CN113484840B - Target positioning method for household appliance working space based on radar and household appliance system - Google Patents
Target positioning method for household appliance working space based on radar and household appliance system Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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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
Technical Field
The invention belongs to the field of household appliance control, and particularly provides a target positioning method of a household appliance working space based on radar and a household appliance system.
Background
The radar has accurate target space position detection capability, flexible environmental adaptability, is not easily influenced by environmental conditions such as temperature, humidity, brightness, smoke and the like, and can also protect personnel privacy, so the radar is widely applied to intelligent household appliances. For example, an intelligent air conditioner with a millimeter wave radar sensor can monitor the position of a person in real time, and change the direction and speed of air outlet according to the distance, relative direction and the like between the person and the air conditioner; when the millimeter wave radar sensor detects a plurality of people, the control can be performed through a wind sweeping mode.
When the radar sensor is integrated with the home appliance, the target position detected by the radar, that is, the position of the home appliance relative to the target, the home appliance can directly use the target position data detected by the radar to control the home appliance to work. However, for home appliances that are not integrated with radar sensors, and where the installation positions of the radar in the home appliance working space cannot be the same, how to quickly switch the target from the radar space position to the home appliance space position, and to implement 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 the art.
Accordingly, there is a need in the art for a new solution to the above-mentioned problems.
Disclosure of Invention
The invention aims to solve the technical problem that how to convert the position of a target in a radar coordinate system, which is acquired by a separately installed radar, to the position of the target in a home appliance coordinate system, so as to realize intelligent control of the home appliance according to the position of the target in a home appliance working space.
In a first aspect, the present invention provides a method for target localization of a radar-based 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;
and 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.
In one embodiment of the method for positioning a target in a radar-based home appliance working space, 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.
In one embodiment of the above radar-based object localization method for a home appliance workspace, the coordinate transformation matrix includes a first transformation matrix or a second transformation matrix, the first transformation matrix is a two-dimensional spatial transformation matrix, and the second transformation matrix is a three-dimensional spatial transformation matrix.
In one embodiment of the method for positioning a target in a radar-based home appliance workspace, when the output coordinate data of the radar is two-dimensional data, the number of calibration objects is 2, and the coordinate transformation matrix is the first transformation matrix.
In one embodiment of the above radar-based method for locating a target in a home appliance workspace, the formula for calculating the position of the target in the home appliance workspace according to the 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.
In one embodiment of the method for positioning a target in a radar-based home appliance working space, when the output coordinate data of the radar is three-dimensional data, the number of calibration objects is 4, and the coordinate transformation matrix is the second transformation matrix.
In one embodiment of the above radar-based method for locating a target in a home appliance workspace, the formula for calculating the position of the target in the home appliance workspace according to the 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、yM and z M are coordinates of the object in the second space rectangular coordinate system.
In one embodiment of the above method for positioning targets in a radar-based home appliance workspace, the radar includes at least one of millimeter wave radar, laser radar, and ultrasonic radar.
In a second aspect, the present invention provides a home appliance system, the home appliance system comprising a memory, a processor and a control program of the home appliance system stored on the memory and executable on the processor, the control program of the home appliance system when executed by the processor implementing the radar-based target positioning method for a home appliance workspace according to any one of the above aspects.
In one embodiment of the above home appliance system, the home appliance is an air conditioner, and the home appliance system is an air conditioner system, and when a control program of the air conditioner system is executed by the processor, an operation state of the air conditioner is controlled according to a position of the target in a home appliance work space.
Under the condition of adopting the technical scheme, the method and the device can obtain the coordinates of the calibration points through the millimeter wave radar according to the position of the calibration objects in the preferable household appliance working space, and automatically calculate the coordinate transformation matrix between the household 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 into the coordinates in the home space according to the coordinate transformation matrix. According to 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 a user is improved. Meanwhile, the method can be used for modifying the household appliance system which cannot acquire the personnel position in the working space of the household appliance, and the intellectualization of the household appliance is improved, so that the method has good application prospect.
Drawings
Preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:
Fig. 1 is a flow chart of the main steps of a target positioning method of a radar-based home appliance workspace according to an embodiment of the invention.
Fig. 2 is a flowchart of a specific implementation of step S104 in fig. 1.
Fig. 3 is a schematic representation of the three-dimensional spatial coordinate transformation of the present invention.
FIG. 4 is a schematic representation of the position of the calibration object of the present invention in a household electrical space.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Turning first to fig. 1, fig. 1 is a flow chart of the main steps of a method for target localization in a radar-based home appliance workspace according to an embodiment of the invention. As shown in fig. 1, the target positioning method of the present invention includes:
step S101: establishing a first space rectangular coordinate system taking home appliances as reference objects;
step S102: establishing a second space rectangular coordinate system with the central position of the radar as a coordinate origin;
step S103: acquiring coordinates of the target in a second space rectangular coordinate system through a radar;
Step S104: 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.
In step S101, the origin of the first space rectangular coordinate system is generally set on a straight line passing through the center position of the home appliance and perpendicular to the ground, for example, the center position of the home appliance, the ground directly below the center position of the home appliance, etc., so that the home appliance determines the relative positional relationship of the target and itself. The first space 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. And, the x 'axis and y' axis of the first space rectangular coordinate system are generally arranged parallel to the ground of the home appliance working space.
In step S102, the origin of the second space rectangular coordinate system is preferably set at the center position of the radar according to the characteristics of radar scanning and data output. The second space 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. And, the x-axis and y-axis of the second spatial rectangular coordinate system are generally parallel to the direction of radar detection.
In the present embodiment, as an example, the radar in step S103 is a millimeter wave radar. The millimeter wave radar is a detection radar working in millimeter wave (wavelength is 1-10 mm, frequency is 30-300 GHz), is a wireless sensing technology, and can extract and discover the characteristics of the position, shape and the like of a target by analyzing the radar echo characteristics of the received target, so as to determine the information of the number of the target in a space region, the position and the like of the target. Depending on the radar structure such as the antenna structure and the scanning system of the millimeter wave radar, the output data of the millimeter wave radar may be two-dimensional data or three-dimensional data.
Next, referring to fig. 2, a method for acquiring the coordinate transformation matrix in step S104 is described by fig. 2, which specifically includes the steps of:
Step S1041: setting calibration objects in a home appliance working space, wherein the number of the calibration objects is not less than 2, one of the calibration objects is positioned at the origin of a first space rectangular coordinate system, and the other calibration objects are respectively positioned on different coordinate axes in the first space rectangular coordinate system;
Step S1042: acquiring coordinates of a calibration object in the second space rectangular coordinate system through a radar;
Step S1043: according to the coordinates of the calibration object in the second space rectangular coordinate system, calculating to obtain the coordinates of the calibration object in the first space rectangular coordinate system;
Step S1044: and obtaining a 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.
Continuing to refer to fig. 3, fig. 3 is a three-dimensional coordinate transformation diagram of the present invention, and a method for acquiring a coordinate transformation matrix is illustrated by fig. 3.
The right-hand rectangular coordinate system O-xyz shown in fig. 3 is an old coordinate system (second space rectangular coordinate system in the present invention), i, j, k are basis vectors of the old coordinate system, and i, j, k are orthonormal bases in space.
The right-hand rectangular coordinate system O '-x' y 'z' shown in fig. 3 is a new coordinate system (first space rectangular coordinate system in the present invention), i ', j', k 'is a base vector of the new coordinate system, and i', j ', k' is a orthonormal base in space.
The positional relationship between the new coordinate and the old coordinate is determined by the coordinates of the origin of the new coordinate system in the old coordinate system and the angles between the new coordinate system and the coordinate axes of the old coordinate system (the angles between the coordinate vectors of the new coordinate system and the coordinate vectors of the old coordinate system). The angles between the axes of the new coordinate system and the old coordinate system are shown in table 1:
TABLE 1 included angles between the new coordinate system and the old coordinate system
| X axis (i) | Y-axis (j) | Z-axis (k) | |
| X 'axis (i') | α1 | β1 | γ1 |
| Y 'axis (j') | α2 | β2 | γ2 |
| Z 'axis (k') | α3 | β3 | γ3 |
From table 1, the relationship between basis vectors is as follows:
the origin O' has the coordinates (xO, yO, zO) in the old coordinate system, then
P is any point in space, the coordinates of O-xyz in the old coordinate system are (x, y, z), and the coordinates of O ' -x ' y ' z ' in the new coordinate system are (x ', y ', z '), so that the method can be obtained
From formulas 3, 2, 4 and 5:
xi+yj+zk=x 'i' +y 'j' +z 'k' + xOi + YOj + zOk (formula 6)
Substitution of formula 1 into formula 6 yields:
formula 7 may also be represented as:
formula 6 is abbreviated as:
formula 7 is abbreviated as:
M and N are coordinate transformation matrixes of a three-dimensional space rectangular coordinate system.
As can be seen from equations 7 and 8, when the angles between the coordinate axes of the new coordinate system and the old coordinate system are known as shown in table 1, the coordinate transformation matrices M and/or N can be directly calculated. In engineering applications, however, it is difficult to accurately measure these angles, or a special tool is required for the measurement. Therefore, a common method in engineering application is to obtain coordinates of 4 calibration objects (1 calibration object is located at an origin of a new coordinate system and the 4 points are not located in the same plane) in the new coordinate system and an old coordinate system respectively through measurement, and then substituting the coordinates into formula 8 to obtain a coordinate transformation matrix N, and finally obtaining M.
In this embodiment, the radar installation angle is any angle, the radar detection direction does not necessarily keep horizontal with the ground, the radar output data is three-dimensional data, and the calibration object may be a person or other objects with a certain shape.
In the overhead view of the air conditioner working space shown in fig. 4, the air conditioner is a wall-mounted air conditioner, the origin of the first space rectangular coordinate system is selected on the ground right below the central position of the air conditioner, the x 'axis and the y' axis of the first space rectangular coordinate system are respectively parallel to the ground of the air conditioner working space, and the origin of the second space rectangular coordinate system is the central position of the radar.
In this embodiment, the calibration object is a person, and when the calibration person stands directly under the central position of the air conditioner, the calibration function is triggered by the air conditioner remote controller or the APP dedicated to the mobile phone, and the radar automatically obtains the position of the calibration person in the second space rectangular coordinate system.
At this time, the radar may be set to acquire and save coordinate data of the head and foot of the calibration person at the same time. The foot of the calibration personnel is positioned on the ground below the positive line of the central position of the radar, can be used as the origin of a first space rectangular coordinate system, and the coordinates of the foot are (0, 0) and are also origin calibration points; the coordinates of the foot of the calibration personnel obtained by radar measurement in the second space rectangular coordinate system are (x M,O,yM,O,zM,O).
The head of the calibration person is also located directly below the central position of the air conditioner, and because the calibration person stands vertically on the ground, the head of the calibration person is located on the z ' axis perpendicular to the ground (the plane in which the x ' axis and the y ' axis are located) in the first space rectangular coordinate system, and therefore the head position of the calibration person can be used as the non-origin calibration point 1 (the point a position in fig. 4). The coordinates of the head of the calibration personnel in the first space rectangular coordinate system are (x' M,1,y′M,1,z′M,1); the coordinates of the head of the calibration personnel obtained by radar measurement in the second space rectangular coordinate system are (x M,1,yM,1,zM,1).
First distance calculation formula of origin calibration point and non-origin calibration point 1 in first space rectangular coordinate system:
Because the non-origin calibration point 1 is located on the z-axis in the first space rectangular coordinate system, x' M,1＝0、y′M,1 =0, equation 12 can be simplified to:
The second distance calculation formula of the origin calibration point and the non-origin calibration point 1 in the second space rectangular coordinate system:
since the first distance calculation formula is equal to the second distance calculation formula, it is obtained that:
thereby, the coordinates of the non-origin calibration point 1 in the first space rectangular coordinate system are obtained as The coordinate pair of the non-origin calibration point 1 isAnd (x M,1,yM,1,zM,1).
In the same way, the calibration person stands close to the wall, the foot of the calibration person is located on the x 'axis of the first space rectangular coordinate system and serves as a non-origin calibration point 2 (the position of the point B in fig. 4 is located on the negative half axis of the x' axis), the coordinate is (x 'M,2,y′M,2,z′M,2), and y' M,2＝0、z′M,2 =0; the coordinates of the feet of the calibration personnel obtained by radar measurement in the second space rectangular coordinate system are (x M,2,yM,2,zM,2); the coordinates of the non-origin calibration point 2 in the first space rectangular coordinate system can be obtained as
The coordinate pair of the non-origin calibration point 2 is
And (x M,2,yM,2,zM,2).
The calibration staff stand at any point right opposite to the central position of the air conditioner, the feet of the calibration staff are positioned on the y ' axis of the first space rectangular coordinate system and serve as a non-origin calibration point 3 (the position of a point C in fig. 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 feet of the calibration personnel obtained by radar measurement in the second space rectangular coordinate system are (x M,3,yM,3,zM,3); the coordinates of the non-origin calibration point 3 in the first space rectangular coordinate system can be obtained asThe coordinate pair of the non-origin calibration point 3 isAnd (x M,3,yM,3,zM,3).
Thus, all data of 4 calibration points required for calculating the three-dimensional space coordinate transformation matrix are obtained.
Substituting the three coordinate pairs of the three non-origin calibration points and the coordinates of the origin calibration points in the second space rectangular coordinate system into 10 to obtain
After N is obtained, a second transformation matrix M is obtained according to equation 11.
Similarly, in the two-dimensional coordinate system, only the rotation of the two-dimensional plane coordinate system is limited, and 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 identical, and it is possible to obtain:
cosα1＝cosβ2,cosα2＝sinα1,cosβ1＝-sinα1
And then obtain:
Formula 18 may also be represented as:
formula 18 is abbreviated as:
formula 19 is abbreviated as:
T and U are coordinate transformation matrixes of a two-dimensional rectangular coordinate system.
As can be seen from equations 18 and 19, the first transformation matrix T can be obtained by obtaining the coordinates of the two calibration objects in the new coordinate system and the old coordinate system in engineering application.
In one embodiment, the radar is mounted horizontally and the radar output is two-dimensional data. In the top view of the air conditioner working space shown in fig. 4, the air conditioner is a wall-mounted air conditioner, the origin of the first space rectangular coordinate system is selectable at the central position of the air conditioner, the x 'axis and the y' axis of the first space rectangular coordinate system are respectively parallel to the ground of the air conditioner working space, and the origin of the second space rectangular coordinate system is the central position of the radar.
The calibration object is a person, when the calibration person stands under the central position of the air conditioner, the calibration function is triggered by the APP special for the remote controller or the mobile phone of the air conditioner, the radar automatically obtains the coordinates (x T,O,yT,O) of the calibration person in the second space rectangular coordinate system, the coordinates of the calibration person in the second space rectangular coordinate system are (0, 0), and the coordinate pairs of the origin calibration points are (0, 0) and (x T,O,yT,O).
The calibration person stands at any point (the position of the C point in fig. 4) right opposite to the central position of the air conditioner, and at the moment, the calibration person is located on the y ' axis of the first space rectangular coordinate system, the position is a non-origin calibration point, the coordinates of the calibration person are (x ' T,1,y′T,1), and x ' T,1 =0; the coordinate of the calibration personnel obtained by radar measurement in the second space rectangular coordinate system is (x T,1,yT,1); the coordinates of the non-origin calibration point in the first space rectangular coordinate system can be obtained according to the equal distance relation between the two points in the first space rectangular coordinate system and the second space rectangular coordinate system respectivelyThe coordinate pair of the non-origin calibration point isAnd (x T,1,yT,1).
Thus, all data of two calibration points required for calculating the two-dimensional space coordinate transformation matrix are obtained.
Substituting the 1 group of coordinate pairs of the 1 non-origin calibration point and the coordinates of the origin calibration point in the second space rectangular coordinate system into 21 to obtain
After U is obtained, a first transformation matrix T is obtained according to equation 22.
Note that, in the two-dimensional transformation matrix, cos 2α1+sin2α1 =1, so that only two calibration points are needed to obtain the first transformation matrix.
According to the method for acquiring the first transformation matrix and the second transformation matrix, the position of the calibration object is skillfully arranged on the coordinate axis of the first space rectangular coordinate system, and the home appliance system can automatically calculate the coordinate of the calibration object in the first space rectangular coordinate system according to the coordinate of the radar-measured calibration object in the second space rectangular coordinate system by utilizing the characteristic that the component of the coordinate of the point on one coordinate axis in other coordinate axes is 0, so that the accurate size of the calibration object is not required to be known, and the position of the calibration object in the first space rectangular coordinate system is not required to be measured manually. Therefore, the invention can lighten the workload of field personnel and has the advantages of convenient and quick implementation.
It should be noted that, without departing from the principles of the present invention, a person skilled in the art may also obtain the coordinates of the non-origin calibration point in the first space rectangular coordinate system by using a manual measurement method, and these technical solutions after modification or replacement 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 space rectangular coordinate system established in step S101 and the second space rectangular coordinate system established in step S102 are two-dimensional coordinate systems. In step S103, the coordinate of the target in the second space rectangular coordinate system is detected to be (x T,yT) by the millimeter wave radar, and in step S104, the coordinate of the target in the first space rectangular coordinate system is calculated to be (x' T,y′T) according to the first transformation matrix T by the formula 25, so as to obtain the position of the target in the home electric working space.
In another embodiment, the output data of the millimeter wave radar is three-dimensional data, and the first space rectangular coordinate system established in step S101 and the second space rectangular coordinate system established in step S102 are both three-dimensional coordinate systems. In step S103, the coordinate (x M,yM,zM) of the target in the second space rectangular coordinate system detected by the millimeter wave radar is the coordinate (x' M,y′M,z′M) of the target in the first space rectangular coordinate system calculated by equation 26 according to the second transformation matrix M in step S104, so as to obtain the position of the target in the home electrical working space.
When the data output by the radar is point cloud data, as an example, a center position, a top position, or a bottom position of the point cloud data may be selected as a positioning point of the calibration object and/or the target. It will be appreciated by those skilled in the art that the exemplary method for processing radar point cloud data should not limit the scope of the present invention, and those skilled in the art may select the method for processing radar point cloud data according to practical situations without changing the basic principles of the present invention.
Further, the invention also provides a household appliance system. A control program for a home appliance system according to the present invention, including but not limited to a program for performing a radar-based object localization method for a home appliance workspace of the above-described method embodiments, includes a memory, a processor, and a home appliance system stored on the memory and executable on the processor. For convenience of explanation, only those portions of the embodiments of the present invention that are relevant to the embodiments of the present invention are shown, and specific technical details are not disclosed, please refer to the method portions of the embodiments 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 conditioner system, and the radar detection target is a person. The program of the target positioning method of the radar-based home appliance working space can be run in the air conditioner controller or the radar controller. When the program of the target positioning method of the radar-based home appliance working space is executed in the radar controller, the radar controller and the air conditioner controller may perform data communication through an ethernet, wi-Fi, or the like, so that the air conditioner controller can obtain the position of the target in the air conditioner working space.
After the air conditioner obtains the position of a person in the working space of the air conditioner, the air direction of the left and right and/or up and down of the air outlet is controlled according to the setting of the air conditioner, so that the air conditioner control of the person blowing, the person avoiding and the like related to the position of the person is realized, and a more intelligent and comfortable air conditioner working mode is provided for the user.
Those of skill in the art will appreciate that the various illustrative method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of functionality in order to clearly illustrate the interchangeability of electronic hardware and software. Whether such functionality is implemented as electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Those skilled in the art may implement the described functionality using different approaches for each particular application, but such implementation is not intended to be limiting.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and the above figures are used for distinguishing between similar objects and not for describing or indicating a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in other sequences than those illustrated or otherwise described herein.
It should be noted that in the description of the present application, the term "a and/or B" means all possible combinations of a and B, such as a alone, B alone or a and B.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the 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、yM 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.
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