CN-116734807-B - Air conditioning device

CN116734807BCN 116734807 BCN116734807 BCN 116734807BCN-116734807-B

Abstract

An air conditioning apparatus includes a ranging module having an image acquisition part including a monocular camera configured to acquire an image of an air-conditioned room by photographing, the image may include a reference object or may include both a reference object and a target object, and a distance generation part configured to generate the reference object in the image of the air-conditioned room acquired by photographing the image acquisition part based on a self position and posture of the monocular camera and physical parameters of the air-conditioned room, and to estimate an estimated distance between the ranging module and the target object using the image including both the reference object and the target object and a real distance of the reference object. The invention has the advantages of high operation speed, no need of distortion correction, elimination of distortion influence and high ranging precision.

Inventors

HAN HAILI
SUN TIEJUN
YANG XIAOBO
MENG JIANJUN

Assignees

青岛海信日立空调系统有限公司

Dates

Publication Date: 20260508
Application Date: 20230511

Claims (9)

1. An air conditioning apparatus, comprising: a distance measuring module is provided with: an image acquisition part including a monocular camera configured to acquire an image of an air-conditioned room by photographing, the image may include a reference object and a target object at the same time, and A distance generation unit configured to generate the reference object in the image of the air-conditioning room captured by the image capturing unit based on the position and posture of the monocular camera and the physical parameters of the air-conditioning room, and to estimate an estimated distance between the ranging module and the target object using an image including both the reference object and the target object and a real distance of the reference object; the distance generation section is configured to perform the following steps to generate the reference object in the image of the air-conditioning room captured by the image capturing section: Controlling an image acquisition part to acquire a first image by shooting so as to determine a two-dimensional view field range; Dividing a two-dimensional view field range into a plurality of two-dimensional units by a set unit and taking the two-dimensional units as reference objects, wherein the two-dimensional units are polygons; Calibrating a plurality of angular points of two-dimensional units in the first image, and storing pixel coordinates of each angular point in a two-dimensional view field; Collecting physical distances between partial angular points of a plurality of two-dimensional units and projection points of a monocular camera in an image collecting part in the ground direction as real distances of the reference object; Establishing a two-dimensional unit distance table, wherein the two-dimensional unit distance table comprises corner coordinates of each two-dimensional unit, physical distances of partial corner points, line numbers of the two-dimensional units and column numbers of the two-dimensional units.
2. An air conditioning unit according to claim 1, wherein, The distance generation section is configured to perform the following steps to estimate an estimated distance between the ranging module and a target object using an image including both a reference object and the target object, and a true distance of the reference object: controlling an image acquisition part to acquire a second image through shooting, wherein the second image comprises a target object; Determining a target object in an image comprising the target object by using a target detection model and selecting the target object in a frame manner; Determining a labeling coordinate point of the target object; Estimating the relative position relationship between the labeling coordinate points and all the reference objects, and determining at least one two-dimensional unit where the labeling coordinate points of the target objects are located or the edge of the two-dimensional unit where the labeling coordinate points of the target objects are located; and estimating the distance between the labeling coordinate point and the monocular camera based on the physical distance of the partial angular points of the corresponding two-dimensional units and the labeling coordinates of the labeling coordinate point, and taking the distance as the estimated distance between the ranging module and the target object.
3. An air conditioning unit according to claim 2, characterized in that, The distance generation section is configured to perform the following steps to determine at least one of the two-dimensional units in which the labeling coordinate point of the target object is located: defining the edge of any two-dimensional unit as a plurality of edge vectors which are connected in succession in the same sequence; establishing a target vector between any one corner point of the two-dimensional unit and a marked coordinate point; calculating the cross multiplication of any one of the edge vectors and the target vector; And when the condition that the cross product of all edge vectors and target vectors of the two-dimensional units is greater than 0 is satisfied, estimating that the marked coordinate point is positioned in the corresponding two-dimensional unit.
4. An air conditioning unit according to claim 2, characterized in that, The distance generation section is configured to perform the following steps to determine that the labeling coordinate point of the target object is at an edge of at least one of the two-dimensional units: defining the edge of any two-dimensional unit as a plurality of edge vectors which are connected in succession in the same sequence; establishing a target vector between any one corner point of the two-dimensional unit and a marked coordinate point; calculating the cross multiplication of any one of the edge vectors and the target vector; And when the cross multiplication result of one of the edge vectors and the target vector of the two-dimensional unit is equal to 0, estimating that the marked coordinate point is positioned on the edge of the corresponding two-dimensional unit.
5. An air conditioning unit according to claim 2, characterized in that, The distance generation section is further configured to perform the following steps to estimate an estimated distance between the ranging module and the target object using an image including both the reference object and the target object, and a true distance of the reference object: the target object has a set height in the height direction of the air-conditioning room; determining a labeling coordinate point of a first position of a target object, wherein the first position corresponds to the bottom of the height direction of the target object; determining a labeling coordinate point of a second position of the target object, wherein the second position corresponds to the top of the target object in the height direction; Estimating the relative position relation between the marked coordinate point of the first position and all the reference objects, and determining at least one two-dimensional unit where the marked coordinate point of the first position is located or the edge of the two-dimensional unit where the marked coordinate point of the first position is located; Estimating the distance between the marked coordinate point of the first position and the monocular camera based on the physical distance of the partial angular points of the corresponding two-dimensional units and the marked coordinates of the marked coordinate point of the first position; Estimating the relative position relation between the marked coordinate point of the second position and all the reference objects, and determining at least one two-dimensional unit where the marked coordinate point of the second position is located or the edge of the two-dimensional unit where the marked coordinate point of the second position is located; Estimating the distance between the marked coordinate point of the second position and the monocular camera based on the physical distance of the partial angular point of the corresponding two-dimensional unit and the marked coordinate of the marked coordinate point of the second position; According to the labeling coordinates of the labeling coordinate points of the first position, the distance between the labeling coordinate points of the first position and the monocular camera, the height of the monocular camera, and the pitch angle of the labeling coordinate points of the first position relative to the monocular camera are solved; according to the labeling coordinates of the labeling coordinate points of the second position, the distance between the labeling coordinate points of the second position and the monocular camera, the height of the monocular camera, and the pitch angle of the labeling coordinate points of the second position relative to the monocular camera are solved; Estimating an estimated physical distance between the second location and the monocular camera; And taking the distance between the marked coordinate point of the first position and the monocular camera and the physical distance between the second position and the monocular camera as the estimated physical distance between the ranging module and the target object.
6. An air conditioning unit according to claim 5, characterized in that, The target object is a person; The first position is a foot part of a human body, and the marked coordinate point of the first position is a midpoint of the foot part; The second position is the head of the human body, and the marked coordinate point of the second position is the midpoint of the head.
7. An air conditioning apparatus, comprising: a distance measuring module is provided with: An image acquisition part including a monocular camera, the image acquisition part being configured to acquire a first image and a second image of an air-conditioning room by photographing, the second image including a target object, the target object being a person; A distance generation section configured to perform the following steps to estimate a distance between the target object and the ranging module: Dividing a two-dimensional view field range determined based on the first image into a plurality of two-dimensional units by a set unit based on the self position and the posture of the monocular camera and the physical parameters of an air-conditioning room, and taking the two-dimensional units as reference objects, wherein the two-dimensional units are polygons; Calibrating a plurality of angular points of two-dimensional units in the first image, and storing pixel coordinates of each angular point in a two-dimensional view field; Collecting physical distances between partial angular points of a plurality of two-dimensional units and projection points of a monocular camera in an image collecting part in the ground direction as real distances of the reference object; Establishing a two-dimensional unit distance table, wherein the two-dimensional unit distance table comprises corner coordinates of each two-dimensional unit, physical distances of partial corner points, line numbers of the two-dimensional units and column numbers of the two-dimensional units; Determining a labeling coordinate point of the target object; And estimating the relative position relation between the labeling coordinate point and all the reference objects, determining at least one two-dimensional unit or the edge of the two-dimensional unit where the labeling coordinate point of the target object is located, and taking the physical distance of the two-dimensional unit or the edge of the two-dimensional unit as the distance between the estimated target object and the ranging module.
8. An air conditioning unit according to claim 7, characterized in that, The distance generation section is configured to perform the following steps to determine at least one of the two-dimensional units in which the labeling coordinate point of the target object is located: defining the edge of any two-dimensional unit as a plurality of edge vectors which are connected in succession in the same sequence; establishing a target vector between any one corner point of the two-dimensional unit and a marked coordinate point; calculating the cross multiplication of any one of the edge vectors and the target vector; And when the condition that the cross product of all edge vectors and target vectors of the two-dimensional units is greater than 0 is satisfied, estimating that the marked coordinate point is positioned in the corresponding two-dimensional unit.
9. An air conditioning unit according to claim 7, characterized in that, The distance generation section is configured to perform the following steps to determine that the labeling coordinate point of the target object is at an edge of at least one of the two-dimensional units: defining the edge of any two-dimensional unit as a plurality of edge vectors which are connected in succession in the same sequence; establishing a target vector between any one corner point of the two-dimensional unit and a marked coordinate point; calculating the cross multiplication of any one of the edge vectors and the target vector; And when the cross multiplication result of one of the edge vectors and the target vector of the two-dimensional unit is equal to 0, estimating that the marked coordinate point is positioned on the edge of the corresponding two-dimensional unit.

Description

Air conditioning device Technical Field The invention relates to the technical field of air conditioning, in particular to an air conditioning device. Background Air conditioning technology tends to mature, and the requirements of users on comfort and energy conservation are also increasing. The air conditioning equipment can acquire various information such as target distance, posture, movement state and the like of a human body or an article, can provide a data source for intelligent operation of the air conditioner well, and can perform functions such as automatic startup when a person in an air conditioning room is detected, automatic shutdown when no person is in the air conditioning room, intelligent air supply and the like. A method of detecting a target distance by an air conditioner having an acoustic transmitter and a receiver, which includes the steps of transmitting a first acoustic wave to a target for a predetermined time by the acoustic transmitter, calculating a distance of the first target if the first acoustic wave is reflected by the target and received by the acoustic receiver for a first predetermined time T1, transmitting a second acoustic wave for a time longer than the predetermined time by the acoustic transmitter if the first acoustic wave is not received by the acoustic receiver for the first predetermined time T1, calculating a second target distance if the second acoustic wave is reflected by the target for a second time period T2 and received by the acoustic receiver for a predetermined intensity, and determining that any target is not detected if the second acoustic wave is not received by the acoustic receiver for the second time period T2, may be adopted in the prior art. '' However, ultrasonic detection is susceptible to temperature interference, and particularly when used indoors, it is easily absorbed by wall sound absorbing materials or sound insulating materials, and ultrasonic detection cannot measure azimuth. The above information disclosed in this background section is only for enhancement of understanding of the background section of the application and therefore it may not form the prior art that is already known to those of ordinary skill in the art. Disclosure of Invention In order to solve the problems that the existing air conditioner adopting ultrasonic ranging is easily affected by the environment and the ultrasonic detection cannot detect the direction, the first aspect of the invention designs and provides an air conditioning device. An air conditioning apparatus includes a ranging module having an image acquisition section including a monocular camera configured to acquire an image of an air-conditioning room by photographing, the image may include a reference object or may include both a reference object and a target object, and a distance generation section configured to generate the reference object in the image of the air-conditioning room acquired by photographing the image acquisition section based on a self position and posture of the monocular camera and physical parameters of the air-conditioning room, and to estimate an estimated distance between the ranging module and the target object using the image including both the reference object and the target object and a real distance of the reference object. In some optional embodiments of the present application, the distance generation part is configured to perform the steps of controlling the image acquisition part to acquire a first image by shooting to determine a two-dimensional view field range, dividing the two-dimensional view field range into a plurality of two-dimensional units by a set unit and using the two-dimensional units as a reference object, calibrating angular points of the plurality of two-dimensional units in the first image, storing pixel coordinates of each angular point in the two-dimensional view field, acquiring physical distances between partial angular points of the plurality of two-dimensional units and projection points of a monocular camera in the image acquisition part in a ground direction as real distances of the reference object, and establishing a two-dimensional unit distance table, wherein the two-dimensional unit distance table comprises angular point coordinates of each two-dimensional unit, the physical distances of the partial angular points, line numbers of the two-dimensional units and column numbers of the two-dimensional units. In some alternative embodiments of the application, the two-dimensional unit is a polygon. In some alternative embodiments of the application, the two-dimensional unit is square. In some optional embodiments of the present application, the two-dimensional unit distance table includes coordinates of corner points of each two-dimensional unit, physical distances of partial corner points, line numbers of the two-dimensional units, and column numbers of the two-dimensional units. In some optional embodiments of the present application,