CN109297149A - Position control method, device, storage medium and the air-conditioning of people's nyctinastic movement device - Google Patents
Position control method, device, storage medium and the air-conditioning of people's nyctinastic movement device Download PDFInfo
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- CN109297149A CN109297149A CN201810972582.8A CN201810972582A CN109297149A CN 109297149 A CN109297149 A CN 109297149A CN 201810972582 A CN201810972582 A CN 201810972582A CN 109297149 A CN109297149 A CN 109297149A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2120/00—Control inputs relating to users or occupants
- F24F2120/10—Occupancy
- F24F2120/12—Position of occupants
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Abstract
The invention discloses position control method, device, storage medium and the air-conditionings of a kind of people's nyctinastic movement device, this method comprises: obtaining the movement base position of movement mechanism in people's nyctinastic movement device；Determine whether the movement mechanism can be by movement base position proper exercise；If the movement mechanism cannot be corrected the movement base position by movement base position proper exercise, until the movement mechanism can be by the movement base position proper exercise after correction.The solution of the present invention, the movement base position that can solve the rotatable movement mechanism for carrying infrared human body sensor in the prior art has differences the problem of the accuracy difference for the movement references angle for causing each infrared people to feel detection module, achievees the effect that the accuracy for promoting the movement references angle that each infrared people feels detection module.
Description
Technical field
The invention belongs to air-conditioning technical fields, and in particular to a kind of position control method of people's nyctinastic movement device, is deposited device
Storage media and air-conditioning (i.e. a kind of base position control method, device, storage medium and the air-conditioning of infrared Ren Gan mechanism), especially relate to
And a kind of air-conditioning infrared human body incudes the control method of telecontrol equipment position correction, device corresponding with this method, has the dress
The air-conditioning set is stored with the computer readable storage medium of the corresponding instruction of this method and to be able to carry out this method corresponding
The air-conditioning of instruction.
Background technique
In existing high-end air-conditioning, for the comfort and intelligence for improving practical air-conditioning, can introduce infrared human body sensor with
Assist the human body information in detection air conditioning applications environment.There is the side that fixed infrared human body inductive pick-up is installed directly on air-conditioning
Case, but the collected infrared human body Data Infrared data of infrared sensor installed in this way are relatively on the low side.So can generally adopt
Rotatable movement mechanism, which is carried, with sensor realizes larger range of infrared human body dynamic measuring.But in practical reality
In existing, due to the diastema (such as rotation gear clearance) and driving motor motion itself in movement mechanism due to structure cooperation
Kinematic error problem, will lead in actual production it is each carry infrared human body sensor rotatable movement mechanism kinematic benchmark
Position (angle such as placed in the middle) has differences.
Summary of the invention
It is an object of the present invention in view of the foregoing drawbacks, provide position control method, the dress of a kind of people's nyctinastic movement device
It sets, storage medium and air-conditioning, to solve to carry the movement base of the rotatable movement mechanism of infrared human body sensor in the prior art
Level sets the problem for having differences the accuracy difference for the movement references angle for causing each infrared people to feel detection module, reaches promotion
Each infrared people feels the effect of the accuracy of the movement references angle of detection module.
The present invention provides a kind of position control method of people's nyctinastic movement device, comprising: obtains in people's nyctinastic movement device
The movement base position of movement mechanism；Determine whether the movement mechanism can be by movement base position proper exercise；If institute
Stating movement mechanism then cannot be corrected the movement base position by movement base position proper exercise, until institute
Stating movement mechanism can be by the movement base position proper exercise after correction.
Optionally, wherein obtain the movement base position of movement mechanism in people's nyctinastic movement device, comprising: described
After the completion of people's nyctinastic movement device production and assembly, obtains movement mechanism in people's nyctinastic movement device and transported during powering on trial operation
Movement base position when dynamic；And/or determine whether the movement mechanism can be wrapped by movement base position proper exercise
It includes: determining whether the motion profile of the movement mechanism and the setting track by movement base position operation are consistent；If institute
It is consistent with the setting track to state motion profile, it is determined that the movement mechanism can be by movement base position proper exercise；
If the motion profile and the setting track are inconsistent, it is determined that the movement mechanism cannot be by the movement base position just
Really movement；Alternatively, determining whether the movement base position deviates compared to setting position；If the movement base position
Do not deviate compared to the setting position, it is determined that the movement mechanism can be by movement base position proper exercise；
If the movement base position is deviateed compared to the setting position, it is determined that the movement mechanism cannot be by the movement
Base position proper exercise；And/or the movement base position is corrected, comprising: determine movement base position phase
It is bigger than normal or less than normal than the normal place in setting；If the movement base position is bigger than normal compared to the normal place,
Negative compensation is carried out to the movement base position；If the movement base position is less than normal compared to the normal place, to institute
Movement base position is stated just to be compensated.
Optionally, further includes: if the movement mechanism can store the fortune by movement base position proper exercise
Dynamic base position, so that the movement mechanism can be by the movement base position proper exercise of storage.
Optionally, the movement base position is stored, comprising: the movement base position is cured to people's nyctinastic movement
In the electronic control module that device carries；Wherein, the movement base position is cured to the automatically controlled of people's nyctinastic movement device carrying
In module, comprising: by movement base position memory in the FLASH of the MCU of the electronic control module or in built-in EEPROM；
Alternatively, remembering the movement base position into the memory of setting.
Optionally, further includes: during people's nyctinastic movement device production and assembly or in people's nyctinastic movement device institute
In the use process for belonging to air-conditioning, determine whether the movement base position deviates compared to the normal place of setting；If institute
It states movement base position to deviate compared to the normal place, then receives user using the calibration tool of setting to the fortune
The calibration command of dynamic base position, realizes the movement base position calibrating to the normal place；Wherein, the normal bit
It sets, comprising: middle position；And/or people's nyctinastic movement device, comprising: infrared people's nyctinastic movement device；The movement mechanism, packet
Include: infrared people feels detection module；The electronic control module, comprising: infrared detection electronic control module.
Match with the above method, another aspect of the present invention provides a kind of position control of people's nyctinastic movement device, packet
It includes: acquiring unit, for obtaining the movement base position of movement mechanism in people's nyctinastic movement device；Control unit, for true
Whether the fixed movement mechanism can be by movement base position proper exercise；Described control unit, if being also used to the movement
Mechanism then cannot be corrected the movement base position by movement base position proper exercise, until the movement
Mechanism can be by the movement base position proper exercise after correction.
Optionally, wherein the acquiring unit obtains the movement base position of movement mechanism in people's nyctinastic movement device,
It include: to obtain movement mechanism in people's nyctinastic movement device after the completion of people's nyctinastic movement device production and assembly and powering on examination
Movement base position when being moved in operational process；And/or described control unit determines whether the movement mechanism can be by described
Move base position proper exercise, comprising: determine that the motion profile of the movement mechanism is run with by the movement base position
Setting track it is whether consistent；If the motion profile is consistent with the setting track, it is determined that the movement mechanism can be by institute
State movement base position proper exercise；If the motion profile and the setting track are inconsistent, it is determined that the movement mechanism
It cannot be by movement base position proper exercise；Alternatively, determining whether the movement base position is sent out compared to setting position
It is raw to deviate；If the movement base position is not deviateed compared to the setting position, it is determined that the movement mechanism can be pressed
Movement base position proper exercise；If the movement base position is deviateed compared to the setting position, it is determined that
The movement mechanism cannot be by movement base position proper exercise；And/or described control unit is to the movement benchmark position
It sets and is corrected, comprising: determine that the movement base position compared to the normal place of setting is bigger than normal or less than normal；If described
It is bigger than normal compared to the normal place to move base position, then negative compensation is carried out to the movement base position；If the movement
Base position is less than normal compared to the normal place, then is just being compensated the movement base position.
Optionally, further includes: described control unit, it can be by the movement base position just if being also used to the movement mechanism
Really movement, then store the movement base position, so that the movement mechanism can be correct by the movement base position of storage
Movement.
Optionally, described control unit stores the movement base position, comprising: is cured to the movement base position
In the electronic control module that people's nyctinastic movement device carries；Wherein, the movement base position people's nyctinastic movement is cured to fill
Set in the electronic control module of carrying, comprising: by the movement base position memory in the FLASH of the MCU of the electronic control module or
In built-in EEPROM；Alternatively, remembering the movement base position into the memory of setting.
Optionally, further includes: described control unit, be also used to during people's nyctinastic movement device production and assembly or
In the use process of the affiliated air-conditioning of people's nyctinastic movement device, normal bit of the movement base position compared to setting is determined
It sets and whether deviates；Described control unit occurs partially if being also used to the movement base position compared to the normal place
From then receiving user using the calibration tool of setting to the calibration command of the movement base position, realize the movement base
Level, which is set, calibrates to the normal place；Wherein, the normal place, comprising: middle position；And/or people's nyctinastic movement dress
It sets, comprising: infrared people's nyctinastic movement device；The movement mechanism, comprising: infrared people feels detection module；The electronic control module, packet
It includes: infrared detection electronic control module.
Match with above-mentioned apparatus, further aspect of the present invention provides a kind of air-conditioning, comprising: above-described people's nyctinastic movement dress
The position control set.
Match with the above method, further aspect of the present invention provides a kind of storage medium, comprising: deposited in the storage medium
Contain a plurality of instruction；The a plurality of instruction, for being loaded by processor and being executed the position of above-described people's nyctinastic movement device
Control method.
Match with the above method, further aspect of the present invention provides a kind of air-conditioning, comprising: processor, it is a plurality of for executing
Instruction；Memory, for storing a plurality of instruction；Wherein, a plurality of instruction, for being stored by the memory, and by described
Processor loads and executes the position control method of above-described people's nyctinastic movement device.
The solution of the present invention by being corrected to the infrared people's nyctinastic movement mechanism produced, and this value is solidified, with true
It is accurate to protect each infrared people sense detection module movement references angle used, it is ensured that each infrared moving mechanism is raw in batch
The consistent and accuracy that references angle is moved in production, improves detection accuracy and user experience.
Further, the solution of the present invention by being corrected to the infrared people's nyctinastic movement mechanism produced, and this value is consolidated
Change, to ensure that each infrared people sense detection module movement references angle used is accurate, overcomes each red in production application
Stranger's body-sensing answers the cooperation diastema problem of movement mechanism, promotes the accuracy and user experience of operation references angle.
Further, the solution of the present invention, the correction of the physical location by incuding telecontrol equipment to infrared human body, mainly exists
Complete machine production link is corrected, it is ensured that the consistency of infrared people's nyctinastic movement mechanism kinematic references angle of batch production and
Accuracy improves detection accuracy and user experience.
Further, the solution of the present invention, if feeling or having deviation, can also be used during installation after actual installation
Special tooling is corrected, and can further promote the consistency and accuracy of infrared people's nyctinastic movement mechanism kinematic references angle,
Improve detection accuracy and user experience.
Further, the solution of the present invention, the correction of the physical location by incuding telecontrol equipment to infrared human body, mainly exists
Complete machine production link is corrected, and can overcome the inevitable diastema of structure and error in actual production, guarantees batch production
Infrared people's nyctinastic movement mechanism kinematic references angle consistency and accuracy, improve detection accuracy and user experience.
The solution of the present invention as a result, by being corrected to the infrared people's nyctinastic movement mechanism produced, and this value is consolidated
Change, to ensure that each infrared people sense detection module movement references angle used is accurate, infrared people is carried in solution in the prior art
The movement base position of the rotatable movement mechanism of body sensor has differences the movement for causing each infrared people to feel detection module
The problem of the accuracy difference of references angle, thus, overcome the accuracy for running references angle in the prior art is poor, influences detection to tie
The defect of fruit and user experience realizes that the accuracy of operation references angle is good, can guarantee having for testing result and user experience
Beneficial effect.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the flow diagram of an embodiment of the position control method of people's nyctinastic movement device of the invention；
Fig. 2 is determines whether the movement mechanism can be by institute according to whether motion profile occurs to deviate in method of the invention
State the flow diagram of an embodiment of movement base position proper exercise；
Fig. 3 is to determine whether the movement mechanism can be by the fortune according to whether position occurs to deviate in method of the invention
The flow diagram of one embodiment of dynamic base position proper exercise；
Fig. 4 is in method of the invention to the flow diagram of the movement corrected embodiment in base position；
Fig. 5 be method of the invention in during production and assembly or in use process to the movement base of people's nyctinastic movement device
Level sets the flow diagram of a corrected embodiment；
Fig. 6 is the structural schematic diagram of an embodiment of the position control of people's nyctinastic movement device of the invention；
Fig. 7 is that the infrared human body of an embodiment of air-conditioning of the invention incudes telecontrol equipment position correction flow diagram；
Fig. 8 is that the infrared human body of an embodiment of air-conditioning of the invention incudes schematic diagram before and after telecontrol equipment position correction；
Wherein, (a) is the situation that references angle is to the right before calibrating, (b) to calibrate preceding references angle situation to the left, (c) after for calibration
The situation of references angle OK；
Fig. 9 is the overall structure frame of the position control of people's nyctinastic movement device of an embodiment of air-conditioning of the invention
Figure；Wherein, (a) is Corrective control connection scheme one, (b) is Corrective control scheme two.
In conjunction with attached drawing, appended drawing reference is as follows in the embodiment of the present invention:
102- acquiring unit；104- control unit.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and
Technical solution of the present invention is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
According to an embodiment of the invention, a kind of position control method of people's nyctinastic movement device is provided, this hair as shown in Figure 1
The flow diagram of one embodiment of bright method.The position control method of the people's nyctinastic movement device may include: step S110
To step S130.
At step S110, the movement base position of movement mechanism in people's nyctinastic movement device is obtained.
Optionally, the movement base position that movement mechanism in people's nyctinastic movement device is obtained in step S110, can wrap
It includes: after the completion of people's nyctinastic movement device production and assembly, obtaining movement mechanism in people's nyctinastic movement device and powering on test run
Movement base position when being moved during row.Such as: obtain movement mechanism in people's nyctinastic movement device power on it is commissioned
The movement base position of walking movement in journey.
Such as: in actual production, practical power up test is carried out to the infrared human body induction telecontrol equipment being completed.
Its is obtained during trial operation by powering on after the completion of people's nyctinastic movement device production and assembly as a result, and moves benchmark
Position is corrected with moving base position to it during trial operation, is conducive to be promoted with series-produced people's nyctinastic movement dress
The consistency and accuracy for the movement base position set.
At step S120, determine whether the movement mechanism can be by movement base position proper exercise.
Optionally, determine whether the movement mechanism can be by movement base position proper exercise in step S120, it can
To comprise at least one of the following situation:
The first situation: determine whether the movement mechanism can be by the movement base according to whether motion profile occurs to deviate
Level sets the process of proper exercise.
Whether the determining movement mechanism of deviation is occurred according to motion profile below with reference in method of the invention shown in Fig. 2
Whether root in step S120 can be further illustrated by the flow diagram of an embodiment of the movement base position proper exercise
Whether occur to deviate according to motion profile and determines whether the movement mechanism can be by the specific of the movement base position proper exercise
Process may include: step S210 to step S230.
Step S210, the motion profile for determining the movement mechanism and the setting track by movement base position operation
It is whether consistent.
Step S220, if the motion profile is consistent with the setting track, it is determined that the movement mechanism can be by described
Move base position proper exercise.
Step S230, if the motion profile and the setting track are inconsistent, it is determined that the movement mechanism cannot be by
Movement base position proper exercise.
Such as: visually or the technologies such as image recognition can be introduced it is confirmed whether accurately to walk to move benchmark position by actual persons
It sets.
Second case: determine whether the movement mechanism can be by the movement benchmark position according to whether position occurs to deviate
Set the process of proper exercise.
Whether occur to deviate whether determine the movement mechanism according to position below with reference in method of the invention shown in Fig. 3
It can further illustrate in step S120 by the flow diagram of an embodiment of the movement base position proper exercise according to position
It sets whether to occur to deviate and determines whether the movement mechanism can be by the detailed process of the movement base position proper exercise, it can be with
It include: step S310 to step S330.
Step S310, determines whether the movement base position deviates compared to setting position.
Step S320, if the movement base position is not deviateed compared to the setting position, it is determined that the fortune
Motivation structure can be by movement base position proper exercise.
Step S330, if the movement base position is deviateed compared to the setting position, it is determined that the movement
Mechanism cannot be by movement base position proper exercise.
Determine the fortune obtained when whether movement mechanism can be by trial operation in people's nyctinastic movement device in several ways as a result,
Dynamic base position is correctly run so that the judgment mode that whether can correctly run to movement mechanism is flexible, and judging result can
By the available guarantee of property.
At step S130, if the movement mechanism cannot be by movement base position proper exercise, to the fortune
Dynamic base position is corrected, until the movement mechanism can be by the movement base position proper exercise after correction.
Such as: the infrared people's nyctinastic movement mechanism produced is corrected, and this value is solidified, to ensure each use
Infrared people's sense detection module movement references angle is accurate, can overcome each infrared human body induction movement mechanism in production application
Cooperation diastema problem, guarantee each infrared moving mechanism in batch production, move the consistent and accuracy of references angle.
As a result, by obtaining the movement base position of movement mechanism in people's nyctinastic movement device, the movement mechanism is being determined not
The movement base position can be corrected by the case where the movement base position proper exercise, until the movement mechanism energy
By the correction, movement base position or the accuracy of angle of people's nyctinastic movement device can be promoted, and then promotes detection accuracy
And reliability.
It is alternatively possible to corrected to the movement base position one real in method of the invention as shown in connection with fig. 4
The flow diagram of example is applied, is further illustrated in step S130 to the corrected detailed process in the movement base position, it can
To include: step S410 to step S430.
Step S410 determines that the movement base position compared to the normal place of setting is bigger than normal or less than normal.
Step S420, if the movement base position is bigger than normal compared to the normal place, to the movement benchmark position
It sets and carries out negative compensation.Such as: reduction compensation is carried out to the movement base position, extremely by the negative compensation in the movement base position
The normal place.
Step S430, if the movement base position is less than normal compared to the normal place, to the movement benchmark position
It sets and is just compensated.Such as: increase compensation is carried out to the movement base position, by the movement base position just compensating to
The normal place.
Such as: when finder's body-sensing answers the movement base position (angle such as placed in the middle) of telecontrol equipment used originally to exist partially
From (such as: panel embedded type installation is close to by people's nyctinastic movement mechanism, can carry out visual detection with the presence or absence of inclined by the plane of reference of panel
From) when, by physical location correction (such as: aligning step and logic can be found in the infrared human body induction telecontrol equipment that Fig. 7 show
Position correction process), the relevant position value (such as: middle position) in original program is compensated, with people's nyctinastic movement mechanism
Movement base position meet actual demand, and final satisfactory positional value memory to collocation is used into control infrared human body
In the infrared detection electronic control module of working sensor.
Adequate compensation is carried out by the deviation size according to the movement base position compared to normal place as a result, it will
The movement base position is compensated to the normal place, and correcting mode is easy and correction result is reliable.
In an optional embodiment, if can also include: that the movement mechanism can be by the movement base position just
Really movement, it is determined that the movement base position meets the actually detected demand of people's nyctinastic movement device, stores the movement
Base position, so that the movement mechanism can be by the movement base position proper exercise of storage.
Such as: telecontrol equipment can be incuded by the infrared human body completed to production and assembly, carried out in actual production
Electrical testing, judgement are walked references angle with the presence or absence of deviateing when forefathers' induction device, are existed then by way of correction, it is desirable that collocation makes
Infrared detection electronic control module compensates the related angle of infrared induction telecontrol equipment, and compensated angle value is remembered
Recall in the module (such as infrared detection electronic control module), it is subsequent to carry out relative motion by the angle value after current correction, it is ensured that
Infrared human body induction telecontrol equipment can correctly go to related references angle in subsequent use.
The movement benchmark position for obtaining or correcting when as a result, can be by trial operation by the movement mechanism in people's nyctinastic movement device
Correct operation is set, then stores the movement base position, so that the movement mechanism can correctly be transported by the movement base position of storage
It is dynamic, eliminate the subsequent trouble for needing to redefine the movement base position, also ensure it is subsequent can be by the movement base position
Correct operation is to guarantee the accuracy and reliability detected.
Optionally, the movement base position is stored, may include: that the movement base position is cured to people's sense
In the electronic control module that telecontrol equipment carries, alternatively, remembering the movement base position into the memory of setting.
Wherein, the movement base position is cured in the electronic control module that people's nyctinastic movement device carries, is can wrap
It includes: by movement base position memory in the FLASH of the MCU of the electronic control module or in built-in EEPROM.
Such as: the angle for correcting post-equalization is remembered in the electronic control module (such as infrared detection electronic control module) of collocation:
Optimal case is directly memory in the FLASH of the MCU of the electronic control module or in built-in EEPROM；It can also be remembered and special
External memory chip in.
On the one hand storage by the diversified forms to the movement base position or memory style as a result, improve storage
Or the flexibility and convenience of memory, on the other hand improve the diversity and versatility to movement mechanism control.
It can also include: to feel transporting to people during production and assembly or in use process in an optional embodiment
The corrected process in movement base position of dynamic device.
Below with reference in method of the invention shown in Fig. 5 during production and assembly or in use process to people's nyctinastic movement fill
The flow diagram for the movement corrected embodiment in base position set, further illustrates during production and assembly or makes
It may include: step S510 and step with the corrected detailed process in movement base position in the process to people's nyctinastic movement device
Rapid S520.
Step S510, during people's nyctinastic movement device production and assembly, the movement mechanism can be by the movement
After the proper exercise of base position, during people's nyctinastic movement device production and assembly or in people's nyctinastic movement device institute
In the use process for belonging to air-conditioning, determine whether the movement base position deviates compared to the normal place of setting.
Step S520 receives user's use if the movement base position is deviateed compared to the normal place
The calibration tool of setting is realized the movement base position calibrating to the mark to the calibration command of the movement base position
Level is set.In actual use, if the movement base position is not deviateed compared to the normal place, normally make
With.
Wherein, the normal place may include: middle position；And/or people's nyctinastic movement device, may include:
Infrared people's nyctinastic movement device.The movement mechanism may include: that infrared people feels detection module.The electronic control module, can wrap
It includes: infrared detection electronic control module.
Such as: the correction to the physical location of infrared human body induction telecontrol equipment mainly carries out school in complete machine production link
Just, the inevitable diastema of structure and error in actual production can be overcome, guarantee infrared people's nyctinastic movement mechanism of batch production
Move the consistency and accuracy of references angle.It, can also be during installation with special if feeling or having deviation after actual installation
Tooling is corrected.
Such as: as shown in figure 9, in the general frame of Corrective control connection, Corrective control connection scheme one is suitable for air-conditioning
The type that overall package is completed；Corrective control connection scheme two, suitable for the air-conditioning to also non-overall package, individually to people
Sense associated components are corrected.
As a result, by during people's nyctinastic movement device production and assembly or in actual use to people's nyctinastic movement device
Movement mechanism carries out tooling correction, is conducive to the accuracy and convenience that further promote correction, to further promote detection
Accuracy and reliability.
Through a large amount of verification experimental verification, using the technical solution of the present embodiment, by the infrared people's nyctinastic movement machine produced
Structure is corrected, and this value is solidified, can be with to ensure that it is accurate that each infrared people for using feels detection module movement references angle
Guarantee that each infrared moving mechanism moves the consistent and accuracy of references angle in batch production, improve detection accuracy and
User experience.
According to an embodiment of the invention, additionally providing a kind of people sense corresponding to the position control method of people's nyctinastic movement device
The position control of telecontrol equipment.The structural schematic diagram of one embodiment of the device of the invention shown in Figure 6.The people feels fortune
The position control of dynamic device may include: acquiring unit 102 and control unit 104.
In an optional example, acquiring unit 102 can be used for obtaining movement mechanism in people's nyctinastic movement device
Move base position.The concrete function of the acquiring unit 102 and processing are referring to step S110.
Such as: in actual production, practical power up test is carried out to the infrared human body induction telecontrol equipment being completed.
Its is obtained during trial operation by powering on after the completion of people's nyctinastic movement device production and assembly as a result, and moves benchmark
Position is corrected with moving base position to it during trial operation, is conducive to be promoted with series-produced people's nyctinastic movement dress
The consistency and accuracy for the movement base position set.
Optionally, the acquiring unit 102 obtains the movement base position of movement mechanism in people's nyctinastic movement device, can
To include: the acquiring unit 102, can be also used for obtaining the people after the completion of people's nyctinastic movement device production and assembly
Movement base position when movement mechanism moves during powering on trial operation in nyctinastic movement device.Such as: obtain people's sense
Movement mechanism powers on the movement base position of walking movement during trial operation in telecontrol equipment.
In an optional example, whether control unit 104, being determined for the movement mechanism can be by the movement
Base position proper exercise.The concrete function of the control unit 104 and processing are referring to step S120.
Optionally, described control unit 104 determines whether the movement mechanism can correctly be transported by the movement base position
It is dynamic, may include following at least one situation:
The first situation: determine whether the movement mechanism can be by the movement base according to whether motion profile occurs to deviate
Level sets the process of proper exercise, specifically can be such that
Described control unit 104 can be also used for the motion profile for determining the movement mechanism and by the movement benchmark
Whether the setting track of position operation is consistent.The concrete function of the control unit 104 and processing see also step S210.
Described control unit 104, if it is consistent with the setting track to can be also used for the motion profile, it is determined that described
Movement mechanism can be by movement base position proper exercise.The concrete function of the control unit 104 and processing see also step
S220。
Described control unit 104, if can be also used for the motion profile and the setting track is inconsistent, it is determined that institute
Stating movement mechanism cannot be by movement base position proper exercise.The concrete function of the control unit 104 and processing are seen also
Step S230.
Such as: visually or the technologies such as image recognition can be introduced it is confirmed whether accurately to walk to move benchmark position by actual persons
It sets.
Second case: determine whether the movement mechanism can be by the movement benchmark position according to whether position occurs to deviate
The process for setting proper exercise, specifically can be such that
Described control unit 104 can be also used for determining whether the movement base position occurs compared to setting position
Deviate.The concrete function of the control unit 104 and processing see also step S310.
Described control unit 104 does not occur if can be also used for the movement base position compared to the setting position
Deviate, it is determined that the movement mechanism can be by movement base position proper exercise.The concrete function of the control unit 104 and
Processing sees also step S320.
Described control unit 104 occurs partially if can be also used for the movement base position compared to the setting position
From, it is determined that the movement mechanism cannot be by movement base position proper exercise.The concrete function of the control unit 104 and
Processing sees also step S330.
Determine the fortune obtained when whether movement mechanism can be by trial operation in people's nyctinastic movement device in several ways as a result,
Dynamic base position is correctly run so that the judgment mode that whether can correctly run to movement mechanism is flexible, and judging result can
By the available guarantee of property.
In an optional example, described control unit 104 cannot be by the fortune if can be also used for the movement mechanism
Dynamic base position proper exercise, then be corrected the movement base position, until after the movement mechanism can be by correction
Move base position proper exercise.The concrete function of the control unit 104 and processing see also step S130.
Such as: the infrared people's nyctinastic movement mechanism produced is corrected, and this value is solidified, to ensure each use
Infrared people's sense detection module movement references angle is accurate, can overcome each infrared human body induction movement mechanism in production application
Cooperation diastema problem, guarantee each infrared moving mechanism in batch production, move the consistent and accuracy of references angle.
As a result, by obtaining the movement base position of movement mechanism in people's nyctinastic movement device, the movement mechanism is being determined not
The movement base position can be corrected by the case where the movement base position proper exercise, until the movement mechanism energy
By the correction, movement base position or the accuracy of angle of people's nyctinastic movement device can be promoted, and then promotes detection accuracy
And reliability.
Optionally, described control unit 104 is corrected the movement base position, may include:
Described control unit 104 can be also used for determining that the movement base position is compared to the normal place of setting
It is bigger than normal or less than normal.The concrete function of the control unit 104 and processing see also step S410.
Described control unit 104, if it is bigger than normal compared to the normal place to can be also used for the movement base position,
Negative compensation is carried out to the movement base position.Such as: reduction compensation is carried out to the movement base position, by the movement
Base position is negative to be compensated to the normal place.The concrete function of the control unit 104 and processing see also step S420.
Described control unit 104, if it is less than normal compared to the normal place to can be also used for the movement base position,
The movement base position is just being compensated.Such as: increase compensation is carried out to the movement base position, by the movement
Base position is just being compensated to the normal place.The concrete function of the control unit 104 and processing see also step S430.
Such as: when finder's body-sensing answers the movement base position (angle such as placed in the middle) of telecontrol equipment used originally to exist partially
From (such as: panel embedded type installation is close to by people's nyctinastic movement mechanism, can carry out visual detection with the presence or absence of inclined by the plane of reference of panel
From) when, by physical location correction (such as: aligning step and logic can be found in the infrared human body induction telecontrol equipment that Fig. 7 show
Position correction process), the relevant position value (such as: middle position) in original program is compensated, with people's nyctinastic movement mechanism
Movement base position meet actual demand, and final satisfactory positional value memory to collocation is used into control infrared human body
In the infrared detection electronic control module of working sensor.
Adequate compensation is carried out by the deviation size according to the movement base position compared to normal place as a result, it will
The movement base position is compensated to the normal place, and correcting mode is easy and correction result is reliable.
It can also include: described control unit 104 in an optional embodiment, if can be also used for the movement
Mechanism can be by movement base position proper exercise, it is determined that the movement base position meets people's nyctinastic movement device
Actually detected demand stores the movement base position, so that the movement mechanism can be by the movement base position of storage
Proper exercise.
Such as: telecontrol equipment can be incuded by the infrared human body completed to production and assembly, carried out in actual production
Electrical testing, judgement are walked references angle with the presence or absence of deviateing when forefathers' induction device, are existed then by way of correction, it is desirable that collocation makes
Infrared detection electronic control module compensates the related angle of infrared induction telecontrol equipment, and compensated angle value is remembered
Recall in the module (such as infrared detection electronic control module), it is subsequent to carry out relative motion by the angle value after current correction, it is ensured that
Infrared human body induction telecontrol equipment can correctly go to related references angle in subsequent use.
The movement benchmark position for obtaining or correcting when as a result, can be by trial operation by the movement mechanism in people's nyctinastic movement device
Correct operation is set, then stores the movement base position, so that the movement mechanism can correctly be transported by the movement base position of storage
It is dynamic, eliminate the subsequent trouble for needing to redefine the movement base position, also ensure it is subsequent can be by the movement base position
Correct operation is to guarantee the accuracy and reliability detected.
Optionally, described control unit 104 stores the movement base position, may include: described control unit 104,
It can be also used for for being cured in the electronic control module that people's nyctinastic movement device carries the movement base position；Alternatively, described
Control unit 104 can be also used for remembering the movement base position into the memory of setting.
Wherein, the movement base position is cured to the electricity that people's nyctinastic movement device carries by described control unit 104
It controls in module, may include: that movement base position memory is in the FLASH of the MCU of the electronic control module or built-in
In EEPROM.
Such as: the angle for correcting post-equalization is remembered in the electronic control module (such as infrared detection electronic control module) of collocation:
Optimal case is directly memory in the FLASH of the MCU of the electronic control module or in built-in EEPROM；It can also be remembered and special
External memory chip in.
On the one hand storage by the diversified forms to the movement base position or memory style as a result, improve storage
Or the flexibility and convenience of memory, on the other hand improve the diversity and versatility to movement mechanism control.
It can also include: to feel transporting to people during production and assembly or in use process in an optional embodiment
The corrected process in movement base position of dynamic device, specifically can be such that
Described control unit 104 can be also used for during people's nyctinastic movement device production and assembly, in the movement
After mechanism can be by movement base position proper exercise, during people's nyctinastic movement device production and assembly or in institute
In the use process for stating the affiliated air-conditioning of people's nyctinastic movement device, determine that the movement base position is compared to the normal place of setting
It is no to deviate.The concrete function of the control unit 104 and processing see also step S510.
Described control unit 104 occurs partially if can be also used for the movement base position compared to the normal place
From then receiving user using the calibration tool of setting to the calibration command of the movement base position, realize the movement base
Level, which is set, calibrates to the normal place.In actual use, if the movement base position is compared to the normal place
Do not deviate, then normal use.The concrete function of the control unit 104 and processing see also step S520.
Wherein, the normal place may include: middle position；And/or people's nyctinastic movement device, may include:
Infrared people's nyctinastic movement device.The movement mechanism may include: that infrared people feels detection module.The electronic control module, can wrap
It includes: infrared detection electronic control module.
Such as: the correction to the physical location of infrared human body induction telecontrol equipment mainly carries out school in complete machine production link
Just, the inevitable diastema of structure and error in actual production can be overcome, guarantee infrared people's nyctinastic movement mechanism of batch production
Move the consistency and accuracy of references angle.It, can also be during installation with special if feeling or having deviation after actual installation
Tooling is corrected.
Such as: as shown in figure 9, in the general frame of Corrective control connection, Corrective control connection scheme one is suitable for air-conditioning
The type that overall package is completed；Corrective control connection scheme two, suitable for the air-conditioning to also non-overall package, individually to people
Sense associated components are corrected.
As a result, by during people's nyctinastic movement device production and assembly or in actual use to people's nyctinastic movement device
Movement mechanism carries out tooling correction, is conducive to the accuracy and convenience that further promote correction, to further promote detection
Accuracy and reliability.
The processing and function realized by the device of the present embodiment essentially correspond to earlier figures 1 to method shown in fig. 5
Embodiment, principle and example, therefore not detailed place in the description of the present embodiment may refer to mutually speaking on somebody's behalf in previous embodiment
Bright, this will not be repeated here.
Through a large amount of verification experimental verification, using technical solution of the present invention, by the infrared people's nyctinastic movement mechanism produced
It is corrected, and this value is solidified, to ensure that each infrared people sense detection module movement references angle used is accurate, overcome reality
The cooperation diastema problem of each infrared human body induction movement mechanism in the production application of border, promoted operation references angle accuracy and
User experience.
According to an embodiment of the invention, additionally providing a kind of sky of the position control corresponding to people's nyctinastic movement device
It adjusts.The air-conditioning may include: the position control of above-described people's nyctinastic movement device.
Because the cooperation diastema of people's nyctinastic movement mechanism structure can not unavoidably, and corresponding diastema size, and with structural member
The dynamic fluctuations such as dimensional tolerance and motor diastema (the infrared human body sensor mechanism that i.e. each actual assembled is produced
It is different to move benchmark).
In an optional embodiment, in view of the above-mentioned problems, main thought of the invention is by a kind of software correction
Mode, the infrared people's nyctinastic movement mechanism produced is corrected, and this value is solidified, to ensure each infrared people used
It is accurate to feel detection module movement references angle.In such a way that such controller software corrects, it can overcome in production application
The cooperation diastema problem of each infrared human body induction movement mechanism, guarantees each infrared moving mechanism in batch production, moves
The consistent and accuracy of references angle.
Specifically, major programme thinking are as follows: in actual production, telecontrol equipment is incuded to the infrared human body being completed
Carry out practical power up test.By actually detected, when finder's body-sensing answers the movement base position of telecontrol equipment used originally
(angle such as placed in the middle) exist deviation (such as: people's nyctinastic movement mechanism be close to panel embedded type installation, can using panel be the plane of reference progress
Visual detection is with the presence or absence of deviateing) when, by physical location correction (such as: aligning step and logic can be found in Fig. 7 show it is red
Stranger's body-sensing should move setting position correcting process), the relevant position value (such as: middle position) in original program is mended
It repays, actual demand is met with the movement base position of people's nyctinastic movement mechanism, and by final satisfactory positional value memory to taking
With in the infrared detection electronic control module for using control infrared human body working sensor.
Wherein, to the correction of the physical location of infrared human body induction telecontrol equipment, school mainly is carried out in complete machine production link
Just, the inevitable diastema of structure and error in actual production can be overcome, guarantee infrared people's nyctinastic movement mechanism of batch production
Move the consistency and accuracy of references angle.It, can also be during installation with special if feeling or having deviation after actual installation
Tooling (such as: a kind of correction of similar remote controler controls signaling tooling) be corrected.
In an optional specific embodiment, infrared human body of the invention incudes telecontrol equipment position correction controlling party
Case, in general: telecontrol equipment can be incuded by the infrared human body completed to production and assembly, be powered in actual production
Test, judgement are walked references angle with the presence or absence of deviateing when forefathers' induction device, are existed then by way of correction, it is desirable that collocation uses
Infrared detection electronic control module the related angle of infrared induction telecontrol equipment is compensated, and compensated angle value is remembered
It is subsequent to carry out relative motion by the angle value after current correction, it is ensured that red into the module (such as infrared detection electronic control module)
Stranger's body-sensing answers telecontrol equipment that can correctly go to related references angle in subsequent use.For details, reference can be made to Fig. 7 to Fig. 9 institutes
The example shown.
Optionally, the angle for correcting post-equalization is remembered in the electronic control module (such as infrared detection electronic control module) of collocation
Recall: optimal case is directly memory in the FLASH of the MCU of the electronic control module or in built-in EEPROM；Can also be remembered with
In special external memory chip.
Optionally, as shown in figure 9, in the general frame of Corrective control connection, Corrective control connection scheme one is suitable for sky
Adjust the type that overall package is completed；Corrective control connection scheme two, it is individually right suitable for the air-conditioning to also non-overall package
People feels associated components and is corrected.
Such as: Fig. 9 (a) is corresponding " Corrective control connection scheme one ", and Fig. 9 (b) corresponding " Corrective control connection scheme two " is no
There are inverse relationship, two kinds of correction modes can all use special correction tooling, they exist certain different.
It is above-mentioned to guarantee that infrared human body incudes movement mechanism in batch production in an alternative example, move base
The consistent and accuracy of quasi- angle can also take control structure part precision and dimensional tolerance, control production technology and raising
The modes such as motor movement precision are realized.But for actually batch production, control cost is huge, and is difficult to ensure to each life
The mechanism of production is attained by optimal, and fluctuation is uncontrollable.
Such as: the tolerance dimension of control structure part (before control: ± 0.1mm, after control: ± 0.05mm)；Control structure
Fit clearance ± the 1mm of part, ± 0.2mm etc. after control.
The processing and function realized by the air-conditioning of the present embodiment essentially correspond to the implementation of aforementioned device shown in fig. 6
Example, principle and example, therefore not detailed place in the description of the present embodiment, may refer to the related description in previous embodiment,
This is not repeated them here.
Through a large amount of verification experimental verification, using technical solution of the present invention, by the reality for incuding telecontrol equipment to infrared human body
The correction of border position is mainly corrected in complete machine production link, it is ensured that infrared people's nyctinastic movement mechanism of batch production transports
The consistency and accuracy of dynamic references angle, improve detection accuracy and user experience.
According to an embodiment of the invention, additionally providing a kind of storage of the position control method corresponding to people's nyctinastic movement device
Medium.The storage medium may include: that a plurality of instruction is stored in the storage medium；The a plurality of instruction, for by handling
Device loads and executes the position control method of above-described people's nyctinastic movement device.
The processing and function realized by the storage medium of the present embodiment essentially correspond to earlier figures 1 to shown in fig. 5
Embodiment, principle and the example of method, therefore not detailed place in the description of the present embodiment, may refer to the phase in previous embodiment
It speaks on somebody's behalf bright, this will not be repeated here.
Through a large amount of verification experimental verification, using technical solution of the present invention, after actual installation, if feeling or having partially
Difference can also be corrected with special tooling during installation, can further promote infrared people's nyctinastic movement mechanism kinematic reference angle
The consistency and accuracy of degree, improve detection accuracy and user experience.
According to an embodiment of the invention, additionally providing a kind of sky of the position control method corresponding to people's nyctinastic movement device
It adjusts.The air-conditioning may include: processor, for executing a plurality of instruction；Memory, for storing a plurality of instruction；Wherein, described
A plurality of instruction for being stored by the memory, and is loaded by the processor and executes above-described people's nyctinastic movement device
Position control method.
The processing and function realized by the air-conditioning of the present embodiment essentially correspond to earlier figures 1 to method shown in fig. 5
Embodiment, principle and example, therefore not detailed place in the description of the present embodiment may refer to mutually speaking on somebody's behalf in previous embodiment
Bright, this will not be repeated here.
Through a large amount of verification experimental verification, using technical solution of the present invention, by the reality for incuding telecontrol equipment to infrared human body
The correction of border position is mainly corrected in complete machine production link, can overcome the inevitable diastema of structure in actual production
And error, guarantee the consistency and accuracy of infrared people's nyctinastic movement mechanism kinematic references angle of batch production, improves detection
Accuracy and user experience.
To sum up, it will be readily appreciated by those skilled in the art that under the premise of not conflicting, above-mentioned each advantageous manner can be certainly
It combined, be superimposed by ground.
The above description is only an embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should be included within scope of the presently claimed invention.
Claims (13)
1. a kind of position control method of people's nyctinastic movement device characterized by comprising
Obtain the movement base position of movement mechanism in people's nyctinastic movement device；
Determine whether the movement mechanism can be by movement base position proper exercise；
If the movement mechanism cannot carry out school to the movement base position by movement base position proper exercise
Just, until the movement mechanism can be by the movement base position proper exercise after correction.
2. the method according to claim 1, wherein wherein,
Obtain the movement base position of movement mechanism in people's nyctinastic movement device, comprising:
After the completion of people's nyctinastic movement device production and assembly, obtains movement mechanism in people's nyctinastic movement device and powering on test run
Movement base position when being moved during row；
And/or
Determine whether the movement mechanism can be by movement base position proper exercise, comprising:
Determine whether motion profile and the setting track by movement base position operation of the movement mechanism are consistent；
If the motion profile is consistent with the setting track, it is determined that the movement mechanism can be by the movement base position just
Really movement；
If the motion profile and the setting track are inconsistent, it is determined that the movement mechanism cannot be by the movement benchmark position
Set proper exercise；
Alternatively,
Determine whether the movement base position deviates compared to setting position；
If the movement base position is not deviateed compared to the setting position, it is determined that the movement mechanism can be by described
Move base position proper exercise；
If the movement base position is deviateed compared to the setting position, it is determined that the movement mechanism cannot be by described
Move base position proper exercise；
And/or
The movement base position is corrected, comprising:
Determine that the movement base position compared to the normal place of setting is bigger than normal or less than normal；
If the movement base position is bigger than normal compared to the normal place, negative compensation is carried out to the movement base position；
If the movement base position is less than normal compared to the normal place, the movement base position is just being compensated.
3. method according to claim 1 or 2, which is characterized in that further include:
If the movement mechanism can store the movement base position, so that institute by movement base position proper exercise
Stating movement mechanism can be by the movement base position proper exercise of storage.
4. according to the method described in claim 3, it is characterized in that, storing the movement base position, comprising:
The movement base position is cured in the electronic control module that people's nyctinastic movement device carries；
Wherein, the movement base position is cured in the electronic control module that people's nyctinastic movement device carries, comprising: will be described
Base position memory is moved in the FLASH of the MCU of the electronic control module or in built-in EEPROM；
Alternatively,
The movement base position is remembered into the memory of setting.
5. method described in one of -4 according to claim 1, which is characterized in that further include:
During people's nyctinastic movement device production and assembly or the affiliated air-conditioning of people's nyctinastic movement device use process
In, determine whether the movement base position deviates compared to the normal place of setting；
If the movement base position is deviateed compared to the normal place, receives user and use the calibration tool of setting
To the calibration command of the movement base position, realizes and the movement base position is calibrated into the normal place；
Wherein,
The normal place, comprising: middle position；And/or
People's nyctinastic movement device, comprising: infrared people's nyctinastic movement device；The movement mechanism, comprising: infrared people feels detection mould
Block；The electronic control module, comprising: infrared detection electronic control module.
6. a kind of position control of people's nyctinastic movement device characterized by comprising
Acquiring unit, for obtaining the movement base position of movement mechanism in people's nyctinastic movement device；
Control unit, for determining whether the movement mechanism can be by movement base position proper exercise；
Described control unit, cannot be by movement base position proper exercise, to described if being also used to the movement mechanism
Movement base position is corrected, until the movement mechanism can be by the movement base position proper exercise after correction.
7. device according to claim 6, which is characterized in that wherein,
The acquiring unit obtains the movement base position of movement mechanism in people's nyctinastic movement device, comprising:
After the completion of people's nyctinastic movement device production and assembly, obtains movement mechanism in people's nyctinastic movement device and powering on test run
Movement base position when being moved during row；
And/or
Described control unit determines whether the movement mechanism can be by movement base position proper exercise, comprising:
Determine whether motion profile and the setting track by movement base position operation of the movement mechanism are consistent；
If the motion profile is consistent with the setting track, it is determined that the movement mechanism can be by the movement base position just
Really movement；
If the motion profile and the setting track are inconsistent, it is determined that the movement mechanism cannot be by the movement benchmark position
Set proper exercise；
Alternatively,
Determine whether the movement base position deviates compared to setting position；
If the movement base position is not deviateed compared to the setting position, it is determined that the movement mechanism can be by described
Move base position proper exercise；
If the movement base position is deviateed compared to the setting position, it is determined that the movement mechanism cannot be by described
Move base position proper exercise；
And/or
Described control unit is corrected the movement base position, comprising:
Determine that the movement base position compared to the normal place of setting is bigger than normal or less than normal；
If the movement base position is bigger than normal compared to the normal place, negative compensation is carried out to the movement base position；
If the movement base position is less than normal compared to the normal place, the movement base position is just being compensated.
8. device according to claim 6 or 7, which is characterized in that further include:
Described control unit, can be by movement base position proper exercise, described in storage if being also used to the movement mechanism
Base position is moved, so that the movement mechanism can be by the movement base position proper exercise of storage.
9. device according to claim 8, which is characterized in that described control unit stores the movement base position, packet
It includes:
The movement base position is cured in the electronic control module that people's nyctinastic movement device carries；
Wherein, the movement base position is cured in the electronic control module that people's nyctinastic movement device carries, comprising: will be described
Base position memory is moved in the FLASH of the MCU of the electronic control module or in built-in EEPROM；
Alternatively,
The movement base position is remembered into the memory of setting.
10. the device according to one of claim 6-9, which is characterized in that further include:
Described control unit is also used to during people's nyctinastic movement device production and assembly or in people's nyctinastic movement device
In the use process of affiliated air-conditioning, determine whether the movement base position deviates compared to the normal place of setting；
Described control unit deviates compared to the normal place if being also used to the movement base position, receives use
It, to the calibration command of the movement base position, realizes using the calibration tool of setting and calibrates to the movement base position in family
The normal place；
Wherein,
The normal place, comprising: middle position；And/or
People's nyctinastic movement device, comprising: infrared people's nyctinastic movement device；The movement mechanism, comprising: infrared people feels detection mould
Block；The electronic control module, comprising: infrared detection electronic control module.
11. a kind of air-conditioning characterized by comprising control the position of people's nyctinastic movement device as described in claim 6-10 is any
Device processed.
12. a kind of storage medium, which is characterized in that be stored with a plurality of instruction in the storage medium；The a plurality of instruction, is used for
Loaded by processor and executed the position control method of people's nyctinastic movement device a method as claimed in any one of claims 1 to 5.
13. a kind of air-conditioning characterized by comprising
Processor, for executing a plurality of instruction；
Memory, for storing a plurality of instruction；
Wherein, a plurality of instruction for being stored by the memory, and is loaded by the processor and is executed such as claim
The position control method of any people's nyctinastic movement device of 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810972582.8A CN109297149A (en) | 2018-08-24 | 2018-08-24 | Position control method, device, storage medium and the air-conditioning of people's nyctinastic movement device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810972582.8A CN109297149A (en) | 2018-08-24 | 2018-08-24 | Position control method, device, storage medium and the air-conditioning of people's nyctinastic movement device |
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| CN201810972582.8A Pending CN109297149A (en) | 2018-08-24 | 2018-08-24 | Position control method, device, storage medium and the air-conditioning of people's nyctinastic movement device |
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