Radar sensor-based air conditioner control method and device, air conditioner, storage medium, and electronic device

Abstract

The application provides a radar sensor-based air conditioner control method and device, an air conditioner, a storage medium and an electronic device, and the method comprises the following steps: in the running phase of an air conditioner indoor unit, a first original phase of an antenna array of a millimeter wave radar of the air conditioner indoor unit is acquired, and a temperature value and a humidity value collected by an indoor temperature sensor and an indoor humidity sensor of the air conditioner are acquired, wherein the air conditioner indoor unit comprises the millimeter wave radar, the temperature sensor and the humidity sensor; an environment compensation value of the millimeter wave radar is looked up according to the temperature value and the humidity value; the first original phase is compensated by using the environment compensation value to obtain a corrected phase; and the millimeter wave radar is controlled to detect a human body position in a room where the air conditioner indoor unit is located based on the corrected phase. By adopting the scheme of the embodiment, the technical problem that the precision of the air conditioner radar is reduced due to dynamic changes in the environment in the related art is solved, the corrected phase is used for detecting the human body position, and the angle measurement precision and the accuracy and reliability of the intelligent air supply function are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of air conditioning technology, and more specifically, to an air conditioning control method and device based on radar sensors, an air conditioner, a storage medium, and electronic equipment. Background Technology

[0002] Among related technologies, millimeter-wave radar, due to its strong penetration and immunity to light, is increasingly being applied to functions such as human body positioning, gesture recognition, and wind-following-the-person movement in air conditioners. In air conditioning products, radar antennas are typically mounted behind the front panel or internal structural components, and electromagnetic waves need to pass through the air conditioner's plastic casing (such as ABS or polycarbonate) for transmission and reception. The dielectric constant and loss tangent of the air conditioner casing undergo non-negligible changes with ambient temperature and humidity. This change causes additional, time-varying shifts in the phase center of each channel of the radar antenna, thus disrupting the phase consistency of the antenna array. When beamforming or angle estimation algorithms (such as DBF and MUSIC) are used for target angle measurement, this phase error directly translates into angle measurement deviation, causing the "wind avoids person" function to send air to the wrong location, or the "wind follows person" function to misalign with the user.

[0003] No efficient and accurate solution has yet been found to address the aforementioned issues in the relevant technologies. Summary of the Invention

[0004] This invention provides an air conditioning control method and device based on radar sensors, an air conditioner, a storage medium, and an electronic device to solve technical problems in related technologies.

[0005] According to an embodiment of the present invention, an air conditioning control method based on a radar sensor is provided, comprising: During the operation of the indoor unit of the air conditioner, the first original phase of the antenna array of the millimeter-wave radar of the indoor unit of the air conditioner is acquired, and the temperature value and humidity value collected by the indoor temperature sensor and indoor humidity sensor of the air conditioner are acquired respectively. The indoor unit of the air conditioner includes the millimeter-wave radar, the temperature sensor, and the humidity sensor. The environmental compensation value of the millimeter-wave radar is found based on the temperature and humidity values. The first original phase is compensated using the environmental compensation value to obtain the corrected phase; The millimeter-wave radar is controlled to detect the location of a human in the room where the indoor unit of the air conditioner is located based on the corrected phase.

[0006] Optionally, finding the environmental compensation value for the millimeter-wave radar based on the temperature and humidity values ​​includes: Locate the target temperature range containing the temperature value, and locate the target humidity range containing the humidity value; For each virtual channel of the antenna array of the millimeter-wave radar, an environmental compensation value is calculated based on the target temperature range and the target humidity range.

[0007] Optionally, calculating the environmental compensation value based on the target temperature range and the target humidity range includes: The storage address of the environmental compensation value in the phase compensation table is calculated using the following formula. : ;in, This is the starting address of the phase compensation table. It is the temperature range value of the target temperature range. It is the humidity range value of the target humidity range. For the current virtual channel, H_steps represents the total number of virtual channels and the total number of humidity ranges. The environmental compensation value of the current virtual channel is read from the storage address of the phase compensation table of the local air conditioner indoor unit, wherein the phase compensation table includes temperature dimension, humidity dimension and virtual channel dimension.

[0008] Optionally, the first original phase is compensated using the environmental compensation value to obtain the corrected phase, including: For each virtual channel of the antenna array, the corrected phase is calculated using the following formula. : For virtual channel indexing, This is the first original phase. This is the environmental compensation value. The rotation factor is used to reverse the first original phase. Angle, where j is the imaginary unit.

[0009] Optionally, before finding the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value, the method further includes: Collect the current fan speed and air guide plate status of the indoor unit of the air conditioner; Based on the current wind speed and the state of the wind deflector, determine whether the millimeter-wave radar needs to perform phase compensation in the current control cycle; If the millimeter-wave radar needs phase compensation in the current control cycle, the environmental compensation value of the millimeter-wave radar is determined based on the temperature value and the humidity value.

[0010] Optionally, determining whether the millimeter-wave radar needs phase compensation in the current control cycle based on the current wind speed and the state of the wind deflector includes: Determine whether the current wind speed is less than a preset threshold, and determine whether the wind guide plate is in a stationary state; If the current wind speed is less than a preset threshold and the wind deflector is stationary, it is determined that the millimeter-wave radar needs to perform phase compensation in the current control cycle.

[0011] Optionally, before controlling the millimeter-wave radar to detect the location of a person in the room where the indoor unit of the air conditioner is located based on the corrected phase, the method further includes: During the shutdown phase of the indoor unit of the air conditioner, it is determined whether the indoor unit of the air conditioner meets the shutdown correction conditions; If the indoor unit of the air conditioner meets the shutdown correction conditions, obtain the second original phase of the antenna array of the millimeter-wave radar of the indoor unit relative to the fixed reference object; Read the preset phase of the fixed reference from the local memory of the indoor unit of the air conditioner; Calculate the fixed compensation value obtained by subtracting the preset phase from the second original phase; The corrected phase is reverse-compensated based on the fixed compensation value, and the corrected phase is updated using the compensation result.

[0012] According to another embodiment of the present invention, an air conditioning control device based on a radar sensor is provided, comprising: The first acquisition module is used to acquire the first original phase of the antenna array of the millimeter-wave radar of the air conditioner indoor unit during the operation phase of the air conditioner indoor unit, and to acquire the temperature value and humidity value collected by the indoor temperature sensor and indoor humidity sensor of the air conditioner respectively, wherein the air conditioner indoor unit includes the millimeter-wave radar, the temperature sensor and the humidity sensor. A lookup module is used to look up the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value. The first compensation module is used to compensate the first original phase using the environmental compensation value to obtain a corrected phase; The detection module is used to control the millimeter-wave radar to detect the location of a human body in the room where the indoor unit of the air conditioner is located based on the corrected phase.

[0013] Optionally, the search module includes: A positioning unit is used to locate the target temperature range in which the temperature value is located, and to locate the target humidity range in which the humidity value is located; A calculation unit is used to calculate an environmental compensation value for each virtual channel of the antenna array of the millimeter-wave radar, based on the target temperature range and the target humidity range.

[0014] Optionally, the computing unit includes: The calculation subunit is used to calculate the storage address of the environmental compensation value in the phase compensation table using the following formula. : ;in, This is the starting address of the phase compensation table. It is the temperature range value of the target temperature range. It is the humidity range value of the target humidity range. For the current virtual channel, H_steps represents the total number of virtual channels and the total number of humidity ranges. The reading subunit is used to read the current virtual channel's environmental compensation value from the storage address of the phase compensation table on the local side of the air conditioner indoor unit, wherein the phase compensation table includes temperature dimension, humidity dimension, and virtual channel dimension.

[0015] Optionally, the first compensation module includes: The calculation unit is used to calculate the corrected phase for each virtual channel of the antenna array using the following formula. : For virtual channel indexing, This is the first original phase. This is the environmental compensation value. The rotation factor is used to reverse the first original phase. Angle, where j is the imaginary unit.

[0016] Optionally, the device further includes: The data acquisition module is used to acquire the current wind speed and air guide plate status of the indoor unit of the air conditioner before the search module searches for the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value. The judgment module is used to determine whether the millimeter-wave radar needs to perform phase compensation in the current control cycle based on the current wind speed and the state of the wind deflector. The determination module is used to determine the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value if the millimeter-wave radar needs to perform phase compensation in the current control cycle.

[0017] Optionally, the determination module includes: The judgment unit is used to determine whether the current wind speed is less than a preset threshold and whether the wind guide plate is in a stationary state. The determining unit is used to determine that the millimeter-wave radar needs to perform phase compensation in the current control cycle if the current wind speed is less than a preset threshold and the wind guide plate is in a stationary state.

[0018] Optionally, the device further includes: The judgment module is used to determine whether the air conditioner indoor unit meets the shutdown correction conditions during the shutdown phase of the air conditioner indoor unit before the detection module controls the millimeter-wave radar to detect the position of the human body in the room where the air conditioner indoor unit is located based on the corrected phase. The second acquisition module is used to acquire the second original phase of the antenna array of the millimeter-wave radar of the air conditioner relative to a fixed reference object if the indoor unit of the air conditioner meets the shutdown correction conditions. A reading module is used to read the preset phase of the fixed reference object from the local memory of the indoor unit of the air conditioner; The calculation module is used to calculate the fixed compensation value obtained by subtracting the preset phase from the second original phase; The second compensation module is used to perform reverse compensation on the corrected phase based on the fixed compensation value, and update the corrected phase using the compensation result.

[0019] According to another embodiment of the present invention, an air conditioning control system based on radar sensors is provided, comprising: an indoor air conditioning unit and a controller, wherein the indoor air conditioning unit includes the millimeter-wave radar, a temperature sensor, and a humidity sensor, and the controller includes the air conditioning control device based on radar sensors described in the above embodiment.

[0020] According to another aspect of the embodiments of this application, a storage medium is also provided, the storage medium including a stored program that executes the above steps when the program is run.

[0021] According to another aspect of the embodiments of this application, an electronic device is also provided, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; wherein: the memory is used to store computer programs; and the processor is used to execute the steps in the above method by running the programs stored in the memory.

[0022] According to yet another embodiment of the present invention, a storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to execute the steps in any of the above-described apparatus embodiments when running.

[0023] Through this embodiment of the invention, during the operation of the indoor unit of an air conditioner, the first original phase of the antenna array of the millimeter-wave radar of the indoor unit is acquired, and the temperature and humidity values ​​collected by the indoor temperature sensor and indoor humidity sensor of the air conditioner are acquired respectively. The indoor unit of the air conditioner includes the millimeter-wave radar, the temperature sensor, and the humidity sensor. An environmental compensation value for the millimeter-wave radar is found based on the temperature and humidity values. The first original phase is compensated using the environmental compensation value to obtain a corrected phase. The millimeter-wave radar is controlled to detect the position of a person in the room where the indoor unit of the air conditioner is located based on the corrected phase. By acquiring the temperature and humidity values ​​of the indoor unit's temperature and humidity sensors in real time during the air conditioner's operation, and finding the corresponding environmental compensation value to compensate the original phase of the radar, real-time tracking and dynamic correction of the dielectric properties of the casing as temperature and humidity change are achieved. This solves the technical problem in related technologies where dynamic environmental changes lead to reduced accuracy of the air conditioner radar. The corrected phase is used to detect the position of a person, effectively improving the accuracy and reliability of angle measurement and intelligent air supply functions. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a hardware structure block diagram of an air conditioner according to an embodiment of the present invention; Figure 2 This is a flowchart of an air conditioning control method based on a radar sensor according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the phase compensation table in an embodiment of the present invention; Figure 4 This is a flowchart of radar phase compensation according to an embodiment of the present invention; Figure 5 This is a structural block diagram of an air conditioning control device based on a radar sensor according to an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present application can be combined with each other.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] Example 1 The method embodiment provided in Embodiment 1 of this application can be executed in control devices such as air conditioners and air conditioner controllers. Taking its operation on an air conditioner as an example, Figure 1 This is a hardware structure block diagram of an air conditioner according to an embodiment of the present invention. Figure 1 As shown, a multi-split air conditioner may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. Optionally, the aforementioned multi-split air conditioner may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the multi-split air conditioner described above. For example, a multi-split air conditioner may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0028] The memory 104 can be used to store multi-split air conditioning programs, such as application software programs and modules, like the multi-split air conditioning program corresponding to a radar sensor-based air conditioning control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the multi-split air conditioning program stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the multi-split air conditioning unit via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0029] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the multi-split air conditioner. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0030] This embodiment provides an air conditioning control method based on radar sensors. Figure 2 This is a flowchart of an air conditioning control method based on a radar sensor according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps: Step S202: During the operation of the indoor unit of the air conditioner, the first original phase of the antenna array of the millimeter-wave radar of the indoor unit of the air conditioner is obtained, and the temperature value and humidity value collected by the indoor temperature sensor and indoor humidity sensor of the air conditioner are obtained respectively. The indoor unit of the air conditioner includes the millimeter-wave radar, the temperature sensor, and the humidity sensor. Optionally, a plastic front panel covers the antenna. The internal temperature and humidity sensor is an integrated room temperature and humidity sensor located at the air conditioner return vent. The air conditioning system transmits temperature and humidity data, compressor and air guide plate status information to the millimeter-wave radar main controller via UART.

[0031] Step S204: Find the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value; In this embodiment, the environmental compensation value is mapped to the temperature and humidity values. By pre-storing the mapping relationship locally, a phase compensation table is formed. The phase compensation table is stored in the internal memory (such as Flash or EEPROM) of the millimeter-wave radar main controller or the internal machine main controller. It is stored in binary form, and the total size of the table is within a few hundred bytes.

[0032] Step S206: The first original phase is compensated using the environmental compensation value to obtain the corrected phase; Step S208: Control the millimeter-wave radar to detect the location of the human body in the room where the indoor unit of the air conditioner is located based on the corrected phase.

[0033] Optionally, after compensation is completed, the echo data collected by the millimeter-wave radar is input into the angle estimation module to estimate the azimuth angle of targets such as people in the room, and drive the air guide motor to adjust the air delivery direction based on the azimuth angle, such as "the wind follows the person" or "the wind avoids the person".

[0034] Through the above steps, during the operation of the indoor unit of the air conditioner, the first original phase of the antenna array of the millimeter-wave radar of the indoor unit is acquired, and the temperature and humidity values ​​collected by the indoor temperature sensor and indoor humidity sensor of the air conditioner are acquired respectively. The indoor unit of the air conditioner includes the millimeter-wave radar, the temperature sensor, and the humidity sensor. The environmental compensation value of the millimeter-wave radar is found based on the temperature and humidity values. The first original phase is compensated using the environmental compensation value to obtain a corrected phase. The millimeter-wave radar is controlled to detect the position of a person in the room where the indoor unit of the air conditioner is located based on the corrected phase. By acquiring the temperature and humidity values ​​of the indoor unit's temperature and humidity sensors in real time during the air conditioner's operation, and finding the corresponding environmental compensation value to compensate the original phase of the radar, real-time tracking and dynamic correction of the dielectric properties of the casing as temperature and humidity change are achieved. This solves the technical problem in related technologies where dynamic environmental changes lead to a decrease in the accuracy of the air conditioner radar. The corrected phase is used to detect the position of a person, effectively improving the accuracy and reliability of the angle measurement accuracy and intelligent air supply function.

[0035] In this embodiment, obtaining the first original phase of the antenna array of the millimeter-wave radar of the air conditioner indoor unit includes: controlling the antenna array of the millimeter-wave radar to alternately enable each transmitting antenna in the transmitting antenna array to transmit frequency-modulated continuous waves, and controlling the receiving antenna array to synchronously receive the frequency-modulated continuous waves to form multiple virtual channels. The antenna array includes the transmitting antenna array and the receiving antenna array, and each wireless channel corresponds to a combination of a transmitting antenna and a receiving antenna. The phase angle of each virtual channel is subjected to a fast Fourier transform along the distance dimension to obtain a complex matrix. The complex matrix is ​​used to store the first original phase of all virtual channels.

[0036] Optionally, the millimeter-wave radar is a dual-transmit, triple-receive 24GHz millimeter-wave radar. The transmitting antenna array includes TX1 and TX2, and the receiving antenna array includes RX1 to RX3. The distance between the transmitting antennas TX1 and TX2 is 1.5λ, and the receiving antennas RX1, RX2, and RX3 are arranged at equal intervals of λ / 2. TX1 and TX2 are alternately enabled using time-division multiplexing (TDM) technology, forming a total of six virtual receiving channels VR1 to VR6. Among them, VR1 (TX1-RX1) is the reference channel, and VR2 to VR6 are virtual channels that require correction and compensation.

[0037] Based on the example above in this embodiment, each frame of the millimeter-wave radar consists of two pulses (TX1 pulse, TX2 pulse). TX1 enables the transmission of an FMCW (Frequency Modulated Continuous Wave) signal, and RX1~RX3 are acquired synchronously. TX2 enables the transmission of an FMCW signal, and RX1~RX3 are acquired synchronously. The interval between the two pulses is typically several hundred microseconds. After the radar has acquired data for each frame, a range-dimensional FFT (Fast Fourier Transform) is performed on the data of each channel to obtain the complex matrix of the range-physical channel.

[0038] The scheme in this embodiment transforms the time-domain signal to the range domain by performing a range-dimensional FFT on each virtual channel, obtaining a "range-physical channel complex matrix," which associates the phase information of each virtual channel with a specific range gate (range cell). During subsequent phase compensation, only the complex data of the range gate where the target is located is compensated, avoiding the unnecessary computational overhead of global compensation for all range cells and improving the specificity of the compensation. By alternately enabling multiple transmit antennas and synchronously receiving data, a limited number of physical antennas are expanded into a larger number of virtual channels using time-division multiplexing. Without increasing the cost of physical antennas and RF front-end hardware, the virtual aperture of the radar array is effectively increased, providing more spatial sampling points for high-precision angle estimation.

[0039] In one implementation scenario of this embodiment, before searching for the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value, the method further includes: collecting the current wind speed and air guide plate status of the indoor unit of the air conditioner; determining whether the millimeter-wave radar needs to perform phase compensation in the current control cycle based on the current wind speed and air guide plate status; if the millimeter-wave radar needs to perform phase compensation in the current control cycle, determining to search for the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value.

[0040] Optionally, the air guide vane status includes a moving state (such as up-and-down or left-and-right sweeping states) and a stationary state. The current wind speed corresponds to the wind speed setting.

[0041] When the air conditioner is running, the vibration of the compressor, the airflow disturbance caused by the high-speed rotation of the fan, and the mechanical movements such as the swaying of the air guide plate will introduce additional non-target phase noise into the radar echo. If phase compensation is performed under these high interference conditions, the compensation value itself may be contaminated by interference, which will reduce the angle measurement accuracy.

[0042] The scheme in this embodiment determines whether the current control cycle is a low-interference window based on the current wind speed and the state of the wind deflector before performing table lookup compensation. Phase compensation is only enabled in the low-interference state, and the compensation step is skipped in the high-interference state. This effectively avoids additional phase errors introduced by vibration and airflow, and improves the accuracy and effectiveness of compensation.

[0043] In one example, determining whether the millimeter-wave radar needs phase compensation in the current control cycle based on the current wind speed and the state of the wind deflector includes: determining whether the current wind speed is less than a preset threshold and determining whether the state of the wind deflector is stationary; if the current wind speed is less than the preset threshold and the state of the wind deflector is stationary, it is determined that the millimeter-wave radar needs phase compensation in the current control cycle.

[0044] By reading the current fan speed and guide vane angle, if the fan is at high speed or the guide vane is swinging, the current frame is determined to be a high-interference frame, and phase compensation is not required. The lookup table compensation step is skipped, and the compensation value of the historical cycle is maintained. If the fan is stopped or the wind speed is low and the guide vane is stationary, it is determined to be a low-interference frame, and phase compensation is required. The compensation process continues.

[0045] The scheme in this embodiment uses a dual-condition joint judgment mechanism of "current wind speed is less than a preset threshold" and "the air guide plate is in a stationary state" to ensure that the compensation operation is only performed when the air conditioning is running relatively smoothly and the radar echo quality is high, thereby improving the reliability of the compensation results.

[0046] In one embodiment of this example, finding the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value includes: locating the target temperature range where the temperature value is located, and locating the target humidity range where the humidity value is located; and calculating the environmental compensation value for each virtual channel of the antenna array of the millimeter-wave radar based on the target temperature range and the target humidity range.

[0047] Optionally, the temperature range is 5~40℃ (5℃ step, 8 grid points, 7 intervals: temperature interval 0~interval 6), and the humidity range is 25~75%RH (10%RH step, 5 intervals, 6 grid points: humidity interval 0~interval 4). Each temperature and humidity combination stores five 16-bit signed compensation values ​​(VRX2~VRX6), with a total table size of 480 bytes. For example, if the currently collected temperature and humidity values ​​are 26℃ and 26%RH respectively, then the corresponding temperature interval is temperature interval 4 and humidity interval 0.

[0048] Figure 3 This is a schematic diagram of the phase compensation table in an embodiment of the present invention. According to the storage order, T0~T6 are temperature ranges, each temperature range includes 5 humidity ranges (H0~H4), and each humidity range corresponds to a set of addresses VRX2~VRX6, which correspond to the environmental compensation values ​​of the 5 physical channels in the current humidity range and humidity and temperature.

[0049] The solution in this embodiment locates the compensation value by combining three dimensions: temperature range, humidity range, and virtual channel index. This enables precise addressing of the three-dimensional phase compensation table, providing a clear calculation path for subsequently reading the compensation values ​​of each virtual channel from the storage space, and ensuring the accuracy and real-time performance of the compensation value query.

[0050] In one example, calculating the environmental compensation value based on the target temperature range and the target humidity range includes: calculating the storage address of the environmental compensation value in the phase compensation table using the following formula. : ;in, This is the starting address of the phase compensation table. It is the temperature range value of the target temperature range. It is the humidity range value of the target humidity range. For the current virtual channel, This represents the total number of virtual channels. The total number of humidity ranges; read the current virtual channel's environmental compensation value from the storage address of the phase compensation table in the local unit of the air conditioner, wherein the phase compensation table includes temperature dimension, humidity dimension, and virtual channel dimension.

[0051] Based on the above example, the five compensation phase values ​​corresponding to VR2~VR6 can be read from the Flash memory of the air conditioner indoor unit. ~ .

[0052] With the current temperature and humidity values ​​collected being 26℃ and 26%RH respectively, If the value is 5, then the corresponding temperature range is temperature range 4 and humidity range is 0, taking this as an example.

[0053] The current temperature is the [number]th Temperature range 4. = T / 5 5 represents the interval step size, skipping... All the temperature groups mentioned above, there are... A complete temperature group The value is 5, and each group contains ( There are 5 values, 5*5=25.

[0054] The current humidity is the [number]th [number]. indivual, H represents the current humidity value, 26%RH, within the humidity range of 0. This is within the current temperature group; skip all previous humidity groups. (Previously...) A complete humidity group, each group containing Values.

[0055] : The current virtual channel, within the current humidity group, skips all previous channels. The current channel is the [number]th [channel]. There are one, there are in front. Values.

[0056] Optionally, for cases where the data falls between grid points, bilinear interpolation can be further employed; if interpolation results in excessive CPU load, the nearest neighbor point can be used directly. Phase compensation is performed on the virtual channel data of the distance gate where the target is located.

[0057] Optionally, if the local storage space is large, an Excel spreadsheet can be stored locally, using temperature ranges and humidity files as keywords to map matching environmental compensation values ​​VRX2~VRX6. The corresponding environmental compensation value can be directly looked up through the spreadsheet.

[0058] In this example, a linear calculation formula using the starting address plus a fixed offset is employed, requiring only a few hundred bytes of Flash space to store all compensation values. Furthermore, the addressing process involves only integer multiplication and addition operations, allowing the table lookup operation to be completed on the millimeter-wave radar main controller with minimal overhead, without affecting the main controller's original temperature control cycle. Moreover, storing the phase compensation table in tabular format locally reduces the storage space required for the phase compensation table. This enables full-lifecycle self-calibration of the air conditioner's millimeter-wave radar antenna phase on resource-constrained embedded platforms, ensuring long-term accurate operation of the intelligent air supply function, and is fully compatible with existing air conditioner hardware architectures without requiring additional hardware.

[0059] In one embodiment of this invention, compensating the first original phase with the environmental compensation value to obtain the corrected phase includes: calculating the corrected phase for each virtual channel of the antenna array using the following formula. : For virtual channel indexing, This is the first original phase. This is the environmental compensation value. The rotation factor is used to reverse the first original phase. Angle, where j is the imaginary unit.

[0060] in, When k=1, it is a reference channel and does not participate in compensation.

[0061] The scheme of this embodiment achieves a precise compensation operation by rotating the original phase in the opposite direction by an angle φ by constructing a complex rotation factor and multiplying it by the original complex data. The computation is small (only complex multiplication is involved), and it can accurately eliminate the phase shift introduced by the dielectric properties of the shell without changing the signal amplitude and reconstructing the echo signal.

[0062] In one implementation scenario of this embodiment, before controlling the millimeter-wave radar to detect the location of a person in the room where the air conditioner indoor unit is located based on the corrected phase, the method further includes: determining whether the air conditioner indoor unit meets the shutdown correction condition during the shutdown phase of the air conditioner indoor unit; if the air conditioner indoor unit meets the shutdown correction condition, obtaining the second original phase of the antenna array of the millimeter-wave radar of the air conditioner indoor unit relative to a fixed reference object; reading the preset phase of the fixed reference object from the local memory of the air conditioner indoor unit; calculating a fixed compensation value obtained by subtracting the preset phase from the second original phase; performing reverse compensation on the corrected phase based on the fixed compensation value, and updating the corrected phase using the compensated result.

[0063] After several months of operation, the outer casing of an air conditioner may experience a gradual dielectric shift due to aging and dust accumulation. In this implementation scenario, the air conditioner automatically corrects this shift during its natural shutdown period.

[0064] Optionally, the shutdown correction conditions are met simultaneously if the following conditions are met: the compressor has been stopped for more than 10 minutes; the fan has been stopped for more than 10 minutes; and the radar has detected no moving objects in the room for 30 consecutive seconds. Once the conditions are met, enable the transmitting antenna matrix (e.g., TX1 and TX2) to acquire static echoes from a fixed background (walls, furniture) in the room. Extract the phase of 6 virtual channels, and calculate the relative phase of VR2~VR6 with VR1 as a reference. Read the reference background phase from Flash for this grid point. Calculate the incremental correction value This is written to the EEPROM (power-down retained). During subsequent normal operation, the final compensated phase is: k = 2~6, where, Dielectric changes caused by temperature and humidity are related to environmental conditions, i.e., environmental compensation values. The gradual drift caused by aging and dust accumulation is the fixed compensation value.

[0065] The solution in this embodiment calculates the aging drift correction value using the static echo of a fixed reference object (wall, furniture, etc.) during the air conditioner shutdown phase (compressor stops, fan stops, no one is in the room), and performs reverse compensation on the correction phase. This achieves automatic correction of long-term, slowly changing drifts such as aging and dust accumulation. Combined with real-time temperature and humidity lookup compensation during daily operation, a full life-cycle self-calibration mechanism of "real-time temperature and humidity compensation + long-term aging correction" is formed to ensure the radar's angle measurement accuracy throughout the entire product life cycle.

[0066] This embodiment addresses the issue that the phase drift between antenna channels in an air-conditioning millimeter-wave radar is caused by changes in the dielectric properties of the outer casing with temperature and humidity, resulting in a decrease in angle measurement accuracy. Existing fixed calibration methods cannot keep up with environmental changes, and complex compensation algorithms are difficult to run in real time on the main control unit of the millimeter-wave radar.

[0067] Figure 4 This is a flowchart of radar phase compensation in an embodiment of the present invention. Overall, the air conditioner uses the compressor / fan / air guide vane status to identify periods of airflow disturbance, enabling phase compensation only during low-interference windows to avoid additional errors introduced by vibration and airflow. When the compressor naturally stops and no one is in the room, using the fixed background of the room as a passive reference, it collects static echoes to calculate incremental correction values ​​for aging drift and stores them in EEPROM, achieving maintenance-free self-correction. Utilizing the existing temperature and humidity sensors at the air conditioner's return air vents, the compensated phase of each channel of the MIMO virtual array is directly obtained through a three-dimensional lookup table (temperature-humidity-virtual channel). The compensation table occupies only a few hundred bytes of Flash memory, requiring only a few fixed-point multiplications per frame. The process includes: reading the fan speed and air guide vane angle; determining if there is high interference (high fan speed / air guide vane oscillation); if so, skipping the lookup table compensation and maintaining the previous (historical) compensation value; if not, reading the internal temperature and humidity sensors of the air conditioner, obtaining the compensated phase through a lookup table, performing complex multiplication phase compensation, and sending the data from the 6 virtual channels to the algorithm processing module.

[0068] The solution in this embodiment, through real-time lookup table compensation, can reduce the angle error caused by changes in the dielectric of the outer casing by more than 60%, ensuring the accuracy and reliability of functions such as wind avoidance and wind following. Utilizing the air conditioner's existing internal temperature and humidity sensor, there is no need to add an additional sensor to the radar, resulting in zero increase in BOM cost. The phase compensation table requires only a few hundred bytes of storage space, and its operation involves only lookup table and addition operations, which can be completed entirely in the air conditioner's existing millimeter-wave radar main control via interrupts, without affecting the main control temperature control cycle, resulting in extremely low embedded overhead. It achieves full lifecycle self-calibration of the air conditioner's millimeter-wave radar antenna phase: during daily operation, real-time lookup table compensation is achieved by reusing the return air vent temperature and humidity sensor, and interference is avoided by combining operating status; during long-term use, aging drift is automatically corrected using the natural shutdown window and the fixed background of the room. The entire process requires no additional hardware, no user cooperation, and does not affect the normal operation and functions of the air conditioner.

[0069] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, refrigerator, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0070] Example 2 This embodiment also provides an air conditioning control device and an air conditioner based on a radar sensor. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. The term "module" as used below refers to a combination of software and hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also conceivable.

[0071] Figure 5 This is a structural block diagram of an air conditioning control device based on a radar sensor according to an embodiment of the present invention, as shown below. Figure 5 As shown, it includes: The first acquisition module 51 is used to acquire the first original phase of the antenna array of the millimeter-wave radar of the air conditioner indoor unit during the operation phase of the air conditioner indoor unit, and to acquire the temperature value and humidity value collected by the indoor temperature sensor and indoor humidity sensor of the air conditioner respectively, wherein the air conditioner indoor unit includes the millimeter-wave radar, the temperature sensor and the humidity sensor. The lookup module 52 is used to look up the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value. The first compensation module 53 is used to compensate the first original phase with the environmental compensation value to obtain a corrected phase; The detection module 54 is used to control the millimeter-wave radar to detect the location of a human body in the room where the indoor unit of the air conditioner is located based on the corrected phase.

[0072] Optionally, the search module includes: A positioning unit is used to locate the target temperature range in which the temperature value is located, and to locate the target humidity range in which the humidity value is located; A calculation unit is used to calculate an environmental compensation value for each virtual channel of the antenna array of the millimeter-wave radar, based on the target temperature range and the target humidity range.

[0073] Optionally, the computing unit includes: The calculation subunit is used to calculate the storage address of the environmental compensation value in the phase compensation table using the following formula. : ;in, This is the starting address of the phase compensation table. It is the temperature range value of the target temperature range. It is the humidity range value of the target humidity range. For the current virtual channel, H_steps represents the total number of virtual channels and the total number of humidity ranges. The reading subunit is used to read the current virtual channel's environmental compensation value from the storage address of the phase compensation table on the local side of the air conditioner indoor unit, wherein the phase compensation table includes temperature dimension, humidity dimension, and virtual channel dimension.

[0074] Optionally, the first compensation module includes: The calculation unit is used to calculate the corrected phase for each virtual channel of the antenna array using the following formula. : For virtual channel indexing, This is the first original phase. This is the environmental compensation value. The rotation factor is used to reverse the first original phase. Angle, where j is the imaginary unit.

[0075] Optionally, the device further includes: The data acquisition module is used to acquire the current wind speed and air guide plate status of the indoor unit of the air conditioner before the search module searches for the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value. The judgment module is used to determine whether the millimeter-wave radar needs to perform phase compensation in the current control cycle based on the current wind speed and the state of the wind deflector. The determination module is used to determine the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value if the millimeter-wave radar needs to perform phase compensation in the current control cycle.

[0076] Optionally, the determination module includes: The judgment unit is used to determine whether the current wind speed is less than a preset threshold and whether the wind guide plate is in a stationary state. The determining unit is used to determine that the millimeter-wave radar needs to perform phase compensation in the current control cycle if the current wind speed is less than a preset threshold and the wind guide plate is in a stationary state.

[0077] Optionally, the device further includes: The judgment module is used to determine whether the air conditioner indoor unit meets the shutdown correction conditions during the shutdown phase of the air conditioner indoor unit before the detection module controls the millimeter-wave radar to detect the position of the human body in the room where the air conditioner indoor unit is located based on the corrected phase. The second acquisition module is used to acquire the second original phase of the antenna array of the millimeter-wave radar of the air conditioner relative to a fixed reference object if the indoor unit of the air conditioner meets the shutdown correction conditions. A reading module is used to read the preset phase of the fixed reference object from the local memory of the indoor unit of the air conditioner; The calculation module is used to calculate the fixed compensation value obtained by subtracting the preset phase from the second original phase; The second compensation module is used to perform reverse compensation on the corrected phase based on the fixed compensation value, and update the corrected phase using the compensation result.

[0078] This invention also provides an air conditioning control system based on a radar sensor, comprising: an indoor air conditioning unit and a controller. The indoor air conditioning unit includes the millimeter-wave radar, a temperature sensor, and a humidity sensor. The controller includes the air conditioning control device based on a radar sensor described in the above embodiments.

[0079] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0080] Example 3 Embodiments of the present invention also provide a storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0081] Optionally, in this embodiment, the storage medium can be configured to store a computer program for execution: S1, during the operation of the indoor unit of the air conditioner, the first original phase of the antenna array of the millimeter-wave radar of the indoor unit of the air conditioner is obtained, and the temperature value and humidity value collected by the indoor temperature sensor and indoor humidity sensor of the air conditioner are obtained respectively, wherein the indoor unit of the air conditioner includes the millimeter-wave radar, the temperature sensor and the humidity sensor. S2, find the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value; S3, the first original phase is compensated using the environmental compensation value to obtain the corrected phase; S4, control the millimeter-wave radar to detect the location of a human in the room where the indoor unit of the air conditioner is located based on the corrected phase.

[0082] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0083] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0084] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0085] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program: S1, during the operation of the indoor unit of the air conditioner, the first original phase of the antenna array of the millimeter-wave radar of the indoor unit of the air conditioner is obtained, and the temperature value and humidity value collected by the indoor temperature sensor and indoor humidity sensor of the air conditioner are obtained respectively, wherein the indoor unit of the air conditioner includes the millimeter-wave radar, the temperature sensor and the humidity sensor. S2, find the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value; S3, the first original phase is compensated using the environmental compensation value to obtain the corrected phase; S4, control the millimeter-wave radar to detect the location of a human in the room where the indoor unit of the air conditioner is located based on the corrected phase.

[0086] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0087] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0088] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0089] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of units or modules may be electrical or other forms.

[0090] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0091] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0092] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, controller, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0093] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An air conditioning control method based on radar sensors, characterized in that, include: During the operation of the indoor unit of the air conditioner, the first original phase of the antenna array of the millimeter-wave radar of the indoor unit of the air conditioner is acquired, and the temperature value and humidity value collected by the indoor temperature sensor and indoor humidity sensor of the air conditioner are acquired respectively. The indoor unit of the air conditioner includes the millimeter-wave radar, the temperature sensor, and the humidity sensor. The environmental compensation value of the millimeter-wave radar is found based on the temperature and humidity values. The first original phase is compensated using the environmental compensation value to obtain the corrected phase; The millimeter-wave radar is controlled to detect the location of a human in the room where the indoor unit of the air conditioner is located based on the corrected phase.

2. The method according to claim 1, characterized in that, Finding the environmental compensation value for the millimeter-wave radar based on the temperature and humidity values ​​includes: Locate the target temperature range containing the temperature value, and locate the target humidity range containing the humidity value; For each virtual channel of the antenna array of the millimeter-wave radar, an environmental compensation value is calculated based on the target temperature range and the target humidity range.

3. The method according to claim 2, characterized in that, The environmental compensation value is calculated based on the target temperature range and the target humidity range, including: The storage address of the environmental compensation value in the phase compensation table is calculated using the following formula. : ;in, This is the starting address of the phase compensation table. It is the temperature range value of the target temperature range. It is the humidity range value of the target humidity range. For the current virtual channel, This represents the total number of virtual channels. This represents the total number of humidity ranges. The environmental compensation value of the current virtual channel is read from the storage address of the phase compensation table of the local unit of the air conditioner. The phase compensation table includes temperature dimension, humidity dimension and virtual channel dimension.

4. The method according to claim 1, characterized in that, The first original phase is compensated using the environmental compensation value to obtain the corrected phase, which includes: For each virtual channel of the antenna array, the corrected phase is calculated using the following formula. : For virtual channel indexing, This is the first original phase. This is the environmental compensation value. The rotation factor is used to reverse the first original phase. Angle, where j is the imaginary unit.

5. The method according to claim 1, characterized in that, Before finding the environmental compensation value of the millimeter-wave radar based on the temperature and humidity values, the method further includes: Collect the current fan speed and air guide plate status of the indoor unit of the air conditioner; Based on the current wind speed and the state of the wind deflector, determine whether the millimeter-wave radar needs to perform phase compensation in the current control cycle; If the millimeter-wave radar needs to perform phase compensation in the current control cycle, the environmental compensation value of the millimeter-wave radar is determined based on the temperature value and the humidity value.

6. The method according to claim 5, characterized in that, Determining whether the millimeter-wave radar needs phase compensation in the current control cycle based on the current wind speed and the state of the wind deflector includes: Determine whether the current wind speed is less than a preset threshold, and determine whether the wind guide plate is in a stationary state; If the current wind speed is less than a preset threshold and the wind deflector is stationary, it is determined that the millimeter-wave radar needs to perform phase compensation in the current control cycle.

7. The method according to claim 1, characterized in that, Before controlling the millimeter-wave radar to detect the location of a human in the room where the indoor unit of the air conditioner is located based on the corrected phase, the method further includes: During the shutdown phase of the indoor unit of the air conditioner, it is determined whether the indoor unit of the air conditioner meets the shutdown correction conditions; If the indoor unit of the air conditioner meets the shutdown correction conditions, obtain the second original phase of the antenna array of the millimeter-wave radar of the indoor unit relative to the fixed reference object; Read the preset phase of the fixed reference from the local memory of the indoor unit of the air conditioner; Calculate the fixed compensation value obtained by subtracting the preset phase from the second original phase; The corrected phase is reverse-compensated based on the fixed compensation value, and the corrected phase is updated using the compensation result.

8. An air conditioning control device based on a radar sensor, characterized in that, include: The first acquisition module is used to acquire the first original phase of the antenna array of the millimeter-wave radar of the air conditioner indoor unit during the operation phase of the air conditioner indoor unit, and to acquire the temperature value and humidity value collected by the indoor temperature sensor and indoor humidity sensor of the air conditioner respectively, wherein the air conditioner indoor unit includes the millimeter-wave radar, the temperature sensor and the humidity sensor. A lookup module is used to look up the environmental compensation value of the millimeter-wave radar based on the temperature value and the humidity value. The first compensation module is used to compensate the first original phase using the environmental compensation value to obtain a corrected phase; The detection module is used to control the millimeter-wave radar to detect the location of a human body in the room where the indoor unit of the air conditioner is located based on the corrected phase.

9. An air conditioner, characterized in that, include: An air conditioner indoor unit and a controller, wherein the air conditioner indoor unit includes the millimeter-wave radar, a temperature sensor, and a humidity sensor, and the controller includes the air conditioner control device based on a radar sensor as described in claim 8.

10. A storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the steps of the air conditioning control method based on the radar sensor as described in any one of claims 1 to 7 when it is run.

11. An electronic device comprising a processor, a communication interface, a memory, and a communication bus, wherein, The processor, communication interface, and memory communicate with each other via a communication bus; among which: Memory, used to store computer programs; A processor is configured to execute the steps of the air conditioning control method based on a radar sensor as described in any one of claims 1 to 7 by running a program stored in memory.

Images