Millimeter wave radar-based air conditioner old-age assistance control method and device and air conditioner

Abstract

The application provides an air conditioner old-age assistance control method and device based on a millimeter wave radar and an air conditioner. The method comprises the following steps: in the case that it is determined that the posture information of at least one individual is a preset joint control wake-up posture, and the duration of the joint control wake-up posture reaches a preset threshold, the air conditioner is controlled to start a sleep mode, and a wheelchair is controlled to start a joint control mode; based on first posture information monitored by a radar module on a target individual and second posture information monitored by the radar module on the wheelchair, the wheelchair is controlled to travel to a fixed position of the target individual and then assist the target individual to sit down; after it is determined that the target individual has sat down, the air conditioning range is adjusted according to the changed position information of the target individual under the action of the wheelchair. The air conditioner old-age assistance control method and device based on a millimeter wave radar and the air conditioner provided by the application enable the wheelchair in a remote place to automatically travel to the user position to provide assistance services, and optimize the user experience of using the air conditioner and the wheelchair.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of air conditioning equipment, in particular to an air conditioner old-age assistance control method and device based on a millimeter wave radar and an air conditioner. BACKGROUND

[0002] A wheelchair is an important mobile tool for the old, the weak, the sick and the disabled to recover at home, to transport, to see a doctor and to go out, which not only meets the needs of the physically disabled and the people with difficulty in moving, but also facilitates family members to move and take care of the old people with difficulty in moving, so that the old people can exercise their bodies and participate in social activities with the help of a wheelchair.

[0003] Under this application premise, the old people have higher and higher requirements for the additional functions of daily household appliances, and the requirements for air conditioning technology are no exception. In addition to the most basic cooling and heating functions, the current air conditioner and wheelchair cannot be effectively interconnected, cannot be intelligently adjusted according to the actual state of each other, and the blowing demand corresponding to the space activity of the old people through the wheelchair also changes at this time. At this time, the operation mode of the air conditioner needs to be manually adjusted additionally, which causes poor user experience of the old user group. SUMMARY

[0004] The present application provides an air conditioner old-age assistance control method and device based on a millimeter wave radar and an air conditioner, which solves the defects in the prior art that the wheelchair in the distance needs additional operation to provide assistance near the user, and the air conditioner cannot be adjusted in time according to the change in action.

[0005] The present application provides an air conditioner old-age assistance control method based on a millimeter wave radar, wherein the air conditioner and the wheelchair are arranged in the same indoor environment, comprising:

[0006] In a case where it is determined that the posture information of at least one individual is a preset joint control wake-up posture, and the duration of the joint control wake-up posture reaches a preset threshold, the air conditioner is controlled to start a sleep mode, and the wheelchair is controlled to start a joint control mode;

[0007] Based on the first posture information monitored by the radar module on the target individual and the second posture information monitored by the radar module on the wheelchair, the wheelchair is controlled to travel to a fixed position where the target individual is located and assist the target individual to sit down;

[0008] After it is determined that the target individual has sat down, the air conditioner is adjusted in terms of the changed position information of the target individual under the action of the wheelchair;

[0009] The target individual is any one of the individuals in a joint control wake-up posture in an indoor space; the posture information is determined according to the human feature information collected by the radar module on each individual in the default working mode of the air conditioner.

[0010] The application provides an air-conditioning old-age assistance control method based on a millimeter wave radar, first pose information of a target individual monitored by a radar module and second pose information of a wheelchair monitored by the radar module are used to control the wheelchair to travel to a fixed position of the target individual and then assist the target individual to sit down, and the method comprises the following steps of:

[0011] Based on the first pose information and the second pose information, the wheelchair is controlled to brake in an assistance receiving range corresponding to the target individual.

[0012] In a case where the radar module determines that the target individual and the wheelchair are in the same direction, the wheelchair is controlled to travel to an assistance execution position in the assistance receiving range and then assist the target individual to sit down.

[0013] The assistance receiving range is a range of acceptable actions determined with the fixed position of the target individual as the center, and the assistance execution position is closest to the fixed position of the target individual in the assistance receiving range.

[0014] The application provides an air-conditioning old-age assistance control method based on a millimeter wave radar, based on the first pose information and the second pose information, the wheelchair is controlled to brake in an assistance receiving range corresponding to the target individual, and the method comprises the following steps of:

[0015] Based on the first pose information and the second pose information, an initial planning path is determined.

[0016] In a case where at least one path point of the initial planning path is in an object coordinate set, an obstacle avoidance planning path is determined based on the target object coordinate set and the initial planning path, so that the wheelchair travels along the obstacle avoidance planning path to the assistance receiving range.

[0017] The target object coordinate set is any object coordinate set that has an intersection with the path point coordinate of the initial planning path, and the object coordinate set is obtained by scanning the distribution range of any object in the indoor space by the radar module.

[0018] The application provides an air-conditioning old-age assistance control method based on a millimeter wave radar, and after the initial planning path is determined, the method further comprises the following steps of:

[0019] In a case where all path points of the initial planning path are not in any object coordinate set, the wheelchair is controlled to travel along the initial planning path to the assistance receiving range.

[0020] According to the millimeter wave radar air conditioner assisted old control method provided by the application, the control of the wheelchair in the auxiliary receiving range to the auxiliary execution position after the auxiliary execution position is assisted to the target individual, including:

[0021] If the auxiliary execution position and the fixed position of the target individual are on the same horizontal line, according to the target direction of the target individual relative to the wheelchair, the target armrest of the wheelchair is controlled to rotate and expand to be parallel to the wheelchair backrest in the target direction, so as to assist the target individual to sit sideways;

[0022] After determining that the target individual is seated, the target armrest is controlled to rotate and reset to be perpendicular to the wheelchair backrest in the target direction;

[0023] Wherein, the target armrest is one of the two armrests of the wheelchair on one side of the target direction.

[0024] According to the millimeter wave radar air conditioner assisted old control method provided by the application, the control of the wheelchair in the auxiliary receiving range to the auxiliary execution position after the auxiliary execution position is assisted to the target individual, including:

[0025] If the auxiliary execution position and the fixed position of the target individual are on the same vertical line, the two armrests of the wheelchair are controlled to stretch forward, so as to assist the target individual to sit backward;

[0026] After determining that the target individual is seated, the two armrests are controlled to reset back.

[0027] The application also provides a millimeter wave radar air conditioner assisted old control device, which is arranged in an air conditioner in the same indoor environment as the wheelchair, including:

[0028] The joint control wake-up module is used for controlling the air conditioner to start the sleep mode and the wheelchair to start the joint control mode respectively under the condition that the posture information of at least one individual is determined to be a preset joint control wake-up posture, and the duration of the joint control wake-up posture reaches a preset threshold.

[0029] The wheelchair control module is used for controlling the wheelchair to assist the target individual to be seated after the wheelchair travels to the fixed position of the target individual based on the first posture information monitored by the radar module to the target individual and the second posture information monitored by the radar module to the wheelchair.

[0030] The air conditioner control module is used for adjusting the air deflection range of the air conditioner according to the changed position information of the target individual under the action of the wheelchair after determining that the target individual is seated.

[0031] The target individual is any one of the individuals in a wake-up posture in the indoor space; and the posture information is determined according to the human feature information collected by the radar module for each individual in the default working mode of the air conditioner.

[0032] The application further provides an air conditioner, comprising an indoor unit and an outdoor unit, wherein the indoor unit is provided with a control processor and a radar module, the radar module is arranged on the surface of the shell of the indoor unit; and the air conditioner further comprises a memory and a program or instruction stored in the memory and executable on the control processor, and the program or instruction is executed by the control processor to perform the millimeter-wave-radar-based air-conditioner-assisted-elderly-control method according to any one of the above.

[0033] The indoor unit and the wheelchair are communicatively connected through a local area network in the same indoor space.

[0034] The wheelchair is used to execute the control instruction issued by the indoor unit when the indoor unit performs the millimeter-wave-radar-based air-conditioner-assisted-elderly-control method, and control the wheelchair to move from the current position to the position of the individual.

[0035] The radar module comprises a millimeter-wave radar.

[0036] The application further provides a non-transitory computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the millimeter-wave-radar-based air-conditioner-assisted-elderly-control method according to any one of the above.

[0037] The application further provides a computer program product, comprising a computer program, and the computer program is executed by a processor to implement the millimeter-wave-radar-based air-conditioner-assisted-elderly-control method according to any one of the above.

[0038] The millimeter-wave-radar-based air-conditioner-assisted-elderly-control method, device and air conditioner provided by the application can activate the linkage control between the air conditioner and the wheelchair when the posture information of at least one individual monitored by the radar module shows a trend of continuously maintaining a wake-up posture, capture the relative position relationship between the target individual and the wheelchair in real time, guide the wheelchair to move to the target individual to assist the individual to sit down, and then always align the air swing range of the air conditioner with the target individual when the radar module monitors that the wheelchair carrying the target individual is displaced in the indoor space. When the air conditioner and the wheelchair establish a communication relationship in the same local area network, the working states of the air conditioner and the wheelchair can be cooperatively controlled according to the posture change of the user, the wheelchair in a remote place can automatically move to the position of the user to provide assistance without manual adjustment of the two intelligent devices by the user, the control time delay of the two intelligent devices is reduced, the control accuracy is improved, and the use experience of the user for the air conditioner and the wheelchair is optimized. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0040] Figure 1 is one of the flow schematic diagrams of the air conditioner old-age assistance control method based on the millimeter wave radar provided by the present application;

[0041] Figure 2 is another flow schematic diagram of the air conditioner old-age assistance control method based on the millimeter wave radar provided by the present application;

[0042] Figure 3 is a structural schematic diagram of the air conditioner old-age assistance control device based on the millimeter wave radar provided by the present application;

[0043] Figure 4 is a structural schematic diagram of the air conditioner provided by the present application. DETAILED DESCRIPTION

[0044] In order to make the objects, technical solutions and advantages of the present application clearer, the following will combine the drawings in the present application to clearly and completely describe the technical solutions in the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort fall within the protection scope of the present application.

[0045] The terms "first", "second", etc. in the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually a category and do not limit the number of objects, for example, the first object can be one or more.

[0046] It should be understood that the terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0047] The terms "include" and "contain" indicate the presence of the described features, whole, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, whole, steps, operations, elements, components and / or sets thereof.

[0048] Figure 1 is one of the flowcharts of the millimeter wave radar-based air conditioner old-age assistance control method provided by the present application. As shown in Figure 1 the millimeter wave radar-based air conditioner old-age assistance control method provided by the embodiment of the present application, wherein the air conditioner and the wheelchair are arranged in the same indoor environment, comprises: step 101, in the case that the posture information of at least one individual is determined to be a preset joint control wake-up posture, and the duration of the joint control wake-up posture reaches a preset threshold, the air conditioner is controlled to start a sleep mode, and the wheelchair is controlled to start a joint control mode.

[0049] Among them, the posture information is determined according to the human feature information collected by the radar module for each individual in the default working mode of the air conditioner.

[0050] It should be noted that the execution subject of the millimeter wave radar-based air conditioner old-age assistance control method provided by the embodiment of the present application is the millimeter wave radar-based air conditioner old-age assistance control device.

[0051] The application scenario of the millimeter wave radar-based air conditioner old-age assistance control method provided by the embodiment of the present application is that the air conditioner and the wheelchair are in the same indoor environment and are connected in communication by the same local area network. When the user activates the air conditioner, the behavior intention of the individual is determined through the contour information fed back by the radar module in real time, the wheelchair far away is controlled to move to the vicinity of the individual, and the air supply mode of the air conditioner is adjusted accordingly.

[0052] Among them, the radar module is arranged on the air conditioner, periodically collects all individuals in the indoor environment for monitoring in a specified time interval, and sends the distribution position of the human body of each individual in the space to the millimeter wave radar-based air conditioner old-age assistance control device. The working period of the radar module is not limited in the embodiment of the present application.

[0053] Optionally, the radar module can perform collection work in the default working period.

[0054] Optionally, the user can change the working period of the radar module by issuing a period change instruction, so that the radar module receives and responds to the instruction to change the working period to the period indicated by the instruction for collection work.

[0055] It should be noted that before step 101, the user needs to send an activation instruction through a transmission medium to activate the working mode of the air conditioner, so that the indoor unit of the air conditioner operates at the default wind speed in the mode, and the outdoor unit operates at the default frequency in the mode.

[0056] Optionally, the user can transmit the activation instruction by controlling the device through the wireless communication mode between the control device and the air conditioning system, so as to initialize the working mode of the air conditioning system and start the radar module.

[0057] Optionally, the user can issue an activation instruction through voice interaction, and the air conditioning system receives the activation instruction, performs voice recognition, initializes the working mode, and starts the radar module.

[0058] Specifically, in step 101, after the air conditioner starts the default working mode, the millimeter wave radar air conditioner old people control device receives the human feature information collected by the radar module for each individual in the space where the air conditioner is located, analyzes the human shape features contained therein, and if the posture information analyzed by any individual matches the pre-set joint control wake-up posture, and the individual maintains the joint control wake-up posture for a duration reaching a pre-set threshold, it means that the individual's current behavior intention is to actively perform the joint control wake-up action to activate the joint control of the air conditioner and the wheelchair, so that the wheelchair in the distance moves to the individual's vicinity.

[0059] The joint control of the air conditioner and the wheelchair includes adjusting the fan speed of the indoor unit and the operating frequency of the outdoor unit to the parameter values corresponding to the sleep mode based on the current operating mode of the air conditioner. At the same time, it also includes activating the wheelchair and starting the motor of the wheelchair in the joint control mode, and ensuring that the wheelchair has no fault and waits to travel according to the planned path through the forward and backward micro-motions of the wheels generated by the initialization of the drive wheels.

[0060] Conversely, if the posture information of any individual does not match the pre-set joint control wake-up posture, or the individual maintains the joint control wake-up posture for a duration that does not reach the pre-set threshold, it means that the individual's current behavior intention is only to make some specific actions in the indoor space, and there is no need to use the wheelchair, so the joint control of the air conditioner and the wheelchair is not triggered.

[0061] Wherein, the type and number of radar sensing devices in the radar module are not specifically limited in the embodiment of the application.

[0062] For example, the radar module can include a laser radar, an infrared sensor, etc.

[0063] Optionally, since the horizontal detection range of the millimeter wave radar can reach ±75°, the vertical detection range can reach ±40°, the maximum detection distance can reach 8 meters, the distance output accuracy can reach 0.1 meters, the angle output accuracy can reach 1°, and it does not involve privacy issues, is not affected by light, and has a faster response speed.

[0064] Therefore, based on the millimeter wave radar air conditioner old people control device, the posture of the user individual in the current behavior action is analyzed according to the individual contour information collected by the millimeter wave radar in real time.

[0065] Exemplarily, the radar module can include multiple types of sensing elements such as millimeter wave radar, laser radar, infrared sensor, etc., and the millimeter wave radar air conditioner assisted old control device integrates the contour information collected by each sensing element to comprehensively depict the real-time posture of the individual.

[0066] It can be understood that the preset joint control wake-up posture is not specifically limited in the embodiment of the application.

[0067] Exemplarily, the joint control wake-up posture can be pre-set according to the individual's own action conditions, and after determining the body part with normal action ability, the action posture that can be performed by the body part is selected as the joint control wake-up posture.

[0068] For example, the lower limbs of the individual are paralyzed, but the arms can withstand the amplitude of most basic actions, so the individual's waving hand action at a certain frequency can be used as the joint control wake-up posture.

[0069] For another example, the individual has hemiplegia caused by stroke, but the hand can still maintain a certain action, so the individual's fingers maintaining a certain specific posture can be used as the joint control wake-up posture.

[0070] Step 102, based on the first posture information monitored by the radar module on the target individual, and the second posture information monitored by the radar module on the wheelchair, the wheelchair is controlled to travel to the fixed position where the target individual is located, and then assist the target individual to sit down.

[0071] Among them, the target individual is any one of the individuals in the indoor space in the joint control wake-up posture.

[0072] It should be noted that the target individual refers to an individual who continuously maintains the joint control wake-up posture in the current space, and the individual has a demand for calling a wheelchair from a distance, so the individual's subjective action intention is to activate the joint control of the air conditioner and the wheelchair.

[0073] Specifically, in step 102, based on the millimeter wave radar air conditioner assisted old control device, after determining that the sleep mode of the air conditioner and the joint control mode of the wheelchair are both turned on, the radar module in the joint control mode is used to monitor the first posture information of the target individual in the indoor space and the second posture information of the wheelchair in the indoor space, and the action route of the wheelchair is planned and corrected in real time according to the relative position relationship between the two, until the wheelchair travels to the fixed position where the target individual is located, directly meets the demand of the target individual for calling the wheelchair, and provides the function of assisting the seat.

[0074] The indoor space coordinate system is established with the position of the radar module as the origin, the horizontal line where the air conditioner is located is taken as the X-axis, the vertical line perpendicular to the X-axis in the horizontal plane where the air conditioner is located is taken as the Y-axis, the XoY plane is formed to represent the horizontal plane where the air conditioner is located, and the direction perpendicular to the XoY plane and downward is defined as the positive direction of the Z-axis.

[0075] The first pose information refers to the position coordinates of the target individual in the indoor space coordinate system and the corresponding azimuth angle. Due to the conditions of the target individual, generally, the first pose information does not change much.

[0076] The second pose information refers to the position coordinates of the wheelchair in the indoor space coordinate system and the corresponding azimuth angle. The second pose information changes over time to adjust the route, angle and distance of the wheelchair to the target individual in real time according to the changes in the relative position relationship between the user and the wheelchair.

[0077] Step 103: After determining that the target individual is seated, the swing range of the air conditioner is adjusted according to the position information of the target individual changed under the action of the wheelchair.

[0078] It should be noted that before step 103, the wheelchair needs to monitor whether the function of assisting the target individual to sit down is completed after the wheelchair approaches the target individual, and the embodiments of the present application do not make specific limitations on this.

[0079] For example, a pressure sensor can be installed below the seat of the wheelchair. When the pressure sensor monitors that the seat bears the pressure generated by the individual sitting on the seat, and the pressure value reaches the body weight of the individual, the wheelchair sends a signal to the air conditioner to indicate that the target individual has sat down.

[0080] For example, the radar module on the air conditioner can continue to monitor the posture of the individual. When the radar module monitors that the human posture is sitting, it is determined that the target individual has sat down.

[0081] Specifically, in step 103, after the millimeter wave radar air conditioner old-age control device determines that the target individual has completed sitting down at the current position, the target individual can change the position in the indoor space under the action of the wheelchair. The swing range of the air conditioner is adjusted according to the real-time position information of the target individual when the radar module continues to drive, so as to realize the function of "wind following the movement of the person".

[0082] The adjustment strategy of the swing range includes that the execution angle of the yawing leaf assembly arranged in parallel along the vertical direction at the air outlet of the air conditioner is always aligned with the real-time position of the target individual when the target individual changes the position under the action of the wheelchair, so that the yawing leaf assembly changes the wind guide direction in the vertical direction with the change of the body distribution range of the target individual in the vertical direction.

[0083] The adjustment strategy of the swing range further includes always aligning the execution angle of the vertical swing vane assembly parallelly arranged along the horizontal direction at the air outlet of the air conditioner with the real-time position of the target individual when the wheelchair is actuated to displace, so as to change the air guiding direction of the vertical swing vane assembly in the horizontal direction with the displacement of the target individual in the horizontal direction.

[0084] When the posture information of at least one individual monitored by the radar module shows a tendency to continuously maintain the wake-up posture, the linkage control between the air conditioner and the wheelchair is activated, and the relative position relationship between the target individual and the wheelchair activating the mode is captured by the radar module in real time to guide the wheelchair to the target individual to assist in seating, and then when the radar module monitors that the wheelchair carrying the target individual displaces in the indoor space, the swing range of the air conditioner is always aligned with the target individual. When the air conditioner and the wheelchair establish a communication relationship in the same local area network, the working states of the air conditioner and the wheelchair are cooperatively controlled according to the posture change of the user, without the user manually adjusting the two intelligent devices respectively, so that the wheelchair far away can automatically move to the user's position to provide assistance, reduce the control delay of the two intelligent devices, improve the control accuracy, and optimize the user's experience of using the air conditioner and the wheelchair.

[0085] On the basis of any of the above embodiments, based on the first posture information monitored by the radar module on the target individual and the second posture information monitored by the radar module on the wheelchair, the wheelchair is controlled to travel to the fixed position of the target individual to assist the target individual in seating, including: based on the first posture information and the second posture information, the wheelchair is controlled to travel to the target individual corresponding to the assist receiving range and brake.

[0086] Among them, the assist receiving range is a acceptable action range determined with the fixed position of the target individual as the center.

[0087] Specifically, in step 102, based on the millimeter wave radar air conditioner old control device, according to the second posture information of the empty wheelchair when it travels along the predetermined route, the angle and distance changes relative to the first posture information change over time, gradually guide the wheelchair to travel to the target individual corresponding to the assist receiving range, and then control the wheelchair to brake and temporarily stop in the assist receiving range to wait for further control instructions to approach the target individual.

[0088] Among them, the assist receiving range is a symmetric region divided with the fixed position of the target individual as the center.

[0089] Exemplarily, the assist receiving range can be a symmetric region divided with the fixed position of the target individual as the center and combined with the fixed distance from the target individual.

[0090] Exemplarily, the auxiliary receiving range can also be an action range divided with the fixed position where the target individual is currently located as the center, and matching the action ability of the target individual itself. The worse the action ability of the individual is, the smaller the radius of the auxiliary receiving range is.

[0091] For example, the auxiliary receiving range can be limited to a circumferential range of 0.5 meters (m) from the target individual.

[0092] In the case that the orientations of the target individual and the wheelchair are determined to be the same by the radar module, the wheelchair is controlled to travel to the auxiliary execution position in the auxiliary receiving range to assist the target individual to sit down.

[0093] The auxiliary execution position is closest to the fixed position where the target individual is located in the auxiliary receiving range.

[0094] Specifically, the orientation of the target individual is determined based on the azimuth angle in the first pose information collected by the radar module when the wheelchair is stationary in the auxiliary receiving range, and the orientation of the wheelchair opening is also determined according to the azimuth angle in the second pose information collected by the radar module at this time. The orientations of the two are compared:

[0095] If the orientations of the two are consistent, it means that the wheelchair seat is open to the target individual, and the target individual does not need other actions in addition to the sitting action. Therefore, the wheelchair is directly controlled to continue traveling in the auxiliary receiving range along its current orientation until it is braked at the auxiliary execution position to wait for the target individual to sit down.

[0096] The auxiliary execution position refers to the last path point in the predetermined route of the target individual when the wheelchair moves, and the planning of the path point needs to meet the requirement that after the movement direction of the last path point is continued, it is closest to the rear side of the target individual.

[0097] If the orientations of the two are consistent, it means that the wheelchair seat is not directly opposite to the back of the target individual, and the target individual needs to adjust its orientation to sit down. Therefore, the wheelchair is first controlled to be consistent with the orientation of the target individual, and then the wheelchair is controlled to continue traveling in the auxiliary receiving range towards the target individual until it is braked at the auxiliary execution position to wait for the target individual to sit down.

[0098] The embodiment of the present application guides the empty wheelchair to move to the auxiliary receiving range to wait for the judgment of the orientation based on the change of the relative position relationship of the first pose information relative to the second pose information, and decides to control the wheelchair to continue to assist in executing the position along the current orientation when the target individual and the wheelchair orientation are consistent. The wheelchair can execute more accurate assisted seating function in the process of controlling the empty wheelchair to approach the individual, and the control precision is improved, the physical consumption of the person in executing unnecessary actions is effectively avoided, and the use experience of the air conditioner and the wheelchair is optimized.

[0099] On the basis of any of the above embodiments, based on the first pose information and the second pose information, the wheelchair is controlled to travel to the auxiliary receiving range corresponding to the target individual to brake, comprising: determining an initial planning path based on the first pose information and the second pose information.

[0100] Specifically, based on the millimeter wave radar air conditioner old-age assistance control device, an initial planning path is obtained from the initial collected first pose information and second pose information, combined with the existing path planning algorithm, taking the initial position of the wheelchair as the starting point and the position of the target individual as the end point.

[0101] In a case where at least one path point in the initial planning path is in the object coordinate set, an obstacle avoidance planning path is determined based on the target object coordinate set and the initial planning path, so that the wheelchair continues to travel along the obstacle avoidance planning path to the auxiliary receiving range.

[0102] Wherein, the target object coordinate set is any object coordinate set in the object coordinate set which intersects with the path point coordinate of the initial planning path, and the object coordinate set is obtained by scanning the distribution range of any object in the indoor space by the radar module.

[0103] It should be noted that before step 102, the object distribution in the indoor space needs to be scanned by the radar module to obtain a set of object coordinate sets covered by each object in the indoor space coordinate system.

[0104] Specifically, based on the millimeter wave radar air conditioner old-age assistance control device, the path points recorded by the initial planning path are compared with all object coordinate sets:

[0105] If it is confirmed through comparison that there is an intersection between the two, that is, the initial planning path has a path point coinciding with the position of the indoor object, the object coordinate set with route conflict is taken as the target object coordinate set, and after setting it as an obstacle avoidance point, the initial planning path is re-planned in combination to obtain an obstacle avoidance planning path, and the obstacle avoidance planning path is sent to the wheelchair. So that the wheelchair avoids all obstacles along the obstacle avoidance planning path from the initial position to the position of the target individual.

[0106] The embodiment of the present application obtains an initial planning path based on first pose information and second pose information, and performs cross comparison on the initial planning path and the distributed positions of indoor objects. When it is detected that there is an obstacle on the route of the initial planning path, the obstacle avoidance planning path is re-planned by combining the target object coordinate set corresponding to the obstacle and the initial planning path. On the basis of automatic obstacle avoidance of the wheelchair, the wheelchair can approach the individual with the shortest route and the fastest time, improve the control accuracy of the wheelchair, reduce the waiting time of the user for the wheelchair as much as possible, and optimize the use experience of the user for the air conditioner and the wheelchair.

[0107] On the basis of any of the above embodiments, after the initial planning path is determined, the wheelchair is controlled to travel along the initial planning path to the auxiliary receiving range in a case where all path points in the initial planning path are not located in any object coordinate set.

[0108] Specifically, the initial planning path recorded by the millimeter wave radar air conditioner old-age control device is compared with all object coordinate sets:

[0109] If it is confirmed through comparison that there is no intersection between the two, that is, the initial planning path has no path point coinciding with the position of any indoor object, the initial planning path is directly sent to the wheelchair. So that the wheelchair moves from the initial position to the position of the target individual along the initial planning path.

[0110] The embodiment of the present application obtains an initial planning path based on first pose information and second pose information, and performs cross comparison on the initial planning path and the distributed positions of indoor objects. When it is detected that there is an obstacle on the route of the initial planning path, the obstacle avoidance planning path is re-planned by combining the target object coordinate set corresponding to the obstacle and the initial planning path. On the basis of automatic obstacle avoidance of the wheelchair, the wheelchair can approach the individual with the shortest route and the fastest time, improve the control accuracy of the wheelchair, reduce the waiting time of the user for the wheelchair as much as possible, and optimize the use experience of the user for the air conditioner and the wheelchair.

[0111] On the basis of any of the above embodiments, the wheelchair is controlled to assist the target individual to sit down after traveling to the assistance execution position in the assistance receiving range, comprising: if the assistance execution position and the fixed position where the target individual is located are on the same horizontal line, according to the target orientation of the target individual relative to the wheelchair, the target armrest of the wheelchair is controlled to rotate and expand to be parallel to the wheelchair back to assist the target individual to sit down.

[0112] Wherein, the target armrest is one of the two armrests of the wheelchair on the side of the target orientation.

[0113] Specifically, the assistance execution position where the empty wheelchair completes the predetermined route and the fixed position where the target individual is located are compared based on the millimeter wave radar air conditioning old-age assistance control device:

[0114] If the X-axis coordinate value of the assistance execution position is approximately equal to the X-axis coordinate value of the fixed position where the target individual is located, that is, they are on the same horizontal line, the side orientation (i.e. left or right) of the target individual relative to the wheelchair is taken as the target orientation, and the armrest of the two armrests of the wheelchair on the same side as the target individual is taken as the target armrest. To assist the target individual to sit down using the target armrest, the target armrest needs to be controlled to rotate at its hinge to face the target orientation, and the target armrest needs to be fully expanded from the original perpendicular state to the chair back to the parallel state to the chair back to provide the support required by the target individual when the target individual horizontally displaces to the side.

[0115] After determining that the target individual has sat down, the target armrest is controlled to rotate at its hinge to face away from the target orientation and return to the perpendicular state to the chair back.

[0116] Specifically, after determining that the target individual has sat down, the target armrest is controlled to rotate at its hinge to face away from the target orientation and return to the perpendicular state to the chair back based on the millimeter wave radar air conditioning old-age assistance control device. To make it easy for the individual to hold the armrest when the individual's arms naturally droop after the armrest is returned, the target armrest is fully retracted from the current parallel state to the chair back to the original perpendicular state to the chair back.

[0117] The embodiment of the present application judges the relative position relationship between the assistance execution position and the fixed position where the target individual is located. When it is determined that the assistance execution position is on the horizontal side of the fixed position where the target individual is located, the target armrest on the same side as the target individual is controlled to rotate outwardly to be parallel to the wheelchair back, and is returned to be perpendicular to the back after the target individual sits down. The support force of the armrest is always present for the user during the horizontal movement to the wheelchair, perfectly connecting the user to sit down, avoiding accidents, and improving safety.

[0118] On the basis of any of the above embodiments, the wheelchair is controlled to assist the target individual to sit down after traveling to the assistance execution position in the assistance receiving range, comprising: if the assistance execution position and the fixed position where the target individual is located are on the same vertical line, the two armrests of the wheelchair are controlled to stretch forward to assist the support when the target individual sits down to the rear.

[0119] Specifically, the assistance execution position where the empty wheelchair completes the predetermined route and the fixed position where the target individual is located are compared based on the millimeter wave radar air conditioning old-age assistance control device:

[0120] If the Y-axis coordinate value of the fixed position where the target individual is located is slightly greater than the Y-axis coordinate value of the assistance execution position, that is, they are on the same vertical line, the target individual is stretched forward relative to the wheelchair to provide the support required when the target individual vertically displaced to the rear.

[0121] After determining that the target individual sits down, the two armrests are controlled to retract backward to the original state.

[0122] Specifically, after determining that the target individual completes the sitting, the two armrests are controlled to completely retract backward to the original state based on the millimeter wave radar air conditioning old-age assistance control device, so that the individual's arms carried on the wheelchair can easily hold the armrest when the armrest is retracted and the arms naturally droop, facilitating the force.

[0123] Exemplarily, Figure 2 is a flowchart of the method for assisting the old based on the millimeter wave radar air conditioning provided by the present application. As shown in Figure 2 , the present application provides a specific embodiment of the method for assisting the old based on the millimeter wave radar air conditioning:

[0124] (1) After the air conditioner is started, the human body posture trajectory is captured by the millimeter wave radar.

[0125] (2) If the human body presents a "joint control wake-up" posture, the air conditioner is controlled to enter a sleep state, and the target individual is fixedly blown.

[0126] (3) When the "joint control wake-up" posture is monitored for 20s, the joint control mode of the wheelchair is activated. Otherwise, jump to step (1) to continue monitoring the human body posture.

[0127] (4) The wheelchair is controlled to initialize the front and rear micro-movement, and the initial planning route, angle and distance of the wheelchair to the target individual are calculated according to the position of the wheelchair.

[0128] (5) The initial planning route is rechecked in combination with the distribution of space articles. If there is no obstacle on the route, step (5) is executed. Otherwise, jump to step (5) to recalculate the obstacle avoidance planning path.

[0129] (6) According to the planned path, the wheelchair is guided to run to 0.5m away from the target individual (i.e. the auxiliary receiving range), and the face direction of the target individual is captured by the radar.

[0130] (7) The wheelchair is adjusted to be consistent with the direction of the target individual, and is driven to the auxiliary execution position close to the left (right) side of the target individual, and the target handrail on the corresponding side is controlled to be unfolded outward to be parallel to the chair back.

[0131] (8) After the target individual sits on the wheelchair, the target handrail is controlled to be reset.

[0132] (9) The air conditioner is turned on in the "wind follows the person" mode.

[0133] The embodiment of the present application judges the relative position relationship between the auxiliary execution position and the fixed position where the target individual is located. When it is determined that the auxiliary execution position is directly behind the fixed position where the target individual is located, the decision control is made to extend a pair of handrails forward, and reset them to the initial state after the target individual sits down. The support force of the handrails is always present for the user to move backward to the wheelchair, perfectly connecting the user to the seat, avoiding accidents, and improving safety.

[0134] Figure 3 is a structural schematic diagram of an air conditioner old-age assistance control device based on a millimeter wave radar provided by the present application. On the basis of any of the above embodiments, as shown in Figure 3 , the device is arranged in an air conditioner in the same indoor environment as the wheelchair, and includes a joint control wake-up module 310, a wheelchair control module 320, and an air conditioner control module 330, wherein:

[0135] The joint control wake-up module 310 is used to control the air conditioner to start a sleep mode and control the wheelchair to start a joint control mode when it is determined that at least one individual has a preset joint control wake-up posture, and the duration of the joint control wake-up posture reaches a preset threshold.

[0136] The wheelchair control module 320 is used to control the wheelchair to proceed to the fixed position of the target individual and assist the target individual to sit down based on the first posture information monitored by the radar module on the target individual and the second posture information monitored by the radar module on the wheelchair.

[0137] The air conditioner control module 330 is used to adjust the air deflection range of the air conditioner according to the changed position information of the target individual on the wheelchair after the target individual sits down.

[0138] Wherein, the target individual is any one of the individuals in a joint control wake-up posture in an indoor space. The posture information is determined according to the human feature information collected by the radar module on each individual in the default working mode of the air conditioner.

[0139] Specifically, the joint control wake-up module 310, the wheelchair control module 320, and the air conditioner control module 330 are sequentially electrically connected.

[0140] The joint control wake-up module 310 receives real-time human feature information collected by the radar module for each individual in the space where the air conditioner is located after the air conditioner starts the default working mode, analyzes the human posture feature contained in the human feature information, and if the posture information obtained by analyzing any individual matches the pre-set joint control wake-up posture and the individual maintains the joint control wake-up posture for a duration reaching a pre-set threshold, it is determined that the current behavior intention of the individual is to actively perform the joint control wake-up action to activate the joint control of the air conditioner and the wheelchair, so that the wheelchair in a remote place moves to the vicinity of the individual.

[0141] The wheelchair control module 320, after determining that the sleep mode of the air conditioner and the joint control mode of the wheelchair are both turned on, uses the radar module in the joint control mode to monitor the first posture information of a target individual who has a demand for the wheelchair in the indoor space and the second posture information of the wheelchair in the indoor space, and plans and corrects the action route of the wheelchair in real time according to the relative positional relationship between the two, until the wheelchair travels to the fixed position where the target individual is located, directly meeting the demand of the target individual for the wheelchair and providing the function of assisting seating.

[0142] The air conditioner control module 330, after determining that the target individual has completed seating at the current position, can displace in the indoor space under the action of the wheelchair, and then adjusts the air swing range of the air conditioner according to the real-time position information of the target individual when the displacement occurs, to realize the function of "wind following the movement of people".

[0143] Optionally, the wheelchair control module 320 includes a first travel control unit and a second travel control unit.

[0144] The first travel control unit is configured to control the wheelchair to travel to a brake in an auxiliary receiving range corresponding to the target individual based on the first posture information and the second posture information.

[0145] The second travel control unit is configured to assist the target individual to seat after the wheelchair travels to an auxiliary execution position in the auxiliary receiving range when the radar module determines that the orientations of the target individual and the wheelchair are the same.

[0146] The auxiliary receiving range is an acceptable action range determined with the fixed position of the target individual as the center. The auxiliary execution position is closest to the fixed position of the target individual in the auxiliary receiving range.

[0147] Specifically, the first travel control unit comprises an initial path planning subunit and a path checking subunit, wherein:

[0148] The initial path planning subunit is configured to determine an initial planning path based on the first pose information and the second pose information.

[0149] The path checking subunit is configured to determine an obstacle-avoiding planning path based on the target object coordinate set and the initial planning path in a case where at least one path point in the initial planning path is in the object coordinate set, so as to control the wheelchair to travel along the obstacle-avoiding planning path to the assistance receiving range.

[0150] The target object coordinate set is any object coordinate set that intersects with the path point coordinate of the initial planning path, and the object coordinate set is obtained by scanning the distribution range of any object in the indoor space by the radar module.

[0151] Optionally, the first travel control unit further comprises an initial path execution subunit, wherein:

[0152] The initial path execution subunit is configured to control the wheelchair to travel along the initial planning path to the assistance receiving range in a case where all path points in the initial planning path are not in any object coordinate set.

[0153] Optionally, the second travel control unit comprises a first armrest control subunit and a first armrest reset subunit, wherein:

[0154] The first armrest control subunit is configured to control the target armrest of the wheelchair to rotate and unfold to be parallel to the wheelchair back in the target direction for assisting the target individual to sit sideways if the assistance execution position is on the same horizontal line as the fixed position where the target individual is located according to the target direction of the target individual relative to the wheelchair.

[0155] The first armrest reset subunit is configured to control the target armrest to rotate and reset to be perpendicular to the wheelchair back against the target direction after determining that the target individual is seated.

[0156] The target armrest is one of the two armrests of the wheelchair that is located on one side of the target direction.

[0157] Optionally, the second travel control unit comprises a second armrest control subunit and a second armrest reset subunit, wherein:

[0158] The second armrest control subunit is configured to control the two armrests of the wheelchair to stretch forward for assisting the target individual to sit backward if the assistance execution position is on the same vertical line as the fixed position where the target individual is located.

[0159] The second handrail resetting sub-unit is configured to control a pair of handrails to retract and reset rearward after determining that the target individual is seated.

[0160] The millimeter wave radar-based air conditioner old-age assistance control device provided by the embodiments of the present application is used to execute the millimeter wave radar-based air conditioner old-age assistance control method, and the implementation manners and the same beneficial effects of the millimeter wave radar-based air conditioner old-age assistance control method provided by the present application are consistent, and thus will not be described here.

[0161] When the posture information of at least one individual monitored by the radar module shows a trend of continuously maintaining the linkage wake-up posture, the linkage control between the air conditioner and the wheelchair is activated, and the relative position relationship between the target individual and the wheelchair activating the mode is captured in real time by the radar module to guide the wheelchair to the target individual to assist in seating, and then when the radar module monitors that the target individual carried by the wheelchair has displacement changes in the indoor space, the air deflection range of the air conditioner is always aligned with the target individual. When the air conditioner and the wheelchair establish a communication relationship in the same local area network, the working states of the air conditioner and the wheelchair are cooperatively controlled according to the posture changes of the user, the user does not need to manually adjust the two intelligent devices respectively, the wheelchair far away can automatically move to the user's position to provide assistance, the control time delay of the two intelligent devices is reduced, the control accuracy is improved, and the use experience of the user for the air conditioner and the wheelchair is optimized.

[0162] Figure 4 is a structural schematic diagram of the air conditioner provided by the present application. On the basis of any of the above embodiments, as shown in Figure 4 The air conditioner includes an indoor unit 410 and an outdoor unit 420, the control processor 411 and the radar module 412 are arranged in the indoor unit 410, the radar module 412 is arranged on the surface of the shell of the indoor unit 410, and the air conditioner further includes a storage and a program or instruction stored on the storage and executable on the control processor 411, the program or instruction is executed by the control processor 411 to execute the millimeter wave radar-based air conditioner old-age assistance control method.

[0163] The indoor unit 410 and the wheelchair are communicatively connected through a local area network in the same indoor space.

[0164] The wheelchair is used to execute the control instruction issued by the indoor unit 410 when the indoor unit 410 executes the millimeter wave radar-based air conditioner old-age assistance control method, and controls the wheelchair to move from the current position to the position of the individual.

[0165] The radar module 412 includes a millimeter wave radar.

[0166] Specifically, the air conditioner and the wheelchair are in the same indoor environment, and are communicatively connected by the same local area network, the air conditioner is provided with an indoor unit 410 and an outdoor unit 420 which are connected by a refrigerant pipeline, and a radar module 412 is embedded on the surface of the shell of the indoor unit 410, when the user activates the air conditioner, the control processor 411 analyzes the human body shape features contained in the human feature information collected by the radar module 412 in real time, if the posture information obtained by any individual matches the pre-set joint control wake-up posture, and the individual maintains the joint control wake-up posture for a duration reaching a preset threshold, it means that the individual's current behavior intention is to actively perform the joint control wake-up action, so as to activate the joint control of the air conditioner and the wheelchair, and make the wheelchair in the distance move to the individual.

[0167] After the control processor 411 determines that the sleep mode of the air conditioner and the joint control mode of the wheelchair are both started, the radar module 412 is used to monitor the first posture information of the target individual who needs to call the wheelchair in the indoor space and the second posture information of the wheelchair in the indoor space in the joint control mode, and the action route of the wheelchair is planned and corrected in real time according to the relative position relationship between the two, until the wheelchair moves to the fixed position where the target individual is located, directly meeting the demand of the target individual to call the wheelchair, and providing the function of assisting the seating.

[0168] After the control processor 411 determines that the target individual has completed the seating at the current position, the target individual can be displaced in the indoor space under the action of the wheelchair, and the swing range of the air conditioner is adjusted according to the real-time position information of the target individual when the displacement occurs, so as to realize the function of "wind following the movement of people".

[0169] When the posture information of at least one individual monitored by the radar module shows a trend of continuously maintaining the joint control wake-up posture, the linkage control between the air conditioner and the wheelchair is activated, and the relative position relationship between the target individual and the wheelchair is captured in real time by the radar module to guide the wheelchair to the target individual to assist the seating, and then when the radar module monitors that the wheelchair carrying the target individual is displaced in the indoor space, the swing range of the air conditioner is always aligned with the target individual. When the air conditioner and the wheelchair establish a communication relationship in the same local area network, the working states of the air conditioner and the wheelchair are cooperatively controlled according to the posture change of the user, without the user manually adjusting the two intelligent devices respectively, the wheelchair in the distance can automatically move to the user's position to provide assistance, reduce the control delay of the two intelligent devices, improve the control accuracy, and optimize the user's experience of using the air conditioner and the wheelchair.

[0170] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0171] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program can be executed by a processor to enable a computer to execute the millimeter wave radar-based air conditioner control method for the elderly provided by the above-mentioned method, wherein the air conditioner and the wheelchair are arranged in the same indoor environment, and the method comprises: controlling the air conditioner to start a sleep mode and controlling the wheelchair to start a joint control mode when it is determined that the posture information of at least one individual is a preset joint control wake-up posture and the duration of the joint control wake-up posture reaches a preset threshold; controlling the wheelchair to travel to a fixed position where a target individual is located and then assisting the target individual to sit down based on first posture information monitored by a radar module on the target individual and second posture information monitored by the radar module on the wheelchair; and adjusting the air swinging range of the air conditioner according to the changed position information of the target individual under the action of the wheelchair after it is determined that the target individual has sat down; wherein the target individual is any one of the individuals in the joint control wake-up posture in the indoor space; and the posture information is determined according to the human feature information collected by the radar module on each individual under the default working mode of the air conditioner.

[0172] In yet another aspect, the present application also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the millimeter wave radar-based air conditioner control method for the elderly provided by the above method, wherein the air conditioner and the wheelchair are arranged in the same indoor environment, and the method comprises: controlling the air conditioner to start a sleep mode and controlling the wheelchair to start a joint control mode when it is determined that the posture information of at least one individual is a preset joint control wake-up posture, and the duration of the joint control wake-up posture reaches a preset threshold; controlling the wheelchair to travel to a fixed position where a target individual is located and then assist the target individual to sit down based on first position information monitored by a radar module on the target individual and second position information monitored by the radar module on the wheelchair; and adjusting the air swing range of the air conditioner according to the position information of the target individual changed under the action of the wheelchair after it is determined that the target individual has sat down; wherein the target individual is any one of the individuals in the joint control wake-up posture in the indoor space; and the posture information is determined according to the human feature information collected by the radar module on each individual under the default working mode of the air conditioner.

[0173] The device embodiments described above are only schematic, wherein the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place or distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art can understand and implement without creative labor.

[0174] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0175] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling an air conditioner for the elderly based on millimeter wave radar, wherein an air conditioner and a wheelchair are disposed in the same indoor environment, characterized by, Comprise: In the case where it is determined that at least one individual's posture information is a preset joint control wake-up posture, and the duration of the joint control wake-up posture reaches a preset threshold, the air conditioner is controlled to start a sleep mode, and the wheelchair is controlled to start a joint control mode; Based on the first position information monitored by the radar module on the target individual, and the second position information monitored by the radar module on the wheelchair, the wheelchair is controlled to travel to the fixed position of the target individual and assist the target individual in sitting down; After determining that the target individual has sat down, the air conditioner's wind range is adjusted according to the position information of the target individual changed under the action of the wheelchair. The target individual is any one of the individuals in the indoor space in a joint control wake-up posture; the posture information is determined according to the human feature information collected by the radar module on each individual in the default working mode of the air conditioner. 2.The millimeter wave radar-based air conditioning control method for the elderly based on claim 1, characterized in that, The control of the wheelchair to travel to the auxiliary receiving range corresponding to the target individual based on the first position information and the second position information, includes: Based on the first position information and the second position information, the wheelchair is controlled to travel to the auxiliary receiving range corresponding to the target individual and assist the target individual in sitting down. In the case where the radar module determines that the orientations of the target individual and the wheelchair are the same, the wheelchair is controlled to travel to the auxiliary execution position in the auxiliary receiving range and assist the target individual in sitting down. The auxiliary receiving range is a center of the fixed position of the target individual and a range of acceptable actions; the auxiliary execution position is closest to the fixed position of the target individual in the auxiliary receiving range. 3.The millimeter wave radar-based air conditioning control method for the elderly based on claim 2, characterized in that, The control of the wheelchair to travel to the auxiliary receiving range corresponding to the target individual based on the first position information and the second position information, includes: Based on the first position information and the second position information, an initial planning path is determined. In the case where at least one path point in the initial planning path is in the object coordinate set, an obstacle avoidance planning path is determined based on the target object coordinate set and the initial planning path, so that the wheelchair travels along the obstacle avoidance planning path to the auxiliary receiving range. The target object coordinate set is any object coordinate set that intersects with the path point coordinates of the initial planning path, and the object coordinate set is scanned by the radar module on the distribution range of any object in the indoor space. 4.The millimeter wave radar-based air conditioning control method for the elderly according to claim 3, characterized by, After determining the initial planning path, it further includes: In the case where all path points in the initial planning path are not in any object coordinate set, the wheelchair is controlled to travel along the initial planning path to the auxiliary receiving range.

5. The millimeter-wave-radar-based air-conditioning control method for the elderly according to any one of claims 2 to 4, characterized by, The control of the wheelchair to travel to the auxiliary execution position in the auxiliary receiving range and assist the target individual in sitting down, includes: If the auxiliary execution position is on the same horizontal line with the fixed position where the target individual is located, according to the target orientation of the target individual relative to the wheelchair, the target armrest of the wheelchair is controlled to rotate and expand to be parallel to the wheelchair backrest, so as to assist the target individual to sit sideways; After determining that the target individual is seated, the target armrest is controlled to rotate and reset to be perpendicular to the wheelchair backrest; The target armrest is one of the two armrests of the wheelchair on one side of the target orientation.

6. The millimeter-wave-radar-based air-conditioning control method for the elderly according to any one of claims 2 to 4, characterized by, The control of the wheelchair to travel to the auxiliary execution position in the auxiliary receiving range to assist the target individual to sit includes: If the auxiliary execution position is on the same vertical line with the fixed position where the target individual is located, the two armrests of the wheelchair are controlled to stretch forward, so as to assist the target individual to sit backward; After determining that the target individual is seated, the two armrests are controlled to reset backward.

7. A millimeter wave radar-based air conditioner elderly assistance control device provided in an air conditioner in the same indoor environment as a wheelchair, characterized by It includes: The joint control wake-up module is used to control the air conditioner to start the sleep mode and the wheelchair to start the joint control mode respectively under the condition that at least one individual's posture information is the preset joint control wake-up posture, and the duration of the joint control wake-up posture reaches the preset threshold. The wheelchair control module is used to control the wheelchair to travel to the fixed position where the target individual is located to assist the target individual to sit based on the first posture information monitored by the radar module to the target individual and the second posture information monitored by the radar module to the wheelchair. The air conditioner control module is used to adjust the air swing range of the air conditioner according to the position information of the target individual changed under the action of the wheelchair after determining that the target individual is seated. The target individual is any one of the individuals in the joint control wake-up posture in the indoor space; the posture information is determined according to the human feature information collected by the radar module for each individual under the default working mode of the air conditioner.

8. An air conditioner comprising an indoor unit and an outdoor unit, characterized by comprising: The indoor unit is provided with a control processor and a radar module, and the radar module is arranged on the surface of the shell of the indoor unit; further including a memory and a program or instruction stored on the memory and executable on the control processor, the program or instruction is executed by the control processor to execute the method for assisting the elderly control of the air conditioner based on the millimeter wave radar according to any one of claims 1 to 6; The indoor unit and the wheelchair are connected through a local area network in the same indoor space. The wheelchair is used to execute the control instruction issued by the indoor unit when executing the method for assisting the elderly control of the air conditioner based on the millimeter wave radar, and control the wheelchair to move from the current position to the position of the individual; The radar module includes a millimeter wave radar. 9.A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the method for assisting the elderly control of the air conditioner based on the millimeter wave radar according to any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the method for assisting the elderly control of the air conditioner based on the millimeter wave radar according to any one of claims 1 to 6.

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