, vertical pitch angle for Furthermore, the horizontal azimuth angle for .

[0046] In some embodiments, the method for calculating the vertical pitch angle based on user location information and air conditioner location information may include: calculating the straight-line distance from the air conditioner to the user based on the user location information and air conditioner location information; dividing the difference between the user's Z-axis coordinate and the air conditioner's Z-axis coordinate by the straight-line distance; and performing an arcsine function operation on the quotient to obtain the vertical pitch angle.

[0047] Specifically, the method for calculating the vertical pitch angle based on user location information and air conditioner location information can be expressed as: ; .in, X represents the vertical pitch angle (unit: degrees), arcsin represents the arcsine function, and X...u Represents the user's X-axis coordinate (unit: meters), Y... u Represents the user's Y-axis coordinate (unit: meters), Z... u Represents the user's Z-axis coordinate (unit: meters), X a Represents the X-axis coordinate of the air conditioner (unit: meters), Y... a This represents the Y-axis coordinate of the air conditioner (unit: meters), Z... a This indicates the Z-axis coordinate of the air conditioner (unit: meters).

[0048] Step S33: Determine the air supply elevation angle based on user location information and posture information.

[0049] Here, the air supply elevation angle represents the additional elevation angle adjustment of the air guide plate relative to the calculated vertical pitch angle.

[0050] Specifically, in actual operation, the user's posture information is first acquired to provide basic data for subsequent angle calculations. Then, the horizontal azimuth and vertical pitch angles are calculated using the user's location and posture information to ensure the airflow direction accurately points to the user's area. Finally, the airflow pitch angle is determined by combining the user's location and posture information. A preset pitch angle (e.g., 0°) is used for the lying position, while a larger preset pitch angle (e.g., 10°) is used for the standing position, fully considering the differences in the exposed area of ​​the human body under different postures and improving the accuracy of airflow.

[0051] In some embodiments, step S33, determining the air supply elevation angle based on user location information and posture information, includes: obtaining user height based on user location information; determining the air supply elevation angle as a first elevation angle when the posture information is a lying posture and the user height is less than a first threshold; determining the air supply elevation angle as a second elevation angle when the posture information is a sitting posture and the user height is greater than or equal to the first threshold and less than a second threshold; and determining the air supply elevation angle as a third elevation angle when the posture information is a standing posture and the user height is greater than or equal to the second threshold.

[0052] The first elevation angle is smaller than the second elevation angle, and the second elevation angle is smaller than the third elevation angle. The first, second, and third elevation angles correspond to the airflow requirements of different postures and heights, and their specific values ​​can be set based on experimental data or user preferences. The increasing relationship between the first and third elevation angles reflects the natural transition of height when the human body changes posture, allowing the airflow angle to adjust smoothly with posture changes, reducing the discontinuity of airflow caused by abrupt angle changes, and optimizing the continuity of the airflow process and user comfort.

[0053] User location information also includes user height. User height refers to data related to the user's height extracted from the user's location information, which can be obtained through image recognition technology, sensor detection, or a pre-set user height database.

[0054] The first threshold is less than the second threshold. The first and second thresholds correspond to the limits of a user's height in the floor plan under different postures. The specific values ​​of the first and second thresholds can be set based on experimental data or user preferences.

[0055] For example, the first threshold can be set to 0.5m, the second threshold to 1.5m, the first elevation angle to 0°, the second elevation angle to 5°, and the third elevation angle to 10°. See Table 1 below for the correspondence between posture information, user height, and air supply elevation angle. Table 1. Correspondence between posture information, user height, and air supply tilt angle.

[0056] As shown in Table 1, when the posture information is a lying position and the user height is less than 0.5m, the air supply angle is determined to be 0°; when the posture information is a sitting position and the user height is greater than or equal to 0.5m and less than 1.5m, the air supply angle is determined to be 5°; when the posture information is a standing position and the user height is greater than or equal to 1.5m, the air supply angle is determined to be 10°.

[0057] Step S4: Determine the control parameters of the air conditioner's robotic arm based on the target position relationship.

[0058] Specifically, the control parameters of the air conditioner's robotic arm can be determined based on the target position relationship through analytical geometric algorithms. For example, the target position relationship can be converted into the angle values ​​of each joint of the robotic arm, or a lookup table method can be used to quickly match the preset control parameter combination. The purpose is to convert the position relationship into specific mechanical action instructions.

[0059] In some embodiments, such as Figure 5 As shown, step S4 above, determining the robotic arm control parameters for the air conditioner based on the target position relationship, includes: Step S41: Detect obstructions based on the floor plan and obtain the obstruction detection results.

[0060] Obstruction detection refers to identifying obstacles along the airflow path from the air conditioner to the user by analyzing the room structure in the floor plan. This process can be achieved by using image processing algorithms to extract features from the floor plan, or by using deep learning models to perform semantic segmentation of the furniture layout in the floor plan. The goal is to know the distribution of potential obstacles along the airflow path in advance, providing a basis for subsequent parameter adjustments. Obstructions can be objects such as furniture, animals, plants, and walls.

[0061] In some embodiments, the method for detecting obstructions based on a floor plan and obtaining obstruction detection results may include: performing ray projection detection on the floor plan to determine whether there are obstructions on the air supply path from the air conditioner to the user; if there are obstructions, determining the obstruction detection result as a first detection result; if there are no obstructions, determining the obstruction detection result as a second detection result.

[0062] Among them, X-ray projection detection refers to projecting X-rays along the air supply path from the air conditioner to the user and detecting whether there are any objects on the X-ray.

[0063] Step S42: Based on the obstruction detection results and the target position relationship, determine the control parameters of the air conditioner's robotic arm.

[0064] Among them, the robotic arm control parameters refer to the specific instruction data used to adjust the movement of the air conditioning robotic arm. It can achieve precise angle adjustment through the servo control system, aiming to ensure that the air supply direction can be adaptively optimized according to environmental conditions.

[0065] For example, the control parameters of the robotic arm may include the basic joint angle, the second joint angle, and the air guide plate angle, etc. Figure 4 As shown, Figure 4 This is a schematic diagram of an air conditioner's robotic arm, which includes a basic joint, a second joint, and a fine-tuning joint for the air guide plate. Figure 4 ① corresponds to the basic joint. Figure 4 ② corresponds to the second joint. Figure 4 ③ Corresponding to the fine-tuning joint of the air guide plate.

[0066] The basic joint controls the horizontal rotation of the air guide vane. Located closer to the air conditioner body, the basic joint exerts the greatest torque and is responsible for coarse adjustments to the airflow direction over a wide range, determining the basic posture of the entire robotic arm. The second joint controls the vertical pitch angle of the air guide vane. This joint, in conjunction with the basic joint, adjusts the pitch angle to deliver the air guide vane to the vicinity of the target area. The air guide vane fine-tuning joint is used to fine-tune the airflow angle of the air guide vane.

[0067] Among them, the basic joint angle is the angle of the basic joint of the robotic arm, the second joint angle is the angle of the second joint of the robotic arm, and the air guide plate angle is the angle of the air guide plate fine adjustment joint of the robotic arm.

[0068] In some embodiments, the target positional relationship includes a horizontal azimuth angle, a vertical pitch angle, and an air supply elevation angle, and the robotic arm control parameters include a base joint angle, a second joint angle, and an air guide plate angle. Step S42 above, determining the robotic arm control parameters of the air conditioner based on the obstruction detection result and the target positional relationship, includes: setting the horizontal azimuth angle as the base joint angle and the air supply elevation angle as the air guide plate angle; when the obstruction detection result is a first detection result, setting the vertical pitch angle as the second joint angle; the first detection result indicates that there is no obstruction in the air supply path of the air conditioner. When the obstruction detection result is a second detection result, determining the second joint angle based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction; the second detection result indicates that there is an obstruction in the air supply path of the air conditioner.

[0069] The basic joint angle controls the basic joint of the air conditioning robot arm, which can rotate horizontally (e.g., 360° horizontal rotation). The second joint angle controls the second joint of the air conditioning robot arm, which can pitch (swing up and down) vertically. The air guide plate angle controls the air guide plate of the air conditioning robot arm, which is usually a movable panel (or a combination of multiple panels). The air guide plate angle refers to the fine angle by which the air guide plate can be adjusted vertically (e.g., within the range of 0° to 15°).

[0070] Among them, the height of the obstruction refers to the height information of the detected obstruction, which can be obtained through image recognition technology, sensor detection, or a height database preset in the floor plan.

[0071] Specifically, when the obstruction detection result is the first detection result, it indicates that there is no obstruction in the air supply path of the air conditioner. At this time, the horizontal azimuth angle is set as the basic joint angle, the vertical pitch angle is set as the second joint angle, and the air supply elevation angle is set as the air guide plate angle, thus achieving the goal of rapid directional air supply and reducing unnecessary calculation overhead.

[0072] When the obstruction detection result is the second detection result, it indicates that there is an obstruction in the air supply path of the air conditioner. In this case, the horizontal azimuth angle is set as the basic joint angle to ensure that the positioning accuracy in the horizontal direction is not affected; the air supply elevation angle is set as the air guide angle to maintain the matching of airflow direction with user posture. In particular, the determination of the second joint angle is made by combining the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction, thereby reducing the obstruction to a certain extent. This design not only reduces the problem of obstructed air supply path, but also enables precise targeted air supply in complex environments, improving the accuracy of air supply.

[0073] In some embodiments, determining the second joint angle based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction includes: calculating an avoidance angle based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction; summing the vertical pitch angle and the avoidance angle, and determining the summation result of the vertical pitch angle and the avoidance angle as the second joint angle.

[0074] Among them, the avoidance angle is the increment of angle that needs to be adjusted to avoid obstructions.

[0075] Specifically, the method of summing the vertical pitch angle and the avoidance angle, and determining the sum as the second joint angle, can be expressed as follows: ;in, Indicates the angle of the second joint (unit: degrees). Indicates the vertical pitch angle (unit: degrees). Indicates the avoidance angle (unit: degrees).

[0076] In this embodiment, the vertical pitch angle is used as a reference direction in the calculation, allowing the avoidance angle to be closely correlated with the air supply direction (vertical pitch angle) and the actual position of the obstruction (obstruction height, horizontal distance), reducing the blindness of fixed offset values. Subsequently, by summing the vertical pitch angle and the avoidance angle, and determining the summation result as the second joint angle, the original vertical pitch angle and the dynamically calculated avoidance angle are fused. This process integrates the obstruction data perceived by the environment with the original air supply target value, so that the second joint angle maintains the vertical directionality of the user's position while adding an extra avoidance amount, which can reduce the problem of the air supply path being blocked and improve the accuracy of air supply.

[0077] In some embodiments, the avoidance angle is calculated based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction, including: subtracting the height of the obstruction from the installation height of the air conditioner to obtain a first height; dividing the first height from the horizontal distance of the obstruction to obtain a second height; performing an inverse trigonometric function operation on the second height to obtain a first angle; and subtracting the first angle from the vertical pitch angle to obtain the avoidance angle.

[0078] Specifically, based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction, the method for calculating the avoidance angle can be expressed as follows: ;in, The angle to be avoided (unit: degrees) is represented by arcsin, which represents the arcsine function. Indicates the height of the obstruction (unit: meters). Z a This indicates the installation height of the air conditioner, which is also the Z-axis coordinate of the air conditioner (unit: meters). Horizontal distance from the air conditioner to the obstruction (unit: meters). Indicates the vertical pitch angle (unit: degrees).

[0079] In this embodiment, the calculation process of the avoidance angle is closely related to the determination of the robotic arm control parameters. By using the calculated avoidance angle to determine the second joint angle, the air conditioner can automatically adjust the air delivery path according to the obstructions in the environment, thereby achieving precise directional air delivery, making the air delivery result more in line with the actual scenario, and improving user comfort.

[0080] This application provides an air supply control method that obtains user location information and air conditioner location information from a floor plan, dynamically determines the target location relationship and adjusts the control parameters of the robotic arm to ensure that the air supply airflow accurately reaches the user's location. It can dynamically respond to the user's specific location changes in the indoor environment, realize directional air supply, and improve the targeting and accuracy of air conditioning air supply.

[0081] The following examples illustrate this with real-world use cases.

[0082] For example, if a user's living room is 25 square meters with a ceiling height of 2.8 meters, and the air conditioner is installed at the following height: Assuming the location information of the air conditioner The value is (0, 0, 2.5). The user is in the sofa position. ,high (Corresponding to sitting posture), assuming user location information The values ​​are (3.5, 2.0, 1.2).

[0083] Therefore, the formula for calculating the straight-line distance L between the air conditioner and the user is: .

[0084] Horizontal azimuth The formula for calculating the horizontal azimuth is: .

[0085] The calculated horizontal azimuth angle is 29.74°, while the final horizontal azimuth angle is 32°, which is based on the value of the calibrated coordinate system.

[0086] Vertical pitch angle The formula for calculating the vertical pitch angle is: .

[0087] The calculated vertical pitch angle is -15.8°, while the final vertical pitch angle is 15°. This is the absolute value, adjusted based on the initial angle of the air conditioner vent. The actual value is based on the sensor output.

[0088] Air supply elevation angle is Since the user's height is 1.2m and the user is seated, the corresponding air supply angle is 5°.

[0089] At the same time, if the sofa back is an obstruction in the airflow path of the air conditioner, avoid the angle. The sofa backrest blocks the airflow path, thus increasing... Use an upward angle to avoid obstruction.

[0090] Ultimately, the basic joint angles for: .

[0091] Second joint angle for: .

[0092] air guide plate angle for: .

[0093] It should be noted that the above angle values ​​need to be adjusted in practice based on actual requirements such as sensor data calibration, robotic arm kinematics model, and real-time optimization algorithms.

[0094] To better implement the air supply control method in the embodiments of this application, an air supply control device is also provided in the embodiments of this application, such as... Figure 6 As shown, the air supply control device 600 includes: The floor plan acquisition module 401 is used to acquire the floor plan corresponding to the environment where the air conditioner is located. The information acquisition module 402 is used to acquire the user's location information in the floor plan and the air conditioner's location information in the floor plan; The location relationship determination module 403 is used to determine the target location relationship between the air conditioner and the user based on the user's location information and the air conditioner's location information; The parameter determination module 404 is used to determine the control parameters of the air conditioner's robotic arm based on the target position relationship.

[0095] In this embodiment, by obtaining user location information and air conditioner location information from the floor plan, the target location relationship is dynamically determined and the control parameters of the robotic arm are adjusted to ensure that the airflow accurately reaches the user's location. This allows for dynamic response to changes in the user's specific location in the indoor environment, enabling directional airflow and improving the targeting and accuracy of the air conditioning airflow.

[0096] In some embodiments, the target positional relationship includes the horizontal azimuth angle, the vertical pitch angle, and the air supply elevation angle. The positional relationship determination module 403 is specifically used to: obtain the user's posture information; calculate the horizontal azimuth angle and the vertical pitch angle based on the user's position information and the air conditioner's position information; and determine the air supply elevation angle based on the user's position information and posture information.

[0097] In some embodiments, the position relationship determination module 403 is further configured to: obtain the user height based on the user location information; determine the air supply elevation angle as a first elevation angle when the posture information is a lying posture and the user height is less than a first threshold; determine the air supply elevation angle as a second elevation angle when the posture information is a sitting posture and the user height is greater than or equal to the first threshold and less than a second threshold; and determine the air supply elevation angle as a third elevation angle when the posture information is a standing posture and the user height is greater than or equal to the second threshold; wherein the first elevation angle is less than the second elevation angle, and the second elevation angle is less than the third elevation angle.

[0098] In some embodiments, the parameter determination module 404 is specifically used for: detecting obstructions based on the floor plan to obtain obstruction detection results; and determining the control parameters of the air conditioner's robotic arm based on the relationship between the obstruction detection results and the target position.

[0099] In some embodiments, the target positional relationship includes a horizontal azimuth angle, a vertical pitch angle, and an air supply elevation angle. The robotic arm control parameters include a base joint angle, a second joint angle, and an air guide plate angle. The parameter determination module 404 is further configured to: when the obstruction detection result is a first detection result, determine the horizontal azimuth angle as the base joint angle, the vertical pitch angle as the second joint angle, and the air supply elevation angle as the air guide plate angle; the first detection result indicates that there is no obstruction in the air supply path of the air conditioner; when the obstruction detection result is a second detection result, determine the horizontal azimuth angle as the base joint angle, the air supply elevation angle as the air guide plate angle, and determine the second joint angle based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction; the second detection result indicates that there is an obstruction in the air supply path of the air conditioner.

[0100] In some embodiments, the parameter determination module 404 is further configured to: calculate the avoidance angle based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction; sum the vertical pitch angle and the avoidance angle, and determine the sum of the vertical pitch angle and the avoidance angle as the second joint angle.

[0101] In some embodiments, the parameter determination module 404 is further configured to: subtract the height of the obstruction from the installation height of the air conditioner to obtain a first height; divide the first height from the horizontal distance of the obstruction to obtain a second height; perform an inverse trigonometric function operation on the second height to obtain a first angle; and subtract the first angle from the vertical pitch angle to obtain an avoidance angle.

[0102] This application also provides an electronic device that integrates any of the air supply control devices provided in this application. The electronic device includes one or more processors, a memory, and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor as steps in the air supply control method in any of the above-described air supply control method embodiments.

[0103] This application also provides an electronic device that integrates any of the air supply control devices provided in this application. For example... Figure 7 As shown, it illustrates a structural schematic diagram of the electronic device involved in the embodiments of this application, specifically: The electronic device may include components such as a processor 801 with one or more processing cores, a memory 802 with one or more computer-readable storage media, a power supply 803, and an input unit 804. Those skilled in the art will understand that... Figure 7 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein: The processor 801 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 802, and by calling data stored in the memory 802, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Optionally, the processor 801 may include one or more processing cores; preferably, the processor 801 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 801.

[0104] The memory 802 can be used to store software programs and modules. The processor 801 executes various functional applications and data processing by running the software programs and modules stored in the memory 802. The memory 802 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 802 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 802 may also include a memory controller to provide the processor 801 with access to the memory 802.

[0105] The electronic device also includes a power supply 803 that supplies power to the various components. Preferably, the power supply 803 can be logically connected to the processor 801 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 803 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0106] The electronic device may also include an input unit 804, which can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0107] Although not shown, the electronic device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 801 in the electronic device loads the executable files corresponding to the processes of one or more application programs into the memory 802 according to the following instructions, and the processor 801 runs the application programs stored in the memory 802 to realize various functions, such as: Obtain the floor plan corresponding to the environment where the air conditioner is located; Obtain the user's location information on the floor plan, and the air conditioner's location information on the floor plan; Based on user location information and air conditioner location information, determine the target location relationship between the air conditioner and the user; The control parameters of the air conditioner's robotic arm are determined based on the target position relationship.

[0108] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0109] Therefore, embodiments of this application provide a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc. A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in any of the air supply control methods provided in embodiments of this application. For example, the computer program loaded by the processor can execute the following steps: Obtain the floor plan corresponding to the environment where the air conditioner is located; Obtain the user's location information on the floor plan, and the air conditioner's location information on the floor plan; Based on user location information and air conditioner location information, determine the target location relationship between the air conditioner and the user; The control parameters of the air conditioner's robotic arm are determined based on the target position relationship.

[0110] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the detailed descriptions of other embodiments above, which will not be repeated here.

[0111] In practice, each of the above units or structures can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of each of the above units or structures, please refer to the previous method embodiments, which will not be repeated here.

[0112] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0113] The above provides a detailed description of an air supply control method, apparatus, electronic device, and computer-readable storage medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An air supply control method, characterized in that, The air supply control method includes: Obtain the floor plan corresponding to the environment where the air conditioner is located; Obtain the user's location information in the floor plan, and the air conditioner's location information in the floor plan; Based on the user location information and the air conditioner location information, the target location relationship between the air conditioner and the user is determined; Based on the target position relationship, the control parameters of the air conditioner's robotic arm are determined, and the air conditioner's robotic arm is controlled to operate according to the control parameters.

2. The air supply control method according to claim 1, characterized in that, The target positional relationship includes horizontal azimuth, vertical pitch, and air supply elevation angle. Determining the target positional relationship between the air conditioner and the user based on the user's location information and the air conditioner's location information includes: Obtain the user's posture information; Calculate the horizontal azimuth angle and the vertical pitch angle based on the user location information and the air conditioner location information; The air supply elevation angle is determined based on the user's location information and the posture information.

3. The air supply control method according to claim 2, characterized in that, Determining the air delivery elevation angle based on the user location information and the posture information includes: The user's height is obtained based on the user's location information; When the posture information is a lying position and the user height is less than a first threshold, the air supply elevation angle is determined to be the first elevation angle; When the posture information is a sitting posture and the user height is greater than or equal to the first threshold and less than the second threshold, the air supply elevation angle is determined to be the second elevation angle; When the posture information is a standing posture and the user height is greater than or equal to the second threshold, the air supply elevation angle is determined to be the third elevation angle; Wherein, the first elevation angle is smaller than the second elevation angle, and the second elevation angle is smaller than the third elevation angle.

4. The air supply control method according to claim 1, characterized in that, The process of determining the robotic arm control parameters for the air conditioner based on the target position relationship includes: Obstruction detection is performed based on the floor plan to obtain obstruction detection results; Based on the obstruction detection results and the target position relationship, the robotic arm control parameters of the air conditioner are determined.

5. The air supply control method according to claim 4, characterized in that, The target position relationship includes the horizontal azimuth angle, vertical pitch angle, and air supply elevation angle. The robotic arm control parameters include the base joint angle, the second joint angle, and the air guide plate angle. Determining the robotic arm control parameters for the air conditioner based on the obstruction detection results and the target position relationship includes: Set the horizontal azimuth angle as the basic joint angle, and set the air supply elevation angle as the air guide plate angle; When the obstruction detection result is the first detection result, the vertical pitch angle is set to the second joint angle; the first detection result indicates that there is no obstruction in the air supply path of the air conditioner; When the obstruction detection result is the second detection result, the second joint angle is determined based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction; the second detection result indicates that there is an obstruction in the air supply path of the air conditioner.

6. The air supply control method according to claim 5, characterized in that, Determining the second joint angle based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction includes: Calculate the avoidance angle based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction; The vertical pitch angle and the avoidance angle are summed, and the summation result is determined as the second joint angle.

7. The air supply control method according to claim 6, characterized in that, The calculation of the avoidance angle based on the vertical pitch angle, the height of the obstruction, and the horizontal distance from the air conditioner to the obstruction includes: The first height is obtained by subtracting the height of the obstruction from the installation height of the air conditioner; Divide the first height by the horizontal distance to the obstruction to obtain the second height; Perform inverse trigonometric function calculations on the second height to obtain the first angle; Subtracting the first angle from the vertical pitch angle yields the avoidance angle.

8. An air supply control device, characterized in that, The air supply control device includes: The floor plan acquisition module is used to acquire the floor plan corresponding to the environment where the air conditioner is located; The information acquisition module is used to acquire the user's location information in the floor plan and the air conditioner's location information in the floor plan. A location relationship determination module is used to determine the target location relationship between the air conditioner and the user based on the user location information and the air conditioner location information; The parameter determination module is used to determine the robotic arm control parameters of the air conditioner based on the target position relationship.

9. An electronic device, characterized in that, The electronic device includes: one or more processors, a memory, and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the air supply control method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores a computer program, which is loaded by a processor to execute the steps of the air supply control method according to any one of claims 1 to 7.

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