CN113484840B - Target positioning method for household appliance working space based on radar and household appliance system - Google Patents

Abstract

The invention belongs to the field of household appliance control, and particularly provides a target positioning method and a household appliance system for a household appliance working space based on a radar, aiming at solving the problem of realizing the positioning of personnel in the household appliance working space by using independently installed radars. For this purpose, the method of the invention comprises the steps of respectively establishing a first space rectangular coordinate system and a second space rectangular coordinate system which take the central positions of the household appliances and the radars as reference points; acquiring coordinates of the target in a second space rectangular coordinate system through a radar; and converting the coordinates of the target in the second space rectangular coordinate system into the coordinates in the first space rectangular coordinate system according to the coordinate transformation matrix to obtain the position of the target in the home electric space. By applying the method of the invention, the intelligent control of the household appliance according to the position of the target in the working space of the household appliance can be realized, and the comfort of the user is improved; meanwhile, the intelligent household appliance control system can be used for modifying a household appliance system which cannot acquire the position of a person, and the intelligent household appliance control is realized, so that the intelligent household appliance control system has a good application prospect.

Description

Target positioning method and home appliance system in home appliance workspace based on radar

Technical Field

The present invention belongs to the field of household appliance control, and specifically provides a target positioning method of a household appliance working space based on radar and a household appliance system.

Background technique

Radar has been widely used in smart home appliances because it has the ability to accurately detect the spatial position of targets, is flexible in environmental adaptability, is not easily affected by environmental conditions such as temperature, humidity, brightness, and smoke, and can also protect people's privacy. For example, a smart air conditioner equipped with a millimeter-wave radar sensor can monitor the position of people in real time, and change the direction and speed of the air according to the distance and relative position between the person and the air conditioner; when the millimeter-wave radar sensor detects multiple people, it can be controlled through the wind sweeping mode.

When the radar sensor is integrated with the home appliance, the target position detected by the radar is also the position of the home appliance relative to the target, and the home appliance can directly use the target position data detected by the radar to control the operation of the home appliance. However, for home appliances without integrated radar sensors, and when the installation position of the radar in the home appliance working space cannot be the same, how to achieve the rapid conversion of the target from the radar space position to the home appliance space position, and achieve intelligent control of the home appliance according to the position of the target in the home appliance working space, has become a problem to be solved in this field.

Accordingly, a new solution is needed in the art to solve the above problems.

Summary of the invention

The present invention aims to solve the above technical problem, namely, how to convert the position of a target acquired by a separately installed radar in a radar coordinate system into the position of the target in a home appliance coordinate system, thereby realizing intelligent control of the home appliance according to the position of the target in the home appliance working space.

In a first aspect, the present invention provides a method for locating a target in a workspace of a household appliance based on radar, the method comprising:

Establishing a first spatial rectangular coordinate system with household appliances as reference objects;

Establishing a second space rectangular coordinate system with the center position of the radar as the coordinate origin;

Acquiring the coordinates of the target in the second spatial rectangular coordinate system by the radar;

Converting the coordinates of the target in the second spatial rectangular coordinate system to the coordinates in the first spatial rectangular coordinate system according to the coordinate transformation matrix to obtain the position of the target in the working space of the home appliance;

The step of obtaining the coordinate transformation matrix specifically includes:

Calibration objects are arranged in the home appliance workspace, the number of the calibration objects is not less than 2, and one of the calibration objects is located at the origin of the first spatial rectangular coordinate system, recorded as the origin calibration point, and the other calibration objects are located on the coordinate axes of the first spatial rectangular coordinate system, recorded as non-origin calibration points, and when the number of the other calibration objects is greater than one, the other calibration objects are respectively located on different coordinate axes in the first spatial rectangular coordinate system;

Acquire the coordinates of the calibration object in the second spatial rectangular coordinate system by using the radar;

Calculating the coordinates of the calibration object in the first spatial rectangular coordinate system according to the coordinates of the calibration object in the second spatial rectangular coordinate system;

The coordinate transformation matrix is obtained according to the coordinates of all calibration objects in the first space rectangular coordinate system and the second space rectangular coordinate system.

In one embodiment of the above-mentioned target positioning method for the home appliance working space based on radar, the step of "calculating the coordinates of the calibration object in the first spatial rectangular coordinate system according to the coordinates of the calibration object in the second spatial rectangular coordinate system" specifically includes:

Obtaining the coordinates of the calibration object in the first spatial rectangular coordinate system according to a first distance calculation formula between the non-origin calibration point and the origin calibration point in the first spatial rectangular coordinate system, and a second distance calculation formula between the non-origin calibration point and the origin calibration point in the second spatial rectangular coordinate system;

The first distance calculation formula is equal to the second distance calculation formula.

In one embodiment of the above-mentioned radar-based target positioning method for the home appliance working space, the coordinate transformation matrix includes a first transformation matrix or a second transformation matrix, the first transformation matrix is a two-dimensional space transformation matrix, and the second transformation matrix is a three-dimensional space transformation matrix.

In one embodiment of the above-mentioned radar-based target positioning method for a household appliance workspace, when the output coordinate data of the radar is two-dimensional data, the number of the calibration objects is 2, and the coordinate transformation matrix is the first transformation matrix.

In one embodiment of the above-mentioned target positioning method in the home appliance working space based on radar, the formula for calculating the position of the target in the home appliance working space according to the first transformation matrix is:

Wherein, T is the first transformation matrix, x′ _T and y′ _T are the coordinates of the target in the first spatial rectangular coordinate system, and x _T and y _T are the coordinates of the target in the second spatial rectangular coordinate system.

In one embodiment of the above-mentioned radar-based target positioning method for a household appliance working space, when the output coordinate data of the radar is three-dimensional data, the number of the calibration objects is 4, and the coordinate transformation matrix is the second transformation matrix.

In one embodiment of the above-mentioned target positioning method in the home appliance working space based on radar, the formula for calculating the position of the target in the home appliance working space according to the second transformation matrix is:

Wherein, M is the second transformation matrix, x′ _M , y′ _M and z′ _M are the coordinates of the target in the first space rectangular coordinate system, and x _M , y _M and z _M are the coordinates of the target in the second space rectangular coordinate system.

In one embodiment of the above-mentioned radar-based target positioning method for the home appliance workspace, the radar includes at least one of a millimeter wave radar, a laser radar, and an ultrasonic radar.

In a second aspect, the present invention provides a home appliance system, comprising a memory, a processor, and a control program of the home appliance system stored in the memory and executable on the processor, wherein the control program of the home appliance system, when executed by the processor, implements a target positioning method for a home appliance working space based on radar as described in any of the above-mentioned schemes.

In one embodiment of the above-mentioned home appliance system, the home appliance is an air conditioner, and the home appliance system is an air conditioning system. When the control program of the air conditioning system is executed by the processor, the operating state of the air conditioner is controlled according to the position of the target in the home appliance working space.

In the case of adopting the above technical solution, the present invention can obtain the coordinates of the calibration point through the millimeter wave radar according to the position of the calibration object in the workspace of the home appliance, and automatically calculate the coordinate transformation matrix between the home appliance space and the radar space. After the millimeter wave radar obtains the coordinates of the target in the radar space, the coordinates of the target in the radar space can be converted to the coordinates in the home appliance space according to the coordinate transformation matrix. Through the present invention, the home appliance can be intelligently controlled according to the position of the target in the workspace of the home appliance, thereby improving the comfort of the user. At the same time, the method of the present invention can be used to transform the home appliance system that cannot obtain the position of the personnel in the workspace of the home appliance, and improve the intelligence of the home appliance, so it has good application prospects.

BRIEF DESCRIPTION OF THE DRAWINGS

The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings, in which:

FIG. 1 is a flow chart showing the main steps of a method for locating a target in a workspace of a home appliance based on radar according to an embodiment of the present invention.

FIG. 2 is a flowchart of a specific implementation of step S104 in FIG. 1 .

FIG. 3 is a schematic diagram of three-dimensional space coordinate transformation of the present invention.

FIG. 4 is a schematic diagram of the position of the calibration object of the present invention in the work space of a household appliance.

Detailed ways

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

First, read Figure 1, which is a flowchart of the main steps of the target positioning method of the home appliance workspace based on radar according to an embodiment of the present invention. As shown in Figure 1, the target positioning method of the present invention includes:

Step S101: establishing a first spatial rectangular coordinate system with the home appliance as a reference object;

Step S102: establishing a second spatial rectangular coordinate system with the center position of the radar as the coordinate origin;

Step S103: acquiring the coordinates of the target in the second space rectangular coordinate system through the radar;

Step S104: transforming the coordinates of the target in the second space rectangular coordinate system into the coordinates in the first space rectangular coordinate system according to the coordinate transformation matrix, and obtaining the position of the target in the home appliance working space.

In step S101, the origin of the first spatial rectangular coordinate system is usually set on a straight line passing through the center of the home appliance and perpendicular to the ground, such as the center of the home appliance, the ground directly below the center of the home appliance, etc., so that the home appliance can determine the relative position relationship between the target and itself. The first spatial rectangular coordinate system can be a two-dimensional coordinate system or a three-dimensional coordinate system, which mainly depends on whether the data output by the radar is two-dimensional data or three-dimensional data. In addition, the x'axis and y'axis of the first spatial rectangular coordinate system are usually set to be parallel to the ground of the home appliance working space.

In step S102, the origin of the second spatial rectangular coordinate system is preferably set at the center of the radar according to the characteristics of radar scanning and data output. The second spatial rectangular coordinate system can be a two-dimensional coordinate system or a three-dimensional coordinate system, depending on whether the data output by the radar is two-dimensional data or three-dimensional data. In addition, the x-axis and y-axis of the second spatial rectangular coordinate system are usually parallel to the direction of radar detection.

In this embodiment, as an example, the radar in step S103 is a millimeter wave radar. Millimeter wave radar is a detection radar operating in the millimeter wave (wavelength 1-10mm, frequency 30-300GHz) band. It is a wireless sensing technology that can extract and discover the location, shape and other characteristics of the target by analyzing the radar echo characteristics of the received target, thereby determining the number of targets in the spatial area and the location of the target. In addition, according to the different radar structures such as the antenna structure and scanning method of the millimeter wave radar, the output data of the millimeter wave radar can be two-dimensional data or three-dimensional data.

Next, referring to FIG. 2 , a method for obtaining the coordinate transformation matrix in step S104 is described, and the steps specifically include:

Step S1041: setting calibration objects in the home appliance workspace, the number of calibration objects is not less than 2, and one of the calibration objects is located at the origin of the first spatial rectangular coordinate system, and the other calibration objects are respectively located on different coordinate axes in the first spatial rectangular coordinate system;

Step S1042: acquiring the coordinates of the calibration object in the second spatial rectangular coordinate system through radar;

Step S1043: Calculate the coordinates of the calibration object in the first space rectangular coordinate system according to the coordinates of the calibration object in the second space rectangular coordinate system;

Step S1044: Obtain a coordinate transformation matrix according to the coordinates of all calibration objects in the first space rectangular coordinate system and the second space rectangular coordinate system.

Continue reading FIG3 , which is a schematic diagram of three-dimensional coordinate transformation of the present invention, and illustrates a method for obtaining a coordinate transformation matrix through FIG3 .

The right-handed rectangular coordinate system O-xyz shown in FIG3 is the old coordinate system (the second spatial rectangular coordinate system in the present invention), i, j, k are basis vectors of the old coordinate system, and i, j, k are standard orthogonal bases in space.

The right-handed rectangular coordinate system O′-x′y′z′ shown in Figure 3 is a new coordinate system (the first spatial rectangular coordinate system in the present invention), i′, j′, k′ are basis vectors of the new coordinate system, and i′, j′, k′ are standard orthogonal bases in space.

The positional relationship between the new coordinates and the old coordinates is determined by the coordinates of the origin of the new coordinate system in the old coordinate system, and the angle between the new coordinate system and the coordinate axes of the old coordinate system (the angle between the coordinate vectors of the new coordinate system and the coordinate vectors of the old coordinate system). The angles between the coordinate axes of the new coordinate system and the old coordinate system are shown in Table 1:

Table 1 Angles between the new coordinate system and the old coordinate system

x-axis (i) y-axis (j) z axis (k) x′ axis (i′) α ₁ β ₁ γ ₁ y′ axis (j′) α ₂ β ₂ γ ₂ z′ axis (k′) α ₃ β ₃ γ ₃

From Table 1, we can see that the relationship between basis vectors is:

The coordinates of the origin O′ in the old coordinate system are (xO, yO, zO), then

P is an arbitrary point in space. Its coordinates in the old coordinate system O-xyz are (x, y, z), and its coordinates in the new coordinate system O′-x′y′z′ are (x′, y′, z′). We can get

From equation 3, equation 2, equation 4 and equation 5, we can get:

xi+yj+zk＝x′i′+y′j′+z′k′+xOi+YOj+zOk (Formula 6)

Substituting equation 1 into equation 6, we can obtain:

Formula 7 can also be expressed as:

Formula 6 is abbreviated as:

Formula 7 is abbreviated as:

M and N are the coordinate transformation matrices of the three-dimensional rectangular coordinate system.

It can be seen from equations 7 and 8 that when the angles of the coordinate axes between the new coordinate system and the old coordinate system as shown in Table 1 are known, the coordinate transformation matrix M and/or N can be directly calculated. However, in engineering applications, it is difficult to accurately measure these angles, or special tools are required for measurement. Therefore, a common method in engineering applications is to obtain the coordinates of four calibration objects (one of which is located at the origin of the new coordinate system, and these four points are not located in the same plane) in the new coordinate system and the old coordinate system respectively by measuring, and then substitute them into equation 8 to obtain the coordinate transformation matrix N, and finally obtain M.

In this embodiment, the radar installation angle is an arbitrary angle, the direction of radar detection is not necessarily horizontal with the ground, and the radar output data is three-dimensional data. The calibration object can be a person or other object with a certain shape.

In the top view of the air-conditioning working space as shown in Figure 4, the air-conditioning is a wall-mounted air-conditioning, and the origin of the first spatial rectangular coordinate system is selected on the ground directly below the center position of the air-conditioning. The x′ axis and y′ axis of the first spatial rectangular coordinate system are respectively parallel to the ground of the air-conditioning working space, and the origin of the second spatial rectangular coordinate system is the center position of the radar.

In this embodiment, the calibration object is a person. When the calibration person stands directly below the center of the air conditioner, the calibration function can be triggered through the air conditioner remote control or a dedicated mobile phone APP, and the radar automatically obtains the position of the calibration person in the second space rectangular coordinate system.

At this time, the radar can be set to simultaneously obtain and save the coordinate data of the head and feet of the calibration personnel. The feet of the calibration personnel are located on the ground below the positive line of the radar center position and can be used as the origin of the first spatial rectangular coordinate system. Its coordinates are (0, 0, 0), and it is also the origin calibration point; the coordinates of the feet of the calibration personnel measured by the radar in the second spatial rectangular coordinate system are (x _M,O , y _M,O , z _M,O ).

The head of the calibration personnel is also located directly below the center of the air conditioner. Since the calibration personnel stands vertically on the ground, the head of the calibration personnel is located on the z' axis perpendicular to the ground (the plane where the x' axis and the y' axis are located) in the first spatial rectangular coordinate system. Therefore, the position of the calibration personnel's head can be used as the non-origin calibration point 1 (point A in Figure 4). The coordinates of the calibration personnel's head in the first spatial rectangular coordinate system are (x' _M,1 , y' _M,1 , z' _M,1 ); the coordinates of the calibration personnel's head in the second spatial rectangular coordinate system obtained by radar measurement are (x _M,1 , y _M,1 , z _M,1 ).

The first distance calculation formula between the origin calibration point and the non-origin calibration point 1 in the first spatial rectangular coordinate system is:

Since the non-origin calibration point 1 is located on the z-axis in the first spatial rectangular coordinate system, x′ _M,1 = 0, y′ _M,1 = 0, and equation 12 can be simplified to:

The second distance calculation formula between the origin calibration point and the non-origin calibration point 1 in the second spatial rectangular coordinate system is:

Since the first distance calculation formula is equal to the second distance calculation formula, we get:

Thus, the coordinates of the non-origin calibration point 1 in the first spatial rectangular coordinate system are obtained as follows: The coordinate pair of non-origin calibration point 1 is and (x _M,1 , y _M,1 , z _M,1 ).

In the same way, the calibration personnel stands against the wall. At this time, the calibration personnel's feet are located on the x' axis of the first spatial rectangular coordinate system, which is used as the non-origin calibration point 2 (point B in Figure 4, on the negative half axis of the x' axis), with coordinates (x' _M,2 , y' _M, 2, z' _M,2 ), and y' _M,2 = 0, z' _M,2 = 0; the coordinates of the calibration personnel's feet in the second spatial rectangular coordinate system obtained by radar measurement are (x _M,2 , y _M,2 , z _M,2 ); the coordinates of the non-origin calibration point 2 in the first spatial rectangular coordinate system are obtained as follows:

The coordinate pair of non-origin calibration point 2 is

and (x _M,2 , y _M,2 , z _M,2 ).

The calibration personnel stands at any point opposite to the center of the air conditioner. The calibration personnel's feet are located on the y' axis of the first spatial rectangular coordinate system, which is used as the non-origin calibration point 3 (point C in Figure 4). The coordinates are (x' _M,3 , y' _M,3 , z' _M,3 ), and x' _M,3 = 0, z' _M,3 = 0; the coordinates of the calibration personnel's feet in the second spatial rectangular coordinate system obtained by radar measurement are (x _M,3 , y _M,3 , z _M,3 ); the coordinates of the non-origin calibration point 3 in the first spatial rectangular coordinate system are The coordinate pair of non-origin calibration point 3 is and (x _M,3 , y _M,3 , z _M,3 ).

At this point, all the data of the four calibration points required to calculate the three-dimensional space coordinate transformation matrix have been obtained.

Substituting the three sets of coordinate pairs of the three non-origin calibration points and the coordinates of the origin calibration point in the second space rectangular coordinate system into equation 10, we obtain

After obtaining N, the second transformation matrix M is obtained according to formula 11.

Similarly, in the two-dimensional coordinate system, the two-dimensional plane coordinate system is restricted to rotation only, and the two coordinate planes of the first space rectangular coordinate system and the second space rectangular coordinate system are parallel. Since the x' axis and the y' axis are perpendicular to each other, the rotation angles of the x' axis and the y' axis are consistent, and we can get:

cosα ₁ = cosβ ₂ , cosα ₂ = sinα ₁ , cosβ ₁ = -sinα ₁

Then we get:

Formula 18 can also be expressed as:

Formula 18 is abbreviated as:

Formula 19 is abbreviated as:

T and U are coordinate transformation matrices of the two-dimensional rectangular coordinate system.

It can be seen from Equations 18 and 19 that in engineering applications, the first transformation matrix T can be obtained by only obtaining the coordinates of the two calibration objects in the new coordinate system and the old coordinate system.

In one embodiment, the radar is installed horizontally, and the radar output is two-dimensional data. Similarly, in the top view of the air-conditioning workspace shown in FIG4 , the air-conditioning is a wall-mounted air-conditioning, the origin of the first spatial rectangular coordinate system can be selected at the center of the air-conditioning, the x′ axis and the y′ axis of the first spatial rectangular coordinate system are parallel to the ground of the air-conditioning workspace, and the origin of the second spatial rectangular coordinate system is the center of the radar.

The calibration object is a person. When the calibration person stands directly below the center of the air conditioner, the calibration function is triggered through the air conditioner remote control or the dedicated mobile phone APP. The radar automatically obtains the coordinates of the calibration person in the second space rectangular coordinate system (x _T,O , y _T,O ). The coordinates of the calibration person in the second space rectangular coordinate system are (0, 0), and the coordinate pair of the origin calibration point is (0, 0) and (x _T,O , y _T,O ).

The calibration personnel stands at any point directly opposite to the center of the air conditioner (point C in Figure 4). At this time, the calibration personnel is located on the y′ axis of the first spatial rectangular coordinate system. This position is the non-origin calibration point, and its coordinates are (x′ _T,1 , y′ _T,1 ), and x′ _T,1 = 0; the coordinates of the calibration personnel in the second spatial rectangular coordinate system obtained by radar measurement are (x _T,1 , y _T,1 ); similarly, according to the relationship that the distances between the origin calibration point and the non-origin calibration point in the first spatial rectangular coordinate system and the second spatial rectangular coordinate system are equal, the coordinates of the non-origin calibration point in the first spatial rectangular coordinate system can be obtained as follows: The coordinate pair of the non-origin calibration point is and (x _T,1 , y _T,1 ).

At this point, all the data of the two calibration points required to calculate the two-dimensional space coordinate transformation matrix have been obtained.

Substituting the coordinate pair of the above non-origin calibration point and the coordinates of the origin calibration point in the second space rectangular coordinate system into equation 21, we obtain

After obtaining U, the first transformation matrix T is obtained according to formula 22.

It should be noted that, in the transformation matrix of the two-dimensional space, since cos ² α ₁ +sin ² α ₁ =1, only two calibration points are needed to obtain the first transformation matrix.

It can be seen from the method of obtaining the first transformation matrix and the second transformation matrix that the present invention cleverly sets the position of the calibration object on the coordinate axis of the first spatial rectangular coordinate system, and uses the characteristic that the coordinates of a point on a certain coordinate axis have a component of 0 on other coordinate axes, so that the home appliance system can automatically calculate the coordinates of the calibration object in the first spatial rectangular coordinate system based on the coordinates of the calibration object in the second spatial rectangular coordinate system measured by the radar, without knowing the exact size of the calibration object, and without manually measuring the position of the calibration object in the first spatial rectangular coordinate system. Therefore, the present invention can reduce the workload of on-site personnel and has the advantages of convenient and fast implementation.

It should be noted that, without departing from the principles of the present invention, those skilled in the art can also obtain the coordinates of the non-origin calibration points in the first space rectangular coordinate system by manual measurement, and these technical solutions after changes or replacements will fall within the protection scope of the present invention.

In one embodiment, the output data of the millimeter wave radar is two-dimensional data, and the first spatial rectangular coordinate system established in step S101 and the second spatial rectangular coordinate system established in step S102 are both two-dimensional coordinate systems. In step S103, the coordinates of the target in the second spatial rectangular coordinate system detected by the millimeter wave radar are (x _T , y _T ), and in step S104, according to the first transformation matrix T, the coordinates of the target in the first spatial rectangular coordinate system are calculated by equation 25 as (x′ _T , y′ _T ), and the position of the target in the home appliance workspace is obtained.

In another embodiment, the output data of the millimeter wave radar is three-dimensional data, and the first spatial rectangular coordinate system established in step S101 and the second spatial rectangular coordinate system established in step S102 are both three-dimensional coordinate systems. In step S103, the coordinates of the target in the second spatial rectangular coordinate system detected by the millimeter wave radar are (x _M , y _M , z _M ), and in step S104, according to the second transformation matrix M, the coordinates of the target in the first spatial rectangular coordinate system are calculated by formula 26 as (x′ _M , y′ _M , z′ _M ), and the position of the target in the home appliance working space is obtained.

It should be noted that when the data output by the radar is point cloud data, as an example, the center position, top position or bottom position of the point cloud data can be selected as the positioning point of the calibration object and/or the target. It can be understood by those skilled in the art that the processing method of radar point cloud data as an example should not constitute any limitation to the protection scope of the present invention. Without changing the basic principle of the present invention, those skilled in the art can select the processing method of radar point cloud data according to the actual situation.

Furthermore, the present invention also provides a household appliance system. A household appliance system according to the present invention includes a memory, a processor, and a control program of the household appliance system stored in the memory and executable on the processor, the control program including but not limited to a program for executing the target positioning method of the household appliance workspace based on radar in the above method embodiment. For ease of explanation, only the part related to the embodiment of the present invention is shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present invention.

In one embodiment of the home appliance system, the home appliance in the home appliance system is an air conditioner, the home appliance system is an air conditioning system, and the target detected by the radar is a person. The program of the target positioning method of the home appliance workspace based on radar can be run in the air conditioning controller or in the radar controller. When the program of the target positioning method of the home appliance workspace based on radar is executed in the radar controller, the radar controller and the air conditioning controller can communicate data via Ethernet, Wi-Fi, etc., so that the air conditioning controller can obtain the position of the target in the air conditioning workspace.

After the air conditioner obtains the position of the person in the air-conditioned working space, it controls the wind direction of the air outlet to the left and right and/or up and down according to the settings of the air conditioner, so as to realize air-conditioning control related to the position of the person, such as wind blowing on people or wind avoiding people, etc., providing users with a more intelligent and comfortable air-conditioning working mode.

Those skilled in the art should be able to appreciate that the method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

It should be noted that the terms "first", "second", and other ordinal numbers in the specification and claims of the present invention and the above-mentioned drawings are only used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

It should be noted that, in the description of this application, the term "A and/or B" represents all possible combinations of A and B, such as only A, only B, or A and B.

So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims (9)

1. A radar-based target positioning method for a home appliance workspace, the method comprising:

establishing a first space rectangular coordinate system taking home appliances as reference objects;

establishing a second space rectangular coordinate system with the central position of the radar as a coordinate origin;

Acquiring coordinates of the target in the second space rectangular coordinate system through the radar;

Converting the coordinates of the target in the second space rectangular coordinate system into the coordinates of the target in the first space rectangular coordinate system according to a coordinate transformation matrix to obtain the position of the target in the home appliance working space;

the step of obtaining the coordinate transformation matrix specifically comprises the following steps:

Setting calibration objects in the home appliance working space, wherein the number of the calibration objects is not less than 2, one calibration object is positioned at the origin of the first space rectangular coordinate system and is marked as an origin calibration point, the other calibration objects are positioned on the coordinate axes of the first space rectangular coordinate system and are marked as non-origin calibration points, and when the number of the other calibration objects is greater than one, the other calibration objects are respectively positioned on different coordinate axes in the first space rectangular coordinate system;

Acquiring coordinates of the calibration object in the second space rectangular coordinate system through the radar;

Calculating according to the coordinates of the calibration object in the second space rectangular coordinate system to obtain the coordinates of the calibration object in the first space rectangular coordinate system;

obtaining the coordinate transformation matrix according to the coordinates of all the calibration objects in the first space rectangular coordinate system and the second space rectangular coordinate system;

The step of calculating the coordinate of the calibration object in the first space rectangular coordinate system according to the coordinate of the calibration object in the second space rectangular coordinate system specifically includes:

Obtaining coordinates of the calibration object in the first space rectangular coordinate system according to a first distance calculation formula in the first space rectangular coordinate system between the non-origin calibration point and the origin calibration point and a second distance calculation formula in the second space rectangular coordinate system between the non-origin calibration point and the origin calibration point;

wherein the first distance calculation formula is equal to the second distance calculation formula.

2. The radar-based home appliance workspace target positioning method of claim 1, wherein said coordinate transformation matrix comprises a first transformation matrix or a second transformation matrix, said first transformation matrix being a two-dimensional spatial transformation matrix, said second transformation matrix being a three-dimensional spatial transformation matrix.

3. The method for positioning targets in a radar-based home appliance workspace according to claim 2, wherein when the output coordinate data of the radar is two-dimensional data, the number of the calibration objects is 2, and the coordinate transformation matrix is the first transformation matrix.

4. The radar-based home appliance workspace object localization method of claim 3 wherein the formula for calculating the position of said object in said home appliance workspace from said first transformation matrix is:

wherein T is the first transformation matrix, x '_T and y' _T are coordinates of the target in the first space rectangular coordinate system, and x _T and y _T are coordinates of the target in the second space rectangular coordinate system.

5. The method for positioning targets in a radar-based home appliance workspace according to claim 2, wherein when the output coordinate data of the radar is three-dimensional data, the number of the calibration objects is 4, and the coordinate transformation matrix is the second transformation matrix.

6. The radar-based home appliance workspace object localization method of claim 5 wherein the formula for calculating the position of said object in said home appliance workspace from said second transformation matrix is:

Wherein M is the second transformation matrix, x '_M、y′_M and z' _M are coordinates of the object in the first space rectangular coordinate system, and x _M、y_M and z _M are coordinates of the object in the second space rectangular coordinate system.

7. The method of claim 1, wherein the radar comprises at least one of millimeter wave radar, lidar, and ultrasonic radar.

8. An appliance system comprising a memory, a processor and an appliance system control program stored on the memory and executable on the processor, wherein the appliance system control program when executed by the processor implements the radar-based object localization method of the appliance workspace of any one of claims 1 to 7.

9. The appliance system according to claim 8, wherein the appliance is an air conditioner, the appliance system is an air conditioner, and an operation state of the air conditioner is controlled according to a position of the target in an appliance work space when a control program of the air conditioner is executed by the processor.