Interconnection control method and device for air conditioner and sweeping robot and air conditioner

Abstract

The invention relates to an interconnection control method and device for an air conditioner and a sweeping robot and the air conditioner. The air conditioner and the sweeping robot are located in the same indoor environment space. The interconnection control method comprises the steps of detecting whether a target user exists in an indoor environment space or not in response to a received working signal used for indicating that the sweeping robot starts a sweeping program; if yes, predicting a target activity track of the target user according to the activity trend of the target user; and if the target motion trail intersects with a preset motion trail of the sweeping robot, adjusting the motion trail of the sweeping robot to prevent the target user from colliding with the sweeping robot. According to the invention, the target movement track of the target user is predicted in advance, and the movement track of the sweeping robot is adjusted in advance before the target user approaches the sweeping robot, so that the possibility of collision between the target user and the sweeping robot is eliminated, the target user is effectively prevented from tumbling or being injured, and the user experience is better.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to an interconnection control method and device for an air conditioner and a sweeping robot, and the air conditioner. Background Art

[0002] With the gradual improvement of people's living standards and the advancement of science and technology, various devices used in the home are becoming more and more intelligent. For example, home appliances such as air conditioners, refrigerators, televisions, washing machines, and water heaters are becoming more and more intelligent. For example, curtains, windows, mosquito nets, and mattresses used in daily life are also becoming intelligent one after another, and smart curtains, smart windows, smart mosquito nets, and smart mattresses have appeared.

[0003] The demand for the above-mentioned environmental conditioning equipment in daily life or work is not limited to traditional functions, but more people hope that they can make various forms of adjustments according to the real-time needs of users. The environmental conditioning equipment can be home appliances such as air conditioners for adjusting ambient air parameters. However, most of the current environmental conditioning equipment cannot well interpret the concept of interconnection with other devices due to their own functional and structural limitations. For example, the current air conditioner and sweeping robot cannot be effectively interconnected, and cannot be intelligently adjusted according to the actual needs of users. From the perspective of intelligence, the user experience is poor. Summary of the invention

[0004] The inventors have realized that although most existing sweeping robots have obstacle avoidance functions, they can only identify and avoid obstacles (including human bodies) in front of them, and cannot identify obstacles in other directions of the sweeping robot. Moreover, for fast-moving obstacles (such as moving human bodies), even if they are in front of the sweeping robot, the sweeping robot may not have time to avoid them. Therefore, in daily life, young children, toddlers, adults with visual impairments, the elderly, etc. may collide with the sweeping robot, causing them to fall or get injured.

[0005] To this end, an object of the first aspect of the present invention is to overcome at least one defect of the prior art and to provide an interconnection control method for an air conditioner and a sweeping robot so that the sweeping robot can intelligently avoid a target user.

[0006] A further object of the first aspect of the present invention is to improve the accuracy of predicting whether the cleaning robot will collide with a target user.

[0007] The second aspect of the present invention aims to provide an interconnected control device for an air conditioner and a sweeping robot, so that the sweeping robot can intelligently avoid a target user.

[0008] A third aspect of the present invention aims to provide an air conditioner having the above interconnection control device.

[0009] According to a first aspect of the present invention, the present invention provides an interconnection control method of an air conditioner and a sweeping robot, wherein the air conditioner and the sweeping robot are in the same indoor environment space, and the interconnection control method comprises:

[0010] In response to a received working signal indicating that the cleaning robot starts a cleaning program, detecting whether a target user exists in the indoor environment space;

[0011] If so, predicting the target activity trajectory of the target user according to the activity trend of the target user; and

[0012] If the target activity trajectory intersects with the preset motion trajectory of the cleaning robot, the motion trajectory of the cleaning robot is adjusted to avoid the target user from colliding with the cleaning robot.

[0013] Optionally, the step of predicting the target activity trajectory of the target user according to the activity trend of the target user includes:

[0014] Acquire multiple location points of the target user at different and similar times;

[0015] Connecting the multiple location points in chronological order to form a known activity track of the target user; and

[0016] An extension line of the known activity trajectory is drawn according to the regularity presented by the plurality of position points to form the target activity trajectory.

[0017] Optionally, the time interval between two consecutive moments is any duration value in the range of 1 to 3 seconds.

[0018] Optionally, the step of adjusting the motion trajectory of the sweeping robot includes:

[0019] Obtaining an intersection point between the target activity trajectory and the preset motion trajectory;

[0020] Determine whether there is an obstacle in the section of the preset motion trajectory between the intersection and the position of the sweeping robot;

[0021] If yes, control the cleaning robot to turn when the obstacle is identified; and

[0022] If not, the cleaning robot is controlled to turn immediately or before reaching the intersection.

[0023] Optionally, the step of adjusting the motion trajectory of the sweeping robot includes:

[0024] Obtaining an intersection point between the target activity trajectory and the preset motion trajectory;

[0025] Determine whether a section of the target activity trajectory between the intersection and the current position of the target user is located within an obstacle recognition range of the sweeping robot on the preset motion trajectory;

[0026] If yes, controlling the cleaning robot to turn when identifying the target user or other obstacles;

[0027] If not, the cleaning robot is controlled to turn immediately or before reaching the intersection.

[0028] Optionally, the obstacle recognition range of the cleaning robot on the preset motion trajectory is the sum of the obstacle recognition sub-ranges of each position point of the cleaning robot on the preset motion trajectory.

[0029] Optionally, the step of adjusting the motion trajectory of the sweeping robot includes:

[0030] The cleaning robot is controlled to turn immediately or before reaching the intersection.

[0031] Optionally, the interconnection control method further includes:

[0032] In response to the received turning prompt signal indicating that the sweeping robot has turned, returning to re-detect whether there is a target user in the indoor environment space.

[0033] According to a second aspect of the present invention, the present invention further provides an interconnection control device for an air conditioner and a sweeping robot, comprising:

[0034] A processor and a memory, wherein a machine executable program is stored in the memory, and when the machine executable program is executed by the processor, it is used to implement the interconnection control method described in any of the above schemes.

[0035] According to a second aspect of the present invention, the present invention further provides an air conditioner, comprising the interconnection control device described in any of the above schemes.

[0036] In the interconnection control method of the air conditioner and the sweeping robot provided by the present invention, the air conditioner and the sweeping robot are in the same indoor environment space, so that the air conditioner and the sweeping robot can work together, thereby jointly improving the intelligent experience of the user in the indoor environment space. Specifically, the interconnection control method of the present invention detects whether there is a target user in the indoor environment space when the sweeping robot starts the cleaning program, and predicts the target activity trajectory of the target user according to the activity trend of the target user when the target user exists. If the predicted target activity trajectory intersects with the preset motion trajectory of the sweeping robot, it means that the target user has the possibility of colliding with the sweeping robot. At this time, the motion trajectory of the sweeping robot is adjusted so that its actual motion trajectory does not intersect with the target activity trajectory of the target user, which can effectively avoid the target user from colliding with the sweeping robot. The present invention predicts the target activity trajectory of the target user in advance, adjusts the motion trajectory of the sweeping robot in advance before the target user approaches the sweeping robot, eliminates the possibility of the target user colliding with the sweeping robot, effectively avoids the target user from falling or getting injured, and provides a good user experience.

[0037] The interconnection control method of the present invention realizes the purpose of enabling the sweeping robot to intelligently avoid target users through the intelligent interconnection between the air conditioner and the sweeping robot, provides a scenario for the interconnection of smart home appliances, and effectively improves the degree of intelligence.

[0038] Furthermore, the present invention forms a known activity trajectory of the target user by acquiring multiple position points where the target user is located at different and similar times. On the one hand, the formed known activity trajectory can more accurately represent the actual activity trajectory of the target user, thereby laying a foundation for drawing an extension line of the known activity trajectory; on the other hand, the acquisition of multiple position points can also more accurately represent the current activity pattern of the target user. Therefore, the extension line of the known activity trajectory can be accurately drawn according to the pattern presented by the multiple position points (that is, the current activity pattern of the target user). The extension line is an accurate prediction of the activity trajectory that the target user is about to generate, which improves the accuracy of predicting whether the sweeping robot will collide with the target user.

[0039] Based on the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will become more aware of the above and other objects, advantages and features of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0041] Figure 1is a schematic flow chart of a method for interconnecting and controlling an air conditioner and a cleaning robot according to an embodiment of the present invention;

[0042] Figure 2 is a schematic flow chart of an interconnection control method between an air conditioner and a cleaning robot according to a second embodiment of the present invention;

[0043] Figure 3 is a schematic flow chart of a method for interconnecting and controlling an air conditioner and a cleaning robot according to a third embodiment of the present invention;

[0044] Figure 4 is a schematic flow chart of an interconnection control method between an air conditioner and a cleaning robot according to a fourth embodiment of the present invention;

[0045] Figure 5 is a schematic structural block diagram of an interconnection control device according to an embodiment of the present invention;

[0046] Figure 6 is a schematic structural block diagram of an air conditioner according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The present invention firstly provides an interconnection control method of an air conditioner and a sweeping robot, which can realize the intelligent interconnection between the air conditioner and the sweeping robot, provide a scenario of interconnection of smart home appliances, and effectively improve the degree of intelligence.

[0048] Specifically, the sweeping robot and the air conditioner are in the same indoor environment space, so that the air conditioner and the sweeping robot can work together to jointly improve the intelligent experience of the user in the indoor environment space.

[0049] It should be noted that the methods of the following embodiments of the present invention are all described from the side of the interconnection control device between the air conditioner and the sweeping robot, that is, the relevant steps are executed by the control device. In addition, the premise for implementing the following embodiments of the present invention is that the air conditioner and the sweeping robot are interconnected. Specifically, an interconnection control device between the air conditioner and the sweeping robot can be provided between the air conditioner and the sweeping robot, through which signals sent by the air conditioner and the sweeping robot can be received, and signals can be sent to the air conditioner and the sweeping robot. The control device can be provided separately or inside the air conditioner.

[0050] The sweeping robot in this embodiment has the characteristic of intelligence, precisely because it can send signals to the control device and receive signals sent by the control device as mentioned above. Specifically, it can be realized by setting a controller on the sweeping robot. Similarly, the air conditioner can also be provided with its own controller, so that it can send signals to the control device and receive signals sent by the control device.

[0051] In particular, the interconnection control method of the air conditioner and the sweeping robot of the present invention includes:

[0052] In response to a received working signal indicating that the cleaning robot starts a cleaning program, detecting whether a target user exists in the indoor environment space;

[0053] If so, predict the target activity trajectory of the target user based on the target user's activity trend; and

[0054] If the target activity trajectory intersects with the preset motion trajectory of the cleaning robot, the motion trajectory of the cleaning robot is adjusted to avoid a collision between the target user and the cleaning robot.

[0055] The interconnection control method of the present invention detects whether there is a target user in the indoor environment space when the sweeping robot starts the cleaning program, and predicts the target activity trajectory of the target user according to the activity trend of the target user when the target user exists. If the predicted target activity trajectory intersects with the preset motion trajectory of the sweeping robot, it indicates that the target user has the possibility of colliding with the sweeping robot. At this time, the motion trajectory of the sweeping robot is adjusted so that its actual motion trajectory does not intersect with the target activity trajectory of the target user, which can effectively avoid the target user from colliding with the sweeping robot.

[0056] The present invention predicts the target activity trajectory of the target user in advance, adjusts the motion trajectory of the sweeping robot in advance before the target user approaches the sweeping robot, eliminates the possibility of the target user colliding with the sweeping robot, effectively avoids the target user from falling or being injured, and provides a better user experience.

[0057] The interconnection control method of the present invention realizes the purpose of enabling the sweeping robot to intelligently avoid target users through the intelligent interconnection between the air conditioner and the sweeping robot, provides a scenario for the interconnection of smart home appliances, and effectively improves the degree of intelligence.

[0058] Specifically, Figure 1 FIG. 1 is a schematic flow chart of a method for interconnecting and controlling an air conditioner and a cleaning robot according to an embodiment of the present invention. Figure 1 , the interconnection control method of the present invention comprises:

[0059] Step S10, receiving a working signal indicating that the sweeping robot starts a cleaning program;

[0060] Step S20, detecting whether there is a target user in the indoor environment space; if so, going to step S30; if not, going back to continue detecting;

[0061] Step S30, predicting the target activity trajectory of the target user according to the activity trend of the target user; and

[0062] Step S40, determining whether the target activity trajectory intersects with the preset motion trajectory of the sweeping robot; if so, proceeding to step S50; if not, returning to step S20 to continue detection; and

[0063] Step S50: adjusting the motion trajectory of the cleaning robot to avoid a collision between the target user and the cleaning robot.

[0064] In step S10, the cleaning robot starts the cleaning program, which means that the cleaning robot starts to move in the indoor environment space. When the cleaning robot is in a stationary state of standby or shutdown, it is usually in a corner area and is not easy to collide with the target user. When the cleaning robot is in motion, the probability of colliding with the target user is greater.

[0065] In step S20, a human body detection device provided on the air conditioner can be used to detect whether a target user exists in the indoor environment space, thereby making full use of the existing structure of the air conditioner and eliminating the need for additional human body detection devices, thereby reducing costs.

[0066] It is understandable that the sweeping robot usually performs the cleaning procedure according to its preset motion trajectory. Therefore, in step S40, the preset motion trajectory of the sweeping robot is pre-set.

[0067] Furthermore, the human body detection device may be a radar detection device, an infrared detection device or other suitable device capable of detecting the human body.

[0068] In the embodiment of the present invention, the target user can be set according to the actual needs of the user. For example, the target user can be a child, an elderly person, an adult with visual impairment, etc. For another example, the target user can also include any human body.

[0069] In some embodiments, the step S30 of predicting the target activity trajectory of the target user according to the activity trend of the target user may specifically include:

[0070] Obtain multiple locations of the target user at different and similar times;

[0071] Connect multiple location points in chronological order to form a known activity trajectory of the target user; and

[0072] Draw the extension line of the known activity trajectory according to the rules presented by multiple location points to form the target activity trajectory.

[0073] The present invention forms a known activity trajectory of the target user by acquiring multiple position points where the target user is located at different and similar times. On the one hand, the formed known activity trajectory can more accurately represent the actual activity trajectory of the target user, thereby laying a foundation for drawing an extension line of the known activity trajectory; on the other hand, the acquisition of multiple position points can also more accurately represent the current activity pattern of the target user. Therefore, the extension line of the known activity trajectory can be accurately drawn according to the pattern presented by the multiple position points (that is, the current activity pattern of the target user). The extension line is an accurate prediction of the activity trajectory that the target user is about to generate, which improves the accuracy of predicting whether the sweeping robot will collide with the target user.

[0074] Specifically, Figure 2 FIG. 1 is a schematic flow chart of a method for interconnecting and controlling an air conditioner and a cleaning robot according to a second embodiment of the present invention. Figure 2 In some embodiments, the interconnection control method of the present invention includes:

[0075] Step S10, receiving a working signal indicating that the sweeping robot starts a cleaning program;

[0076] Step S20, detecting whether there is a target user in the indoor environment space; if so, going to step S31; if not, going back to continue detecting;

[0077] Step S31, obtaining multiple locations of the target user at different and similar times;

[0078] Step S32, connecting the multiple location points in chronological order to form a known activity track of the target user;

[0079] Step S33, drawing an extension line of the known activity trajectory according to the regularity presented by the multiple position points to form a target activity trajectory; and

[0080] Step S40, determining whether the target activity trajectory intersects with the preset motion trajectory of the sweeping robot; if so, proceeding to step S50; if not, returning to step S20 to continue detection; and

[0081] Step S50: adjusting the motion trajectory of the cleaning robot to avoid a collision between the target user and the cleaning robot.

[0082] In step S31, the multiple location points may be two location points, three location points, four location points or more. Within a certain range, the more location points are selected, the more the known activity track formed by connection in step S32 can express the actual activity track of the target user, and the easier it is to find the rules presented by the multiple location points.

[0083] It is understandable that the target user's activities in the indoor environment space are diverse, so multiple location points can present a variety of different rules. For example, the most common is that multiple location points are basically on a straight line, then the target user's known activity trajectory is a straight line, and the extension line of the known activity trajectory (i.e., the target activity trajectory) is also a straight line. For another example, multiple location points are basically on an arc, then the target user's known activity trajectory is an arc of similar shape, and the extension line of the known activity trajectory (i.e., the target activity trajectory) is also a smooth arc. For another example, multiple location points are basically on a serpentine curve or broken line that extends in a circuitous manner, then the target user's known activity trajectory is a serpentine curve or broken line, and the extension line of the known activity trajectory (i.e., the target activity trajectory) is also a serpentine curve or broken line of similar shape.

[0084] Furthermore, in step S31, the time interval between two connected moments is any time value in the range of 1 to 3 seconds. That is, a position point can be taken at intervals of 1 to 3 seconds. The time interval for selecting the position points should not be too short or too long, otherwise the multiple position points obtained cannot accurately reflect the activity patterns of the target user, and thus cannot effectively draw the extension line of the known activity trajectory. In addition, if the time interval for selecting the position points is too long, it may also result in too short a time for drawing the target activity trajectory of the target user, analyzing the target activity trajectory with the preset motion trajectory of the sweeping robot, and other processes, and thus the motion trajectory of the sweeping robot cannot be adjusted in time.

[0085] In some specific embodiments, the time interval between two consecutive moments may be, for example, 1.0 s, 1.5 s, 2.0 s, 2.5 s, or 3.0 s.

[0086] In some embodiments, the step of adjusting the motion trajectory of the sweeping robot may specifically include:

[0087] Obtaining the intersection point between the target activity trajectory and the preset motion trajectory;

[0088] Determine whether there is an obstacle in the section of the preset motion trajectory between the intersection and the position of the sweeping robot;

[0089] If so, control the sweeping robot to turn when an obstacle is identified; and

[0090] If not, the cleaning robot is controlled to turn immediately or before reaching the intersection.

[0091] Since the sweeping robot has its own obstacle avoidance function, its obstacle recognition range is the area near its motion trajectory. If the sweeping robot recognizes that there is an obstacle on its motion trajectory, it will automatically turn. Therefore, if there is an obstacle in the section between the intersection of the target activity trajectory and the preset motion trajectory and the position of the sweeping robot, the sweeping robot will turn because of the obstacle recognition before reaching the intersection, eliminating the possibility of colliding with the target user at the intersection point. If there is no obstacle in the section between the intersection of the target activity trajectory and the preset motion trajectory and the position of the sweeping robot, the sweeping robot will most likely move to the intersection, and may collide with the target user. At this time, controlling the sweeping robot to turn immediately or turning before reaching the intersection can effectively avoid colliding with the target user.

[0092] Specifically, Figure 3 FIG. 1 is a schematic flow chart of a method for interconnecting and controlling an air conditioner and a cleaning robot according to a third embodiment of the present invention. Figure 3 In some embodiments, the interconnection control method of the present invention includes:

[0093] Step S10, receiving a working signal indicating that the sweeping robot starts a cleaning program;

[0094] Step S20, detecting whether there is a target user in the indoor environment space; if so, going to step S30; if not, going back to continue detecting;

[0095] Step S30, predicting the target activity trajectory of the target user according to the activity trend of the target user; and

[0096] Step S40, determining whether the target activity trajectory intersects with the preset motion trajectory of the sweeping robot; if so, proceeding to step S511; if not, returning to step S20 to continue detection;

[0097] Step S511, obtaining the intersection point between the target activity trajectory and the preset motion trajectory;

[0098] Step S512, determining whether there is an obstacle in the section of the preset motion trajectory between the intersection and the position of the sweeping robot; if so, proceeding to step S513; if not, proceeding to step S514;

[0099] Step S513, controlling the sweeping robot to turn when an obstacle is identified; and

[0100] Step S514: Control the cleaning robot to turn immediately or before reaching the intersection.

[0101] In some other embodiments, the step of adjusting the motion trajectory of the sweeping robot may specifically include:

[0102] Obtaining the intersection point between the target activity trajectory and the preset motion trajectory;

[0103] Determine whether the section of the target activity trajectory between the intersection and the current position of the target user is within the obstacle recognition range of the sweeping robot on the preset motion trajectory;

[0104] If yes, the robot vacuum cleaner is controlled to turn when it recognizes the target user or other obstacles;

[0105] If not, the cleaning robot is controlled to turn immediately or before reaching the intersection.

[0106] Although the sweeping robot itself has an obstacle avoidance function, its obstacle recognition range is limited to the area near its motion trajectory. If the section of the target activity trajectory between the intersection and the current position of the target user is within the obstacle recognition range of the sweeping robot, it means that as the target user continues to move and the sweeping robot continues to move, the sweeping robot will detect the target user and automatically activate the obstacle avoidance function. In this case, the sweeping robot will not collide with the target user. If the section of the target activity trajectory between the intersection and the current position of the target user is outside the obstacle recognition range of the sweeping robot, it means that as the target user continues to move and the sweeping robot continues to move, the sweeping robot will not be able to detect the target user at all, let alone activate the obstacle avoidance function. In this case, controlling the sweeping robot to turn immediately or before reaching the intersection can effectively avoid colliding with the target user.

[0107] Furthermore, the obstacle recognition range of the cleaning robot on the preset motion trajectory is the sum of the obstacle recognition sub-ranges of each position point of the cleaning robot on the preset motion trajectory.

[0108] Specifically, each position point of the sweeping robot on the preset motion trajectory has a corresponding obstacle recognition sub-range. If there is an obstacle within the obstacle recognition sub-range, the sweeping robot can recognize it and turn to avoid the obstacle. The sum of the obstacle recognition sub-ranges corresponding to each position point of the sweeping robot on the preset motion trajectory forms the obstacle recognition range of the sweeping robot on the preset motion trajectory.

[0109] It is understandable that the obstacle recognition sub-ranges corresponding to various position points of the sweeping robot on the preset motion trajectory may overlap, and the obstacle recognition range of the sweeping robot on the preset motion trajectory is the area generally covered by each obstacle recognition sub-range.

[0110] Specifically, Figure 4 FIG. 4 is a schematic flow chart of a method for interconnecting and controlling an air conditioner and a cleaning robot according to a fourth embodiment of the present invention. Figure 4In some embodiments, the interconnection control method of the present invention includes:

[0111] Step S10, receiving a working signal indicating that the sweeping robot starts a cleaning program;

[0112] Step S20, detecting whether there is a target user in the indoor environment space; if so, going to step S30; if not, going back to continue detecting;

[0113] Step S30, predicting the target activity trajectory of the target user according to the activity trend of the target user; and

[0114] Step S40, determining whether the target activity trajectory intersects with the preset motion trajectory of the sweeping robot; if so, proceeding to step S521; if not, returning to step S20 to continue detection;

[0115] Step S521, obtaining the intersection point between the target activity trajectory and the preset motion trajectory;

[0116] Step S522, determining whether the section of the target activity trajectory between the intersection and the current position of the target user is within the obstacle recognition range of the sweeping robot on the preset motion trajectory; if so, proceeding to step S523; if not, proceeding to step S524;

[0117] Step S523, controlling the cleaning robot to turn when a target user or other obstacles are identified;

[0118] Step S524, controlling the cleaning robot to turn immediately or before reaching the intersection.

[0119] In some other embodiments, the step of adjusting the motion trajectory of the cleaning robot may specifically include:

[0120] Control the robot vacuum cleaner to turn immediately or before reaching the intersection.

[0121] That is, in some other embodiments, regardless of whether the section of the target activity trajectory between the intersection and the current position of the target user is within the obstacle recognition range of the sweeping robot on the preset motion trajectory, and regardless of whether there is an obstacle on the section of the preset motion trajectory between the intersection and the position of the sweeping robot, the sweeping robot will turn immediately or before reaching the intersection, which effectively avoids the collision between the target user and the sweeping robot and simplifies the control logic.

[0122] In some embodiments, whether the sweeping robot turns immediately or before reaching the intersection can be selected based on the length of the section of the preset motion trajectory between the intersection and the location of the sweeping robot. For example, if the section of the preset motion trajectory between the intersection and the location of the sweeping robot is longer, it means that the sweeping robot is relatively far away from the intersection. At this time, the sweeping robot can be allowed to continue running along the preset motion trajectory and turn when approaching the intersection. If the section of the preset motion trajectory between the intersection and the location of the sweeping robot is shorter, it means that the sweeping robot is very close to the intersection and needs to turn immediately to avoid hitting the target user.

[0123] In some embodiments, the interconnection control method of the present invention further includes:

[0124] In response to the received turning prompt signal indicating that the sweeping robot has turned, the system returns to re-detect whether a target user exists in the indoor environment space.

[0125] Every time the sweeping robot turns, its preset motion trajectory will change. Therefore, the interconnection control method of the present invention will re-detect whether there is a target user in the indoor environment space every time the sweeping robot turns, and re-acquire the target activity trajectory of the target user when there is a target user, so as to re-compare the re-acquired target activity trajectory with the next preset motion trajectory of the sweeping robot to see if there is an intersection, and then selectively adjust the motion trajectory of the sweeping robot to continuously avoid collision between the target user and the sweeping robot.

[0126] That is, in Figures 1 to 4 In the illustrated embodiment, after adjusting the motion trajectory of the sweeping robot or controlling the steering of the sweeping robot, the process returns to step S20.

[0127] The present invention also provides an interconnection control device for an air conditioner and a sweeping robot, wherein the sweeping robot and the air conditioner are located in the same indoor environment space.

[0128] Figure 5 2 is a schematic structural block diagram of an interconnection control device according to an embodiment of the present invention. The interconnection control device 20 of the present invention includes a processor 21 and a memory 22, the memory 22 stores a machine executable program 23, and the machine executable program 23 is used to implement the interconnection control method described in any of the above embodiments when executed by the processor 21.

[0129] Specifically, the processor 21 can be a central processing unit (CPU), or a digital processing unit, etc. The processor 21 sends and receives data through a communication interface. The memory 22 is used to store the program executed by the processor 21. The memory 22 is any medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, and can also be a combination of multiple memories. The above-mentioned machine executable program 23 can be downloaded from a computer-readable storage medium to a corresponding computing / processing device or downloaded to a computer or an external storage device via a network (such as the Internet, a local area network, a wide area network and / or a wireless network).

[0130] As mentioned above, the interconnection control method of the air conditioner and the sweeping robot in any of the above embodiments is described from the side of the interconnection control device 20, that is, the interconnection control device 20 executes the relevant steps. In a specific embodiment, the interconnection control device 20 is connected to the air conditioner and the sweeping robot data, and it can arrange network-side devices such as servers and the cloud, obtain various data of the set space through the network, and implement relevant adjustments by remotely sending instructions to the air conditioner and the sweeping robot.

[0131] The interconnection control device 20 can also be various centralized control devices, arranged in a set space, and control the air conditioner and the sweeping robot. The data connection method between the interconnection control device 20 and the air conditioner and the sweeping robot includes but is not limited to wireless transmission, infrared transmission, ultrasonic transmission, etc.

[0132] In some embodiments, the interconnection control device 20 can also be a part of the air conditioner, set inside the air conditioner, and connected to the data of the air conditioner's own controller. For example, the air conditioner is internally provided with a dedicated interconnection control device, which works in conjunction with a controller dedicated to executing component control.

[0133] The present invention also provides an air conditioner, Figure 6 1 is a schematic structural block diagram of an air conditioner according to an embodiment of the present invention. The air conditioner 1 has the interconnection control device 20 described in the above embodiment. That is to say, the interconnection control device 20 may not be arranged outside the air conditioner 1, but may be arranged on the air conditioner 1. The interconnection control device 20 and the controller of the air conditioner 1 itself may be the same component, that is, the interconnection control device 20 is used to control the operation of the air conditioner 1 itself, and is also used to receive signals from the sweeping robot and send signals to the sweeping robot.

[0134] Alternatively, the interconnection control device 20 and the controller of the air conditioner itself can be different components, that is, the controller is used to control the operation of the air conditioner itself, and the interconnection control device 20 is used to receive signals from the sweeping robot and send signals to the sweeping robot. However, the interconnection control device 20 and the controller also communicate to receive signals from the controller of the air conditioner itself and send signals to the controller.

[0135] In the description of the present embodiment, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0136] It should be noted that, in the description of the present invention, each functional module can be a physical module composed of multiple structures, components or electronic components, or a virtual module composed of multiple programs; each functional module can be a module that exists independently of each other, or a module divided according to the function of an integral module. It should be understood by those skilled in the art that, under the premise of being able to implement the technical solution described in the present invention, the composition, implementation and positional relationship of each functional module will not deviate from the technical principle of the present invention no matter how it changes, and therefore should fall within the protection scope of the present invention.

[0137] At this point, those skilled in the art should recognize that, although multiple exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications that conform to the principles of the present invention can still be directly determined or derived based on the content disclosed in the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and recognized as covering all these other variations or modifications.

Claims

1. An interconnection control method for an air conditioner and a sweeping robot, wherein the air conditioner and the sweeping robot are in the same indoor environment space, and the interconnection control method comprises: In response to a received working signal indicating that the cleaning robot starts a cleaning program, detecting whether a target user exists in the indoor environment space; If so, predicting the target activity trajectory of the target user according to the activity trend of the target user; as well as If the target activity trajectory intersects with the preset motion trajectory of the cleaning robot, the motion trajectory of the cleaning robot is adjusted to avoid the target user from colliding with the cleaning robot.

2. The interconnection control method according to claim 1, wherein The step of predicting the target activity trajectory of the target user according to the activity trend of the target user comprises: Acquire multiple location points of the target user at different and similar times; Connecting the multiple location points in chronological order to form a known activity trajectory of the target user; as well as An extension line of the known activity trajectory is drawn according to the regularity presented by the plurality of position points to form the target activity trajectory.

3. The interconnection control method according to claim 2, wherein The time interval between two consecutive moments is any time value in the range of 1 to 3 seconds.

4. The interconnection control method according to claim 1, wherein The step of adjusting the motion trajectory of the sweeping robot comprises: Obtaining an intersection point between the target activity trajectory and the preset motion trajectory; Determine whether there is an obstacle in the section of the preset motion trajectory between the intersection and the position of the sweeping robot; If yes, controlling the cleaning robot to turn when the obstacle is identified; as well as If not, the cleaning robot is controlled to turn immediately or before reaching the intersection.

5. The interconnection control method according to claim 1, wherein The step of adjusting the motion trajectory of the sweeping robot comprises: Obtaining an intersection point between the target activity trajectory and the preset motion trajectory; Determine whether a section of the target activity trajectory between the intersection and the current position of the target user is located within an obstacle recognition range of the sweeping robot on the preset motion trajectory; If yes, controlling the cleaning robot to turn when identifying the target user or other obstacles; If not, the cleaning robot is controlled to turn immediately or before reaching the intersection.

6. The interconnection control method according to claim 5, wherein The obstacle recognition range of the cleaning robot on the preset motion trajectory is the sum of the obstacle recognition sub-ranges of each position point of the cleaning robot on the preset motion trajectory.

7. The interconnection control method according to claim 1, wherein The step of adjusting the motion trajectory of the sweeping robot comprises: The cleaning robot is controlled to turn immediately or before reaching the intersection.

8. The interconnection control method according to any one of claims 4 to 7, further comprising: In response to the received turning prompt signal indicating that the sweeping robot has turned, returning to re-detect whether there is a target user in the indoor environment space.

9. An interconnection control device for an air conditioner and a sweeping robot, comprising: A processor and a memory, wherein a machine executable program is stored in the memory, and when the machine executable program is executed by the processor, it is used to implement the interconnection control method according to any one of claims 1-8.

10. An air conditioner, comprising the interconnection control device according to claim 9.

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