Air conditioner and old-age care assistive device interconnection control method and device and air conditioner

Abstract

The invention provides an interconnection control method and device for an air conditioner and an old-age care assistive device and the air conditioner. The method comprises the steps that a first vibration wave is determined based on a vibration sampling signal collected by a vibration sensor for an indoor unit of the air conditioner; and in the process of controlling the vibration generator to output the second vibration wave, the air conditioner is controlled to start a first joint control mode and the old-age care assistive device is controlled to start a second joint control mode through posture characteristic information captured by the radar module for the target individual. According to the interconnection control method and device for the air conditioner and the old-age care assistive device and the air conditioner, when the air conditioner and the wheelchair establish the communication relation in the same local area network, vibration waves emitted by the vibration emitter and vibration waves generated by the air conditioner during operation are subjected to superposition shock absorption; the working states of the air conditioner and the old-age care assistive device can be cooperatively regulated and controlled according to sensed human body posture changes after stable imaging during air conditioner radar observation, and the use experience of a user on the air conditioner and the old-age care assistive device is optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of air conditioning equipment, and in particular to an interconnection control method and device for an air conditioner and an auxiliary elderly care device, and the air conditioner. Background Art

[0002] With the continuous development of the aging population, the elderly have increasingly higher requirements for additional functions of daily household appliances due to their own reasons (such as slow movement and slow thinking), and the requirements for air conditioning technology are no exception. In addition to the most basic cooling and heating functions, among the existing intelligent air conditioning control solutions based on human sensing, only the AI ​​technology solution based on face recognition can achieve accurate personnel type judgment. However, this type of solution not only requires high-definition cameras, but also requires the operation of face recognition algorithms, which will greatly increase the manufacturing cost of air conditioners and lead to a decline in the market competitiveness of related products.

[0003] As an alternative, radar sensing is a wireless sensing technology that processes and analyzes the received radar echoes of targets with human characteristics to obtain vital signs data such as breathing rate, heart rate and body movement. Millimeter wave radar is a radar that works in the millimeter wave (wavelength 1-10mm, frequency 30-300GHz) band. It is mostly used in air conditioners to realize functions such as turning on when someone comes, turning off when someone leaves, and no wind. However, the vibration generated by the air conditioner itself during operation will affect the radar data collection and even cause blurred imaging. The longitudinal wave of longitudinal vibration will affect the vertical data collection of the target. Similarly, the transverse wave will affect the transverse data collection. If the amplitude is large, even the static target will be imaged as a moving target, which seriously affects the radar judgment accuracy, and then the air conditioner will misjudge the real activity intention of the elderly and cannot be adjusted intelligently according to the actual status of each other, resulting in a poor user experience for the elderly user group. Summary of the invention

[0004] The present invention provides an interconnection control method and device for an air conditioner and an auxiliary elderly care device, and an air conditioner, so as to solve the defect in the prior art that the air conditioner operation vibration affects the radar imaging quality, resulting in poor air conditioner control accuracy.

[0005] The present invention provides an interconnection control method for an air conditioner and an auxiliary elderly care device, wherein the air conditioner and the auxiliary elderly care device are arranged in the same indoor environment, comprising:

[0006] Determine a first vibration wave based on a vibration sampling signal collected by a vibration sensor from an indoor unit of the air conditioner;

[0007] In the process of controlling the vibration generator to output the second vibration wave, the radar module captures the body feature information of the target individual to control the air conditioner to start the first joint control mode and the elderly care assistive device to start the second joint control mode;

[0008] Wherein, the target individual is the user of the elderly care assistive device; the first joint control mode includes at least one of the following: controlling the air conditioner to start the sleep mode, and controlling the air conditioner to adjust the swing range; the second joint control mode includes at least one of the following: controlling the elderly care assistive device to move to the fixed position where the target individual is located, controlling the elderly care assistive device to adjust the height, and controlling the elderly care assistive device to adjust the shape of the contact surface; the first vibration wave and the second vibration wave have the same period and amplitude, and the phase of the first vibration wave and the phase of the second vibration wave differ by half a period; the vibration sampling signal is a vibration signal generated by the operation of the fan of the air conditioner indoor unit during the sampling period; the vibration sensor, the radar module and the vibration generator are all arranged in the air conditioner indoor unit, the vibration sensor is used to sense the vibration of the air conditioner indoor unit, and the vibration generator is used to eliminate the vibration of the radar module driven by the air conditioner indoor unit.

[0009] According to the present invention, an interconnection control method of an air conditioner and an elderly care assistive device is provided, wherein the elderly care assistive device is a wheelchair;

[0010] Accordingly, in the process of controlling the vibration generator to output the second vibration wave, the body feature information of the target individual captured by the radar module is used to control the air conditioner to start the first joint control mode, and to control the elderly care auxiliary device to start the second joint control mode, including:

[0011] Based on the first posture information of the target individual monitored by the radar module after the second vibration wave is eliminated, and the second posture information of the wheelchair monitored, the wheelchair is controlled to move to the fixed position where the target individual is located and then assist the target individual to take a seat;

[0012] After determining that the target individual is seated, adjusting the swing range of the air conditioner in the sleep mode according to the position information of the target individual that changes when the wheelchair is actuated;

[0013] Among them, the radar module after the vibration is eliminated by the second vibration wave uses the second vibration wave that has a phase difference of half a cycle with the first vibration wave to offset the vibration of the radar module caused by the first vibration wave under the propagation of the air-conditioning indoor unit.

[0014] According to an interconnection control method of an air conditioner and an elderly care auxiliary device provided by the present invention, based on the first posture information of the target individual monitored by the radar module after the second vibration wave is eliminated, and the second posture information monitored by the wheelchair, the wheelchair is controlled to move to the fixed position where the target individual is located and then assist the target individual to take a seat, including:

[0015] Based on the first posture information and the second posture information, controlling the wheelchair to move to an auxiliary receiving range corresponding to the target individual and brake;

[0016] When it is determined by the radar module that the target individual and the wheelchair are facing the same direction, controlling the wheelchair to move to the assistance execution position within the assistance receiving range and then assisting the target individual to take a seat;

[0017] 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.

[0018] According to the present invention, an interconnection control method of an air conditioner and an elderly care auxiliary device is provided, wherein the elderly care auxiliary device is an auxiliary bed for getting up and lying down, and the auxiliary bed for getting up and lying down is provided with a fixed bed board and a movable bed board rotating relative to the fixed bed board;

[0019] Accordingly, in the process of controlling the vibration generator to output the second vibration wave, the body feature information of the target individual captured by the radar module is used to control the air conditioner to start the first joint control mode, and to control the elderly care auxiliary device to start the second joint control mode, including:

[0020] Based on the head position of each target individual monitored by the radar module after the second vibration wave is eliminated, the lower boundary of the default wind swing interval of the cross guide plate assembly is updated to the target execution angle;

[0021] In the process of controlling the cross guide plate assembly to swing up and down in the new wind swing range, the user's behavior intention is determined by using the key point positions of the human body of each target individual monitored by the radar module after the second vibration wave is eliminated;

[0022] When it is determined that the user behavior intention matches the tendency to get up, according to the target interval of the angle between the individual's upper body and the movable bed board collected by the radar module after the second vibration wave is damped, the movable bed board is controlled to rotate clockwise by the auxiliary angle change value corresponding to the target interval through the first bed body control instruction to assist the individual to get up;

[0023] Among them, the radar module that uses the second vibration wave to eliminate vibration cancels out the vibration of the radar module caused by the first vibration wave under the propagation of the air-conditioning indoor unit by the second vibration wave that has a phase difference of half a cycle with the first vibration wave; the target execution angle is greater than the angle formed by the individual's head position and the vertical direction of the radar module; the target interval is one of all the angle sub-intervals between the upper body and the movable bed board in the process of the elderly getting up; any of the angle sub-intervals is preset with an auxiliary angle change value for the rotation of the movable bed board relative to the fixed bed board.

[0024] According to a method for interconnecting and controlling an air conditioner and an auxiliary elderly care device provided by the present invention, after determining the user's behavioral intention, the method further includes:

[0025] When it is determined that the user's behavioral intention matches the tendency to lie in bed, the air conditioner is controlled to start the sleep mode, and the movable bed board is controlled to rotate clockwise to a target rated rotation angle through a second bed body control instruction, and then the angle between the individual's upper body and the movable bed board is monitored by using the radar module after the second vibration wave is damped;

[0026] When it is determined that the angle between the upper body of the individual and the movable bed board is decreasing, the movable bed board is controlled to rotate counterclockwise and reset through a third bed body control instruction;

[0027] The target rated rotation angle is a rated rotation angle of the movable bed board when the auxiliary lying-down bed is in the state of raising the bed surface.

[0028] According to an interconnection control method of an air conditioner and an auxiliary elderly care device provided by the present invention, the user behavior intention is determined by using the radar module after the second vibration wave is de-vibrated to monitor the key point position of each target individual, including:

[0029] Based on the position of the key points of the human body of each target individual monitored by the radar module after the vibration cancellation of the second vibration wave, a first torso segment and a second torso segment connected by the key point of the crotch of each target individual are determined;

[0030] If the angle formed by the first torso segment and the second torso segment at the key point of the hips decreases over time from 180° within a preset time period, the user behavior intention is set as a tendency to get up;

[0031] If the angle formed by the first torso segment and the second torso segment at the key point of the hips is continuously maintained at 90° within a preset time, the user behavior intention is set as a tendency to stay in bed;

[0032] The first torso segment is determined at least based on the head key points and the hip key points, and the second torso segment is determined at least based on the hip key points and the foot key points.

[0033] According to an interconnection control method of an air conditioner and an auxiliary elderly care device provided by the present invention, the first vibration wave is determined based on a vibration sampling signal collected by a vibration sensor from an indoor unit of the air conditioner, including:

[0034] Obtaining an average sampling period according to a plurality of sampling periods included in the vibration sampling signal, and obtaining an average sampling amplitude according to the vibration amplitude corresponding to the target sampling point in each vibration period;

[0035] generating the first vibration wave based on the average sampling period and the average sampling amplitude;

[0036] The target sampling point is a peak sampling point and / or a trough sampling point within the sampling period.

[0037] According to an interconnection control method of an air conditioner and an auxiliary elderly care device provided by the present invention, if the target sampling point is a sampling point other than a peak sampling point and a trough sampling point in the vibration period, the value of the target sampling point in the time domain includes and

[0038] Here, k is a positive integer greater than 2.

[0039] The present invention also provides an interconnection control device for an air conditioner and an elderly care auxiliary device, which is arranged in the air conditioner arranged in the same indoor environment as the elderly care auxiliary device, and comprises:

[0040] A radar stabilization module, used to determine a first vibration wave based on a vibration sampling signal collected by a vibration sensor from an indoor unit of the air conditioner;

[0041] The joint control module is used to control the air conditioner to start the first joint control mode and the elderly care auxiliary device to start the second joint control mode respectively according to the body feature information captured by the radar module on the target individual during the process of controlling the vibration generator to output the second vibration wave;

[0042] Wherein, the target individual is the user of the elderly care assistive device; the first joint control mode includes at least one of the following: controlling the air conditioner to start the sleep mode, and controlling the air conditioner to adjust the swing range; the second joint control mode includes at least one of the following: controlling the elderly care assistive device to move to the fixed position where the target individual is located, controlling the elderly care assistive device to adjust the height, and controlling the elderly care assistive device to adjust the shape of the contact surface; the first vibration wave and the second vibration wave have the same period and amplitude, and the phase of the first vibration wave and the phase of the second vibration wave differ by half a period; the vibration sampling signal is a vibration signal generated by the operation of the fan of the air conditioner indoor unit during the sampling period; the vibration sensor, the radar module and the vibration generator are all arranged in the air conditioner indoor unit, the vibration sensor is used to sense the vibration of the air conditioner indoor unit, and the vibration generator is used to eliminate the vibration of the radar module driven by the air conditioner indoor unit.

[0043] The present invention also provides an air conditioner, comprising an air conditioner indoor unit and an air conditioner outdoor unit;

[0044] The air conditioner indoor unit is communicatively connected with the elderly care auxiliary equipment via a local area network in the same indoor space; the air conditioner indoor unit is provided with a vibration elimination device communicatively connected with the air conditioner controller, and the vibration elimination device includes a radar module, a vibration generator and a vibration sensor which are communicatively connected with the air conditioner controller respectively;

[0045] The vibration sensor is used to sense the vibration of the air conditioner indoor unit; the vibration generator is used to eliminate the vibration of the radar module driven by the air conditioner indoor unit;

[0046] The elderly care assistive device is used to receive and respond to the control instruction issued by the air-conditioning controller when executing the interconnection control method of the air conditioner and the elderly care assistive device as described in any one of the above items, and control the elderly care assistive device to assist the individual in performing activities;

[0047] Wherein, the radar module includes a millimeter wave radar.

[0048] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for interconnecting and controlling an air conditioner and an auxiliary elderly care device as described in any one of the above is implemented.

[0049] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned methods for interconnecting and controlling an air conditioner and an auxiliary elderly care device.

[0050] The interconnection control method, device and air conditioner of the air conditioner and the elderly care assistive device provided by the present invention eliminate the vibration propagated by the air conditioner indoor unit by emitting a second vibration wave opposite to the actual first vibration wave through a vibration generator, and activate the linkage control between the air conditioner and the elderly care assistive device when the body feature information of at least one individual is in a state of continuously maintaining the joint control awakening posture through the radar module in the vibration elimination state. When the air conditioner and the wheelchair establish a communication relationship in the same local area network, the vibration waves emitted by the vibration transmitter and the vibration waves generated by the air conditioner itself during operation are superimposed and eliminated, so that the air conditioner radar can stabilize the imaging during observation, and then coordinately regulate the working state of the air conditioner and the elderly care assistive device according to the perceived human posture changes, without the user having to manually adjust the two smart devices separately, reducing the control delay of the two smart devices, improving the control accuracy, and optimizing the user's experience of the air conditioner and the elderly care assistive device. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 This is one of the flow charts of the interconnection control method of the air conditioner and the elderly care auxiliary equipment provided by the present invention;

[0053] Figure 2 It is a schematic diagram of the principle of vibration elimination of a radar module provided by the present invention;

[0054] Figure 3 This is the second flow chart of the interconnection control method of the air conditioner and the elderly care auxiliary equipment provided by the present invention;

[0055] Figure 4 It is a schematic diagram of the distribution of the air conditioner and the auxiliary bed for getting up and lying down provided by the present invention;

[0056] Figure 5 This is the third flow chart of the interconnection control method of the air conditioner and the elderly care auxiliary equipment provided by the present invention;

[0057] Figure 6 It is a structural schematic diagram of the interconnection control device of the air conditioner and the elderly care auxiliary equipment provided by the present invention;

[0058] Figure 7 It is a structural schematic diagram of the air conditioner provided by the present invention. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0061] It should be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present invention, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0062] The terms “include” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0063] Figure 1 This is one of the flow charts of the interconnection control method of the air conditioner and the elderly care auxiliary equipment provided by the present invention. Figure 1 As shown, an interconnection control method for an air conditioner and an auxiliary elderly care device provided in an embodiment of the present invention, wherein the air conditioner and the auxiliary elderly care device are arranged in the same indoor environment, the method comprises: step 101, determining a first vibration wave based on a vibration sampling signal collected by a vibration sensor from an indoor unit of the air conditioner.

[0064] The vibration sampling signal is a vibration signal generated by the operation of the fan of the air conditioner indoor unit during the sampling period. The vibration sensor, the radar module and the vibration generator are all arranged in the air conditioner indoor unit. The vibration sensor is used to sense the vibration of the air conditioner indoor unit, and the vibration generator is used to eliminate the vibration of the radar module driven by the air conditioner indoor unit.

[0065] It should be noted that the executor of the interconnection control method based on the air conditioner and the elderly care assistive device is the interconnection control device based on the air conditioner and the elderly care assistive device, and the device can be arranged in the air conditioner.

[0066] The application scenario of the interconnection control method based on the air conditioner and the elderly care assistive device in the embodiment of the present invention is that the air conditioner and the elderly care assistive device are in the same indoor environment and rely on the same local area network for communication connection. When the user activates the air conditioner, the vibration sensor is used to sense the changes in the vibration waveform generated by the air conditioner under different wind speeds and modes, and the vibration generator is used to emit an opposite waveform to offset the vibration caused by the radar module. The individual's behavioral intention is determined by the contour information fed back in real time by the radar module after the vibration is eliminated, and the air supply mode of the air conditioner and the lifting and lowering of the assisted getting up and lying down are adjusted accordingly.

[0067] In addition, the radar module is installed on the air conditioner, and periodically collects all individuals in the room for monitoring at a specified time interval, and sends the distribution position of each individual in the space to the interconnection control device of the air conditioner and the elderly care auxiliary equipment. The embodiment of the present invention does not specifically limit the working cycle of the radar module.

[0068] Optionally, the radar module can perform collection operations in a default working cycle.

[0069] Optionally, the user can issue a cycle change instruction so that the radar module receives and responds to the instruction and changes the working cycle to the cycle indicated by the instruction to perform collection operations.

[0070] 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 runs at the default wind speed of the mode and the outdoor unit runs at the default frequency of the mode.

[0071] Optionally, the user can use the control device to transmit activation instructions through wireless communication between the control device and the air-conditioning system, so that the air-conditioning system initializes the working mode and starts the radar module.

[0072] Optionally, the user can issue an activation command through voice interaction. The air-conditioning system receives the activation command, performs voice recognition, initializes the working mode, and starts the radar module.

[0073] Specifically, in step 101, after the interconnection control device based on the air conditioner and the elderly care assistive device receives and responds to the activation instruction of the working mode, it controls the fan of the air conditioner indoor unit to run at the speed of the corresponding mode, and controls the compressor of the air conditioner outdoor unit to run at the power of the corresponding mode.

[0074] Since the operation of the fan will cause its own vibration to propagate to the air-conditioning indoor unit and its internal components, the interconnected control device based on the air conditioner and the elderly care assistive device periodically senses the vibration of the air-conditioning indoor unit through a vibration sensor, and fits the first vibration wave used to characterize the vibration degree of the air conditioner based on the vibration sampling signal collected within a sampling period.

[0075] The sampling period refers to the working period of the vibration sensor for sensing, and its value is at least an integer multiple of the air conditioner vibration period, which is not specifically limited in the embodiment of the present invention.

[0076] Step 102: in the process of controlling the vibration generator to output the second vibration wave, the radar module captures the body feature information of the target individual to control the air conditioner to start the first joint control mode and to control the elderly care assistive device to start the second joint control mode.

[0077] Wherein, the target individual is the user of the elderly care assistive device. The first joint control mode includes at least one of the following: controlling the air conditioner to start the sleep mode, and controlling the air conditioner to adjust the swing range. The second joint control mode includes at least one of the following: controlling the elderly care assistive device to move to the fixed position where the target individual is located, controlling the elderly care assistive device to adjust the height, and controlling the elderly care assistive device to adjust the shape of the contact surface. The first vibration wave and the second vibration wave have the same period and amplitude, and the phase of the first vibration wave and the phase of the second vibration wave differ by half a period.

[0078] Specifically, in step 102, the interconnection control device between the air conditioner and the elderly care assistive device retains the period and amplitude of the first vibration wave obtained in step 101, and delays its phase by half a period, and after obtaining a second vibration wave with a waveform opposite to that of the first vibration wave, controls the vibration generator to emit a vibration wave with the second vibration wave to continuously eliminate the vibration of the radar module.

[0079] In the process of the vibration generator continuously eliminating vibration of the radar module, the interconnection control device of the air conditioner and the elderly care assistive device calculates and analyzes the electromagnetic waves reflected by the target individual (i.e., the user of the elderly care assistive device) in the space where the air conditioner is located through the vibration elimination radar module, and analyzes the human body morphological characteristics contained therein. If the body shape characteristic information obtained by the analysis of any target individual matches the pre-set joint control awakening posture, and the duration of the joint control awakening posture maintained by the individual reaches a preset threshold, it means that the individual's current behavioral intention is to actively perform the joint control awakening action to activate the joint control of the air conditioner and the elderly care assistive device:

[0080] The first joint control mode activated by the air conditioner in the joint control includes but is not limited to starting the sleep mode, controlling the horizontal swing blade assembly and / or the vertical swing blade assembly in the air conditioner to adjust the corresponding swing range, etc., so as to enable the air conditioner indoor unit to adjust the indoor temperature while minimizing the stress response caused by the air conditioning wind to the target individual whose behavior remains unchanged.

[0081] The second joint control mode activated by the elderly care assistive device in the joint control includes but is not limited to moving to the vicinity of the target individual so that the target individual can sit down without moving, adjusting the height of the contact surface with the target individual so that the target individual can sit down without squatting, and adjusting the shape of the contact surface with the target individual so that the contact surface can fit the human body curve as much as possible, etc., to solve various inconveniences or minor troubles in the life of the target individual and enable them to move normally.

[0082] On the contrary, if there is no target individual whose body feature information does not match the pre-set joint control wake-up posture, or the duration for which the individual maintains the joint control wake-up posture does not reach the preset threshold, it means that the individual's current behavioral intention is only to perform some specific actions in the indoor space, and there is no need to use elderly care assistive devices, so the joint control of the air conditioner and the elderly care assistive devices will not be triggered.

[0083] The embodiment of the present invention does not specifically limit the type and quantity of radar sensing devices in the radar module.

[0084] Exemplarily, the radar module may include a laser radar, an infrared sensor, etc.

[0085] 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 its response speed is also faster.

[0086] Therefore, the interconnected control device of the air conditioner and the elderly care assistive device analyzes the posture of the individual user in the current behavior according to the individual contour information collected in real time by the millimeter-wave radar.

[0087] Exemplarily, the radar module may include multiple sensor elements such as millimeter wave radar, lidar, infrared sensor, etc. The interconnected control device of the air conditioner and the elderly care assistive device integrates the contour information collected by each sensor element to comprehensively depict the individual's real-time posture.

[0088] It is understandable that the embodiment of the present invention does not specifically limit the preset joint control wake-up gesture.

[0089] Exemplarily, the joint control awakening posture can be prepared in advance according to the action conditions of the individual user. After a body part with normal action ability is determined, an action posture executable by the body part is selected as the joint control awakening posture.

[0090] For example, if a user's lower limbs are paralyzed but his arms can withstand most basic movements, the user's waving movements at a certain frequency can be used as a joint control to wake up the user.

[0091] For another example, if a user suffers from hemiplegia due to a stroke but the hand can still maintain a certain movement, the user's fingers can maintain a certain posture as the joint control wake-up gesture.

[0092] In the embodiment of the present invention, the vibration generator emits a second vibration wave opposite to the actual first vibration wave to eliminate the vibration propagated by the indoor unit of the air conditioner, and activates the linkage control between the air conditioner and the elderly care assistive device when the body feature information of at least one individual is in a state of continuously maintaining the joint control awakening posture through the radar module in the vibration elimination state. When the air conditioner and the wheelchair establish a communication relationship in the same local area network, the vibration waves emitted by the vibration transmitter and the vibration waves generated by the air conditioner itself when it is running are superimposed and eliminated, so that the air conditioner radar can stabilize the imaging during observation, and then coordinately adjust the working state of the air conditioner and the elderly care assistive device according to the perceived changes in human body posture, without the user having to manually adjust the two smart devices separately, reducing the control delay of the two smart devices, improving the control accuracy, and optimizing the user's experience of the air conditioner and the elderly care assistive device.

[0093] Based on any of the above embodiments, the elderly care assistive device is a wheelchair.

[0094] Correspondingly, in the process of controlling the vibration generator to output the second vibration wave, the body feature information of the target individual captured by the radar module is used to control the air conditioner to start the first joint control mode, and to control the elderly care assistive device to start the second joint control mode, including: based on the first posture information of the target individual monitored by the radar module after the second vibration wave is eliminated, and the second posture information monitored by the wheelchair, controlling the wheelchair to move to the fixed position where the target individual is located to assist the target individual to sit down.

[0095] Among them, the radar module after the vibration is eliminated by the second vibration wave uses the second vibration wave that has a phase difference of half a cycle with the first vibration wave to offset the vibration of the radar module caused by the first vibration wave under the propagation of the air-conditioning indoor unit.

[0096] It should be noted that Figure 2 FIG. 1 is a schematic diagram of the principle of vibration elimination of the radar module provided by the present invention. Figure 2As shown, taking the first vibration wave as a sine wave and the second vibration wave as a cosine wave as an example, an implementation process of using the second vibration wave to eliminate vibration of the radar module is given:

[0097] During the operation of the indoor unit of the air conditioner, the vibration waveform is similar to the resonant wave, but the amplitude of each cycle is different and there is a slight difference. Therefore, the first vibration wave (sin(·)) can be fitted by collecting vibration signals of multiple vibration cycles. Since the second vibration wave has a phase difference of half a cycle with the first vibration wave, its waveform is completely opposite to the first vibration wave, that is, (cos(·)). At any time point, the sum of the vibration amplitude value cos(x) corresponding to the second vibration wave and the vibration amplitude value sin(x) corresponding to the first vibration wave is 0, so the vibration of the indoor unit of the air conditioner can be offset.

[0098] Specifically, in step 102, when the elderly care assistive device is a wheelchair, the interconnected control device between the air conditioner and the elderly care assistive device uses the radar module in the second joint control mode to preferentially monitor the first posture information of the target individual who has a need to call a wheelchair in the indoor space, and the second posture information of the wheelchair in the indoor space, and plans and corrects the movement route of the wheelchair in real time according to the relative position relationship between the two until the wheelchair moves to the fixed position of the target individual, thereby directly meeting the target individual's need to call a wheelchair and providing the function of assisting sitting.

[0099] Among them, 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, and the vertical line perpendicular to the X-axis in the horizontal plane where the air conditioner is located is taken as the Y-axis to form an XoY plane to represent the horizontal plane where the air conditioner is located, and the vertical downward direction perpendicular to the XoY plane is defined as the positive direction of the Z-axis.

[0100] The first pose information refers to the position coordinates of the target individual in the indoor space coordinate system and its corresponding azimuth angle. Due to the target individual's own conditions, generally speaking, the first pose information will not change too much.

[0101] The second posture information refers to the position coordinates of the wheelchair in the indoor space coordinate system and its corresponding orientation angle. The second posture information will change 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.

[0102] After determining that the target individual is seated, the swing range of the air conditioner in the sleep mode is adjusted according to the position information of the target individual that changes when the wheelchair is actuated.

[0103] It should be noted that before controlling the air conditioner to start the first joint control mode, the wheelchair needs to be monitored to see whether it has completed the function of assisting seating after it approaches the target individual. This embodiment of the present invention does not specifically limit this.

[0104] Exemplarily, a pressure sensor may be installed under the seat of a wheelchair. When it detects that the seat is under pressure from an individual sitting on it and the pressure value reaches the individual's weight, the wheelchair sends a signal to the air conditioner to indicate that the target individual has sat down.

[0105] Exemplarily, the radar module on the air conditioner can continue to monitor the individual's posture. When it detects that the human body is sitting, it determines that the target individual has sat down.

[0106] Specifically, in step 103, the interconnected control device of the air conditioner and the elderly care assistive device controls the air conditioner to start the sleep mode while controlling the target individual to take a seat at his current position, and after determining that the target individual has completed taking a seat, the target individual can undergo displacement changes in the room due to the movement of the wheelchair, and then continues to drive the vibration-damped radar module to adjust the air conditioner's swing range according to the real-time position information when the displacement changes, so as to realize the function of "wind follows the person".

[0107] Among them, the adjustment strategy of the swing range includes always aligning the execution angle of the swing leaf assembly arranged in parallel along the vertical direction at the air outlet of the air conditioner with the real-time position of the target individual when the wheelchair is displaced under the actuation of the wheelchair, so that the swing leaf assembly changes the wind guide direction of the swing leaf assembly in the vertical direction as the body distribution range of the target individual in the vertical direction changes.

[0108] The adjustment strategy for the swing range also includes aligning the execution angle of the vertical swing blade assembly arranged in parallel along the horizontal direction at the air outlet of the air conditioner to the real-time position of the target individual when the wheelchair is displaced, so that the vertical swing blade assembly changes the wind guide direction of the vertical swing blade assembly in the horizontal direction as the horizontal displacement of the target individual changes.

[0109] When the linkage control between the air conditioner and the wheelchair is activated, the embodiment of the present invention captures the relative position relationship between the target individual activating the mode and the wheelchair through the vibration-damped radar module, and guides the wheelchair to the target individual in real time to assist the individual to sit down. Then, when the radar module monitors that the wheelchair carrying the target individual has undergone displacement changes in the indoor space, the air conditioner's wind swing range is always aimed at 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 coordinated and regulated according to the user's posture changes. Without the user having to manually adjust the two smart devices separately, the wheelchair in the distance can automatically move to the user's position to provide auxiliary services, reduce the control delay of the two smart devices, improve the control accuracy, and optimize the user's experience of the air conditioner and the wheelchair.

[0110] On the basis of any of the above embodiments, based on the first posture information of the target individual monitored by the radar module after the second vibration wave is damped, and the second posture information monitored by the wheelchair, the wheelchair is controlled to move to the fixed position where the target individual is located and then assist the target individual to take a seat, including: based on the first posture information and the second posture information, controlling the wheelchair to move to the auxiliary receiving range corresponding to the target individual and braking.

[0111] The auxiliary receiving range is an acceptable action range determined with the fixed position of the target individual as the center.

[0112] Specifically, the interconnected control device between the air conditioner and the elderly care assistive device gradually guides the wheelchair to the auxiliary receiving range corresponding to the target individual based on the changes in the second posture information of the empty wheelchair when it moves along a predetermined route, and the changes in angle and distance relative to the first posture information. The wheelchair is then controlled to brake and temporarily stop in the auxiliary receiving range to wait for control instructions to get closer to the target individual.

[0113] The auxiliary receiving range is a symmetrical area divided with the current fixed position of the target individual as the center.

[0114] Exemplarily, the auxiliary receiving range may be a symmetrical area divided by taking the fixed position where the target individual is currently located as the center and combining a fixed distance from the target individual.

[0115] For example, the auxiliary receiving range may also be a range of motion that matches the target individual's own motion capability, divided with the target individual's current fixed position as the center of the circle. The worse the individual's motion capability is, the smaller the radius of the auxiliary receiving range is.

[0116] For example, the auxiliary receiving range may be limited to a circular range of 0.5 meters (m) from the target individual.

[0117] When it is determined by the radar module that the target individual and the wheelchair are facing the same direction, the wheelchair is controlled to move within the assistance receiving range to the assistance execution position to assist the target individual to take a seat.

[0118] The auxiliary execution position is closest to the fixed position where the target individual is located in the auxiliary receiving range.

[0119] Specifically, the interconnection control device of the air conditioner and the elderly care assistive device determines the direction of the target individual through the orientation angle in the first posture information collected by the radar module after the wheelchair is stationary in the auxiliary receiving range. Similarly, the direction of the wheelchair opening is determined according to the orientation angle in the second posture information collected by the radar module at this time, and the two directions are compared:

[0120] If the two directions are consistent, it means that the wheelchair seat is open to the target individual. At this time, the target individual does not need to take any other actions except sitting down. The wheelchair is directly controlled to continue moving in the auxiliary receiving range along its current direction until it reaches the auxiliary execution position and brakes, waiting for the target individual to sit down.

[0121] Among them, the auxiliary execution position refers to the last path point in the established route of the wheelchair moving to the target individual. The planning of this path point must meet the requirement that after continuing to move along the movement direction of the previous path point within the auxiliary receiving range, it is just closest to the side and rear of the target individual.

[0122] If the two directions are the same, it means that the wheelchair seat is not facing the back of the target individual. At this time, the target individual needs to adjust his or her own direction in order to get a seat. The wheelchair needs to be controlled first to make it consistent with the direction of the target individual, and then the wheelchair is controlled to continue moving towards the target individual within the auxiliary receiving range until it reaches the auxiliary execution position and brakes, waiting for the target individual to take a seat.

[0123] Figure 3 This is the second flow chart of the interconnection control method of the air conditioner and the elderly care auxiliary equipment provided by the present invention. Figure 3 As shown, the embodiment of the present invention provides a specific implementation method of an interconnection control method between an air conditioner and an elderly care assistive device when the elderly care assistive device is a wheelchair:

[0124] (1) After the air conditioner is started, the vibration sensor is used to sample the vibration generated by the indoor unit to obtain the first vibration wave.

[0125] (2) The vibration generator is controlled to output a second vibration wave to cancel the vibration transmitted to the radar module, and the millimeter-wave radar after the vibration cancellation is used to capture body feature information. If the human body is detected to be in a "jointly controlled awakening" posture, the air conditioner is controlled to enter a sleep state and a fixed air supply is sent toward the target individual.

[0126] (3) When the "joint control awakening" posture is monitored for 20 seconds, the joint control mode of the wheelchair is activated. Otherwise, jump to step (2) to continue monitoring the human body posture.

[0127] (4) Control the initial forward and backward micro-movement of the wheelchair, and calculate the initial planned route, angle, and distance from the wheelchair to the target individual based on the position of the wheelchair.

[0128] (5) The initial planned route is rechecked based on the distribution of items in the space. If there are no obstacles on the route, step (6) is executed. Otherwise, the process jumps to step (4) to recalculate the obstacle avoidance planning path.

[0129] (6) The wheelchair is guided in real time according to the planned path to a distance of 0.5 m from the target individual (i.e., the auxiliary receiving range), and the facial orientation of the target individual is captured by radar.

[0130] (7) Adjust the direction of the wheelchair to be consistent with the direction of the target individual, and move it to the auxiliary execution position close to the left (right) side of the target individual, and control the target armrest on the corresponding side to expand outward until it is parallel to the chair back.

[0131] (8) After the target individual sits in the wheelchair, control the target armrest to reset.

[0132] (9) The air conditioner adjusts the wind swing range in real time and turns on the "wind follows the person" mode.

[0133] Based on the change in the relative position relationship between the first posture information and the second posture information, the embodiment of the present invention guides the unloaded wheelchair to move to the auxiliary receiving range to wait for the judgment of the orientation direction. When it is determined that the orientation of the target individual and the wheelchair is consistent, the wheelchair is controlled to continue to follow the current orientation auxiliary execution position to further approach the target individual and assist in seating. In the process of controlling the unloaded wheelchair to approach the individual, the displacement distance and orientation angle can be combined to make a combined judgment on the posture of the wheelchair when it is close to the human body, so that the wheelchair can perform a more accurate auxiliary seating function, improve control accuracy, effectively avoid the physical energy consumption of people when performing unnecessary actions, and optimize the user experience of air conditioning and wheelchairs.

[0134] On the basis of any of the above embodiments, the elderly care assistive device is an auxiliary bed for getting up and lying down, and the auxiliary bed for getting up and lying down is provided with a fixed bed board and a movable bed board that rotates relative to the fixed bed board.

[0135] Correspondingly, in the process of controlling the vibration generator to output the second vibration wave, the body feature information of the target individual captured by the radar module is used to control the air conditioner to start the first joint control mode, and the elderly care assistive device to start the second joint control mode, including: based on the head position of each target individual monitored by the radar module after the second vibration wave is eliminated, the lower boundary of the default swing range of the cross guide plate assembly is updated to the target execution angle.

[0136] The radar module after the vibration cancellation by the second vibration wave cancels the vibration of the radar module by the first vibration wave under the propagation of the air conditioner indoor unit by the second vibration wave having a phase difference of half a cycle with the first vibration wave. The target execution angle is greater than the angle formed by the head position of the individual and the vertical direction of the radar module.

[0137] It should be noted that the assisted sleeping bed is mainly for vulnerable groups such as the disabled and the elderly. The assisted sleeping bed includes a hinged movable bed board and a fixed bed board. The movable bed board is supported by a pneumatic device at the bottom. Driven by the control command, the movable bed board is raised and lowered by changing the angle between the movable bed board and the fixed bed board at the hinge. That is, when the angle between the movable bed board and the fixed bed board at the hinge gradually increases to 180°, the movable bed board of the assisted sleeping bed gradually descends until it is completely flat to assist the user to lie down and sleep. When the angle between the movable bed board and the fixed bed board at the hinge gradually decreases from 180°, the movable bed board of the assisted sleeping bed gradually descends until it is fully lifted to assist the user to get up, lean against it or sit up.

[0138] Specifically, in step 102, when the elderly care assistive device is used to assist getting up and lying down in bed, the interconnection control device between the air conditioner and the elderly care assistive device uses the radar module to collect the body feature information of each individual in the space where the air conditioner is located in real time in the first joint control mode, and extracts the position information corresponding to the head features to convert the angle between the human head position and the vertical line where the radar module is located, and continues to expand upward on the basis of the angle to obtain the target execution angle, so that the target execution angle is greater than the azimuth angle of the human head.

[0139] Then, the target execution angle is encapsulated into the air-conditioning control instruction and sent to the indoor unit, so that the horizontal swing blade assembly composed of multiple air guide blades arranged vertically at the air outlet of the indoor unit can update the lower boundary of the original default swing range to the obtained target execution angle on the basis of keeping the upper boundary of the default swing range unchanged, thereby forming a new swing range.

[0140] For example, Figure 4 FIG. 1 is a schematic diagram of the distribution of the air conditioner and the auxiliary bed provided by the present invention. Figure 4 As shown, no matter the individual is in a sitting position or a lying position on the assisted lying bed, the new swing air zone is always above the human head so that the air conditioner can swing air above the head.

[0141] In the process of controlling the cross guide plate assembly to swing up and down in the new wind swing range, the user's behavioral intention is determined by using the key point positions of the human body of each target individual monitored by the radar module after the second vibration wave is eliminated.

[0142] Specifically, the interconnected control device between the air conditioner and the elderly care assistive device determines that the cross-guide plate assembly is already in the process of freely swinging up and down in the new wind swing range according to the operating status of the cross-guide plate assembly. The vibration-damped radar module continuously monitors the body feature information of each individual, connects the key points of the human body contained therein and analyzes the corresponding posture, maps the individual posture to the corresponding user behavior intention, and then outputs it.

[0143] When it is determined that the user behavior intention matches the trend of getting up, based on the target range of the angle between the individual's upper body and the movable bed board collected by the radar module after the second vibration wave is damped, the movable bed board is controlled to rotate clockwise by the first bed body control instruction to the auxiliary angle change value corresponding to the target range to assist the individual to get up.

[0144] The target interval is one of all the angle sub-intervals between the upper body and the movable bed board when the elderly person gets up. Each of the angle sub-intervals is preset with an auxiliary angle change value of the movable bed board rotating relative to the fixed bed board.

[0145] It should be noted that, since the movable bed board will track the individual's back in real time when the assisted getting-up-and-lying-down bed performs auxiliary tasks, the user's subjective increase in the distance between the back and the movable bed board means different behavioral intentions.

[0146] For example, if the angle between the individual's upper body and the movable bed board becomes smaller, it is considered that the individual needs to get closer to the movable bed board for support. If the angle between the individual's upper body and the movable bed board becomes larger, it is considered that the individual does not need to get closer to the movable bed board and does not need support.

[0147] Therefore, before executing the second joint control mode for assisting getting up and lying down in bed, it is necessary to divide N continuous angle sub-intervals between the upper and lower limits of the angle between the individual's upper body and the movable bed board under different behavioral intentions, and distinguish the user's intentions through the quantified different angle sub-intervals.

[0148] Correspondingly, it is also necessary to divide N auxiliary angle change values ​​corresponding to the rotation angle of the movable bed board relative to the horizontal plane where the fixed bed board is located according to the set N angle sub-intervals.

[0149] Among them, N is an integer greater than 1, and the interconnection control between the air conditioner and the elderly care assistive device can be evenly divided or customized between the upper and lower limits of the angle to obtain multiple angle sub-intervals, which is not specifically limited in the embodiment of the present invention.

[0150] Specifically, in step 103, the interconnected control device of the air conditioner and the elderly care auxiliary device compares and inquires the behavioral intentions corresponding to the postures corresponding to the human body characteristics displayed by the individual:

[0151] If the user's behavioral intention matches the trend of getting up, the radar module is used to collect the angle between the individual's upper body and the movable bed board, and the angle sub-interval in which the current angle is located is used as the target interval, and the auxiliary angle change value corresponding to the angle sub-interval is used as the rotation angle to be executed in this round of control for assisting getting up and lying down.

[0152] Then, the auxiliary angle change value is packaged into the first bed body control instruction and sent to the assisted getting-up-and-lying bed, so that the assisted getting-up-and-lying bed responds to the instruction and rotates the movable bed board clockwise by the corresponding auxiliary angle change value based on the current position, thereby providing auxiliary assistance for the individual's getting-up actions with different intentions during the process of the movable bed board rising.

[0153] If the user's behavioral intention does not match the trend of waking up, no subsequent processing will be done for the time being and further analysis is required.

[0154] In the process of locating the position of the human body through the radar module after vibration elimination, the embodiment of the present invention first fits the new execution angle of the lateral leaf assembly according to the individual's head position to swing the wind up and down above the individual's head. At the same time, the radar module is used to determine the user's behavioral intention based on the key point positions of the human body monitored by the individual. When the user's behavioral intention matches the tendency to get up, the target interval corresponding to the angle between the individual's upper body and the movable bed board is determined, so that the auxiliary bed for getting up and lying down is adjusted in combination with the auxiliary angle change value corresponding to the interval to assist the individual to get up. When the air conditioner and the auxiliary bed for getting up and lying down establish a communication relationship in the same local area network, the working states of the air conditioner and the auxiliary bed for getting up and lying down are coordinated and controlled according to the user's posture changes, without the user having to manually adjust the parameters of the two smart devices separately, which can reduce the control delay of the two smart devices, improve the control accuracy, and optimize the user's experience of the air conditioner and the auxiliary bed for getting up and lying down.

[0155] On the basis of any of the above embodiments, after determining the user behavior intention, it also includes: when it is determined that the user behavior intention matches the bed lying tendency, controlling the air conditioner to turn on the sleep mode, and controlling the movable bed board to rotate clockwise to the target rated rotation angle through the second bed body control instruction, and monitoring the angle between the individual's upper body and the movable bed board by using the radar module after the second vibration wave is damped.

[0156] The target rated rotation angle is a rated rotation angle of the movable bed board when the auxiliary lying-down bed is in the state of raising the bed surface.

[0157] It should be noted that the target rated rotation angle refers to the rated rotation angle of the movable bed board relative to the fixed bed board when the bed surface of the auxiliary bed is fully raised.

[0158] Specifically, the interconnected control device of the air conditioner and the elderly care auxiliary device compares and inquires the behavioral intentions corresponding to the postures corresponding to the human body characteristics displayed by the individual:

[0159] If the user's behavioral intention matches the tendency to lie in bed, the second bed control instruction is first used to control the movable bed board to rotate clockwise to the target rated rotation angle, so that after the assisted lying bed is fully lifted up, the radar module is used to collect the angle between the individual's upper body and the movable bed board.

[0160] If the user's behavioral intention does not match the bed rest trend, no subsequent processing will be performed for the time being, pending further analysis.

[0161] When it is determined that the angle between the upper body of the individual and the movable bed board is decreasing, the movable bed board is controlled to rotate counterclockwise and reset through the third bed body control instruction.

[0162] Specifically, the interconnection control device of the air conditioner and the elderly care assistive device determines that the upper body of the individual user is gradually fitting to the movable bed board by the angle between the individual's upper body and the movable bed board decreasing over time, and there is a tendency to gradually lie down by relying on the descent of the bed body. Then, a fourth bed control instruction is sent to the assisted getting-up-and-lying bed, so that the assisted getting-up-and-lying bed responds to the instruction, rotates the movable bed board counterclockwise on the basis of the current position until it is reset, and provides auxiliary support force for the individual's lying-down movements with different intentions during the descent of the movable bed board.

[0163] In the process of locating the position of the human body through the radar module, the embodiment of the present invention first fits the new execution angle of the lateral leaf assembly according to the individual's head position to swing the wind up and down above the individual's head. At the same time, the radar module is used to determine the user's behavioral intention based on the key point positions of the human body monitored by the individual. When the user's behavioral intention matches the tendency of lying in bed, the movable bed board is first controlled to rotate clockwise to fully rise, and then the radar module is used to determine that when the angle between the individual's upper body and the movable bed board decreases over time, the auxiliary bed is controlled to gradually reset to assist the individual to lie flat. When the air conditioner and the auxiliary bed are in communication within the same local area network, the working states of the air conditioner and the auxiliary bed are coordinated and regulated according to the user's posture changes, without the user having to manually adjust the parameters of the two smart devices separately, which can reduce the control delay of the two smart devices, improve the control accuracy, and optimize the user's experience of the air conditioner and the auxiliary bed.

[0164] Based on any of the above embodiments, the user behavior intention is determined by using the radar module after the second vibration wave is damped to monitor the position of the key points of the human body of each target individual, including: determining the first torso segment and the second torso segment of each target individual connected by the crotch key point based on the position of the key points of the human body of each target individual monitored by the radar module after the second vibration wave is damped.

[0165] The first torso segment is determined at least based on the head key points and the hip key points, and the second torso segment is determined at least based on the hip key points and the foot key points.

[0166] Specifically, the interconnected control device of the air conditioner and the elderly care assistive device performs segmented posture analysis on the human body according to the distribution of the positions of key points of the human body monitored for each individual, and obtains a first torso segment and a second torso segment separated by the hip key point.

[0167] Among them, the first torso segment is to obtain the posture of the upper body of the human body by connecting the head key points, hip key points and other key points between the two in the order of joints after coordinate system conversion and standardization operations, and output it as the posture information of the upper body.

[0168] The second torso segmentation is to obtain the posture of the lower body by connecting the hip key points, foot key points and other key points between them in the order of joints after coordinate system conversion and standardization operations, and output it as the posture information of the lower body.

[0169] If the angle formed by the first torso segment and the second torso segment at the key point of the hips decreases over time from 180° within a preset time period, the user behavior intention is set as a tendency to get up.

[0170] If the angle formed by the first torso segment and the second torso segment at the hip key point continues to maintain at 90° within a preset time period, the user behavior intention is set as a tendency to lie in bed.

[0171] Specifically, the interconnection control device of the air conditioner and the elderly care assistive device uses the relative position relationship of the hip joint point at the connection between the first torso segment and the second torso segment to analyze the user's behavioral intention:

[0172] If within the preset time period, the angle formed by the first torso segment and the second torso segment of any individual at the hip key point decreases over time from 180°, indicating that the user gradually gets up from the original lying position, the user behavior intention is set as a tendency to get up.

[0173] If within the preset time period, the angle formed by the first torso segment and the second torso segment of any individual at the key point of the hips always remains at 90°, it means that the user has maintained a sitting posture on the bed for a period of time after the original active state, and it is determined that he or she has a tendency to rest, then the user's behavioral intention is set as a tendency to lie in bed.

[0174] For example, Figure 5 This is the third flow chart of the interconnection control method of the air conditioner and the elderly care auxiliary equipment provided by the present invention. Figure 5As shown, the embodiment of the present invention provides a specific implementation method of an interconnection control method of an air conditioner and an elderly care assistive device when the elderly care assistive device is used to assist in getting up and lying down in bed:

[0175] (1) After the air conditioner is started, the vibration sensor is used to sample the vibration generated by the indoor unit to obtain the first vibration wave.

[0176] (2) The vibration generator is controlled to output a second vibration wave to eliminate the vibration transmitted to the radar module, and the millimeter-wave radar after the vibration elimination continues to capture the trajectory of the human body, and the top edge of the head is raised by 5° based on the inclination angle of the air conditioner to obtain the target execution angle.

[0177] (2) The radar is used to capture the human body and divide it into upper and lower sections. The user's behavior intention is determined based on the first torso segment and the second torso segment obtained by the posture analysis. If the user's behavior intention is to get up, step (4) is executed; if the user's behavior intention is to stay in bed, step (5) is executed.

[0178] (4) The angle α between the upper part of the human body and the bed is captured by radar and analyzed based on this angle:

[0179] If the angle α remains within the first threshold (5°) for 2s, it is considered that the elderly person needs to lean back and lie down, and the bed is controlled to start the leaning mode so that the angle α approaches 0° to fit the upper part of the human body in real time for leaning.

[0180] If the angle α remains within the first and second thresholds [5°, 10°] for 2s, it is considered that the elderly person needs assistance in getting out of bed, and the bed is controlled to start the getting-out-of-bed mode, so that the bed rises to 70° to fit the upper part of the human body in real time to support getting out of bed.

[0181] If the angle α is continuously greater than the second threshold (10°) for 2 seconds, it is considered that the elderly person does not need assistance to get up and the bed does not move.

[0182] (5) First, control the bed to rotate 70° clockwise to raise it close to the sitting person.

[0183] (6) The radar captures the angle α between the upper part of the human body and the bed, which gradually changes from 20° to 0°, and controls the bed to reset.

[0184] (7) During the bed's reset and rotation process, if the angle α remains within the first and second thresholds [5°, 10°] for 2 seconds, the bed stops rotating and enters the reclining mode.

[0185] (8) During the bed restoring and rotating process, the angle α changes from the first threshold value of 10° to 0° within 2 seconds, and the bed restoring and rotating.

[0186] The embodiment of the present invention uses a radar module to analyze the key points of the human body detected by the individual in segments, and uses the relative position relationship between the first torso segment and the second torso segment connected by the crotch to determine the user's behavioral intention. This improves the recognition accuracy of the user's intention and optimizes the user's experience of using air conditioning and assisting in getting up and lying down.

[0187] Based on any of the above embodiments, the first vibration wave is determined based on the vibration sampling signal collected by the vibration sensor from the air conditioner indoor unit, including: obtaining an average sampling period according to multiple vibration periods contained in the vibration sampling signal, and obtaining an average sampling amplitude according to the vibration amplitude corresponding to the target sampling point in each vibration period.

[0188] The target sampling point is a peak sampling point and / or a trough sampling point within the sampling period.

[0189] Specifically, in step 101, the interconnection control device of the air conditioner and the elderly care auxiliary device averages the vibration sampling signal that is periodically floating and changing at a specific target sampling point within the sampling period to obtain an average sampling period and an average sampling amplitude that can characterize the overall vibration level. The calculation formula is as follows:

[0190]

[0191]

[0192] Where T is the average sampling period, A is the average sampling amplitude. n is the number of vibration periods contained in the sampling period, T i is the i-th vibration cycle in the sampling period. For any vibration cycle, if the target sampling point is the peak sampling point and the trough sampling point in the vibration cycle, then in the i-th vibration cycle, A j It can be the peak amplitude value corresponding to the peak sampling point in the vibration cycle, in which case j = 2i-1. j It can be the amplitude valley value corresponding to the valley sampling point in the vibration period, and in this case j=2i.

[0193] The first vibration wave is generated based on the average sampling period and the average sampling amplitude.

[0194] Specifically, the interconnected control device of the air conditioner and the elderly care auxiliary device uses the average sampling period T and the average sampling amplitude A as the new period and amplitude respectively to reconstruct the first vibration wave after stabilization processing is performed on the vibration condition of the indoor unit.

[0195] The embodiment of the present invention averages multiple vibration cycles contained in the vibration sampling signal and the vibration amplitude that fluctuates at the target sampling point within each vibration cycle, and reconstructs the first vibration wave used to characterize the stable vibration level using the obtained average sampling cycle and average sampling amplitude. It can stabilize the vibration waves emitted by the air conditioner itself during operation, provide a reasonable reference value for subsequent superposition and vibration elimination, and greatly improve the perception accuracy of the air conditioner radar.

[0196] Based on any of the above embodiments, if the target sampling point is a sampling point other than the peak sampling point and the trough sampling point in the vibration period, the value of the target sampling point in the time domain includes and

[0197] Here, k is a positive integer greater than 2.

[0198] Specifically, if the target sampling point is any sampling point other than the peak sampling point and the trough sampling point within the vibration period That is, in any vibration cycle, There are 3 more sampling points with the same absolute value of the amplitude of the sampling point, namely and but.

[0199]

[0200] in, For sampling point The average sampling amplitude at and are respectively the mth vibration period and The amplitude corresponding to the sampling point with the same absolute value of the amplitude of the sampling point.

[0201] Then, the interconnection control device for the air conditioner and the elderly care auxiliary equipment uses other sampling points based on the average sampling amplitude A obtained by averaging the peak and trough values. The average sampling amplitude obtained by averaging To reconstruct the first vibration wave.

[0202] Figure 6 FIG. 1 is a schematic diagram of the structure of the interconnection control device of the air conditioner and the elderly care auxiliary device provided by the present invention. Figure 6 As shown, the interconnection control device of the air conditioner and the elderly care auxiliary device provided in the embodiment of the present invention is arranged in the air conditioner arranged in the same indoor environment as the elderly care auxiliary device, and includes a radar stabilization module 610 and a joint control module 620, wherein:

[0203] The radar stabilization module 610 is used to determine the first vibration wave based on the vibration sampling signal collected by the vibration sensor from the indoor unit of the air conditioner.

[0204] The joint control module 620 is used to control the air conditioner to start the first joint control mode and control the elderly care auxiliary device to start the second joint control mode respectively according to the body feature information of the target individual captured by the radar module during the process of controlling the vibration generator to output the second vibration wave;

[0205] Wherein, the target individual is the user of the elderly care assistive device; the first joint control mode includes at least one of the following: controlling the air conditioner to start the sleep mode, and controlling the air conditioner to adjust the swing range; the second joint control mode includes at least one of the following: controlling the elderly care assistive device to move to the fixed position where the target individual is located, controlling the elderly care assistive device to adjust the height, and controlling the elderly care assistive device to adjust the shape of the contact surface; the first vibration wave and the second vibration wave have the same period and amplitude, and the phase of the first vibration wave and the phase of the second vibration wave differ by half a period; the vibration sampling signal is a vibration signal generated by the operation of the fan of the air conditioner indoor unit during the sampling period; the vibration sensor, the radar module and the vibration generator are all arranged in the air conditioner indoor unit, the vibration sensor is used to sense the vibration of the air conditioner indoor unit, and the vibration generator is used to eliminate the vibration of the radar module driven by the air conditioner indoor unit.

[0206] Specifically, the radar stabilization module 610 and the joint control module 620 are electrically connected in sequence.

[0207] After receiving and responding to the activation instruction of the working mode, the radar stabilization module 610 controls the fan of the air-conditioning indoor unit to run at the speed of the corresponding mode, and controls the compressor of the air-conditioning outdoor unit to run at the power of the corresponding mode.

[0208] Since the operation of the fan will cause its own vibration to propagate to the air-conditioning indoor unit and its internal components, the interconnected control device based on the air conditioner and the elderly care assistive device periodically senses the vibration of the air-conditioning indoor unit through a vibration sensor, and fits the first vibration wave used to characterize the vibration degree of the air conditioner based on the vibration sampling signal collected within a sampling period.

[0209] The joint control module 620 retains the period and amplitude of the first vibration wave obtained by the radar stabilization module 610, and delays its phase by half a period, and after obtaining a second vibration wave with a waveform opposite to the first vibration wave, controls the vibration generator to emit the second vibration wave to continuously eliminate the vibration of the radar module.

[0210] In the process of the vibration generator continuously eliminating vibration of the radar module, the interconnection control device of the air conditioner and the elderly care assistive device calculates and analyzes the electromagnetic waves reflected by the target individual (i.e., the user of the elderly care assistive device) in the space where the air conditioner is located through the vibration elimination radar module, and analyzes the human body morphological characteristics contained therein. If the body shape characteristic information obtained by the analysis of any target individual matches the pre-set joint control awakening posture, and the duration of the joint control awakening posture maintained by the individual reaches a preset threshold, it means that the individual's current behavioral intention is to actively perform the joint control awakening action to activate the joint control of the air conditioner and the elderly care assistive device:

[0211] The first joint control mode activated by the air conditioner in the joint control includes but is not limited to starting the sleep mode, controlling the horizontal swing blade assembly and / or the vertical swing blade assembly in the air conditioner to adjust the corresponding swing range, etc., so as to enable the air conditioner indoor unit to adjust the indoor temperature while minimizing the stress response caused by the air conditioning wind to the target individual whose behavior remains unchanged.

[0212] The second joint control mode activated by the elderly care assistive device in the joint control includes but is not limited to moving to the vicinity of the target individual so that the target individual can sit down without moving, adjusting the height of the contact surface with the target individual so that the target individual can sit down without squatting, and adjusting the shape of the contact surface with the target individual so that the contact surface can fit the human body curve as much as possible, etc., to solve various inconveniences or minor troubles in the life of the target individual and enable them to move normally.

[0213] Optionally, the elderly care assistive device is a wheelchair.

[0214] Accordingly, the joint control module 620 includes a wheelchair control unit and a first air conditioning control unit, wherein:

[0215] The wheelchair control unit is used to control the wheelchair to move to the fixed position where the target individual is located, and then assist the target individual to take a seat based on the first posture information of the target individual monitored by the radar module after the second vibration wave is damped, and the second posture information monitored by the wheelchair.

[0216] The first air conditioning control unit is used to adjust the wind swing range of the air conditioner in the sleep mode according to the position information of the target individual changed when the wheelchair is actuated after determining that the target individual is seated.

[0217] Among them, the radar module after the vibration is eliminated by the second vibration wave uses the second vibration wave that has a phase difference of half a cycle with the first vibration wave to offset the vibration of the radar module caused by the first vibration wave under the propagation of the air-conditioning indoor unit.

[0218] Optionally, the wheelchair control unit is specifically used to control the wheelchair to move to an auxiliary receiving range corresponding to the target individual and brake based on the first posture information and the second posture information.

[0219] When it is determined by the radar module that the target individual and the wheelchair are facing the same direction, the wheelchair is controlled to move within the assistance receiving range to the assistance execution position to assist the target individual to take a seat.

[0220] 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.

[0221] Optionally, the elderly care assistive device is an assisted lying-in bed, which is provided with a fixed bed board and a movable bed board that rotates relative to the fixed bed board.

[0222] Accordingly, the joint control module 620 includes a second air conditioning control unit, an intention recognition unit and a first bed control unit, wherein:

[0223] The second air conditioning control unit is used to update the lower boundary of the default wind swing range of the cross guide plate assembly to the target execution angle based on the head position of each target individual monitored by the radar module after the second vibration wave is damped.

[0224] The intention recognition unit is used to determine the user's behavioral intention by using the radar module after the second vibration wave is eliminated to monitor the key points of the human body for each target individual during the process of controlling the cross guide plate assembly to swing up and down in the new swing wind range.

[0225] The first bed control unit is used to control the movable bed board to rotate clockwise to an auxiliary angle change value corresponding to the target interval according to the target interval of the angle between the individual's upper body and the movable bed board collected by the radar module after the second vibration wave is damped, so as to assist the individual to get up.

[0226] Among them, the radar module that uses the second vibration wave to eliminate vibration cancels out the vibration of the radar module caused by the first vibration wave under the propagation of the air-conditioning indoor unit by the second vibration wave that has a phase difference of half a cycle with the first vibration wave; the target execution angle is greater than the angle formed by the individual's head position and the vertical direction of the radar module; the target interval is one of all the angle sub-intervals between the upper body and the movable bed board in the process of the elderly getting up; any of the angle sub-intervals is preset with an auxiliary angle change value for the rotation of the movable bed board relative to the fixed bed board.

[0227] Optionally, the joint control module 620 further includes a second bed control unit and a reset unit, wherein:

[0228] The second bed control unit is used to control the air conditioner to turn on the sleep mode when it is determined that the user's behavioral intention matches the tendency to lie in bed, and to control the movable bed board to rotate clockwise to a target rated rotation angle through a second bed control instruction, and then monitor the angle between the individual's upper body and the movable bed board by using the radar module after the second vibration wave is damped.

[0229] The resetting unit is used to control the movable bed board to rotate counterclockwise and reset through a third bed body control instruction when it is determined that the angle between the upper body of the individual and the movable bed board is decreasing.

[0230] The target rated rotation angle is a rated rotation angle of the movable bed board when the auxiliary lying-down bed is in the state of raising the bed surface.

[0231] Optionally, the intention recognition unit is specifically used to determine the first torso segment and the second torso segment of each target individual connected by the crotch key point based on the position of the key points of the human body of each target individual monitored by the radar module after the second vibration wave is de-energized.

[0232] If the angle formed by the first torso segment and the second torso segment at the key point of the hips decreases over time from 180° within a preset time period, the user behavior intention is set as a tendency to get up.

[0233] If the angle formed by the first torso segment and the second torso segment at the hip key point continues to maintain at 90° within a preset time period, the user behavior intention is set as a tendency to lie in bed.

[0234] The first torso segment is determined at least based on the head key points and the hip key points, and the second torso segment is determined at least based on the hip key points and the foot key points.

[0235] Optionally, the radar stabilization module 610 includes a stabilization calculation unit and a linear fitting unit, wherein:

[0236] The stability maintenance calculation unit is used to obtain an average sampling period according to a plurality of vibration periods included in the vibration sampling signal, and to obtain an average sampling amplitude according to the vibration amplitude corresponding to the target sampling point in each vibration period.

[0237] A linear fitting unit is used to generate the first vibration wave based on the average sampling period and the average sampling amplitude.

[0238] The target sampling points include peak sampling points and trough sampling points within the sampling period.

[0239] Optionally, if the target sampling point is a sampling point other than the peak sampling point and the trough sampling point in the vibration period, the value of the target sampling point in the time domain includes: and

[0240] Here, k is a positive integer greater than 2.

[0241] The interconnection control device of an air conditioner and an auxiliary device for the elderly provided in an embodiment of the present invention is used to execute the interconnection control method of an air conditioner and an auxiliary device for the elderly provided in the present invention. Its implementation method is consistent with the implementation method of the interconnection control method of an air conditioner and an auxiliary device for the elderly provided in the present invention, and can achieve the same beneficial effects, which will not be repeated here.

[0242] In the embodiment of the present invention, the vibration generator emits a second vibration wave opposite to the actual first vibration wave to eliminate the vibration propagated by the indoor unit of the air conditioner, and activates the linkage control between the air conditioner and the elderly care assistive device when the body feature information of at least one individual is in a state of continuously maintaining the joint control awakening posture through the radar module in the vibration elimination state. When the air conditioner and the wheelchair establish a communication relationship in the same local area network, the vibration waves emitted by the vibration transmitter and the vibration waves generated by the air conditioner itself when it is running are superimposed and eliminated, so that the air conditioner radar can stabilize the imaging during observation, and then coordinately adjust the working state of the air conditioner and the elderly care assistive device according to the perceived changes in human body posture, without the user having to manually adjust the two smart devices separately, reducing the control delay of the two smart devices, improving the control accuracy, and optimizing the user's experience of the air conditioner and the elderly care assistive device.

[0243] Figure 7 Schematic diagram of the structure of the air conditioner provided by the present invention. Figure 7 As shown, the air conditioner provided by the embodiment of the present invention includes an air conditioner indoor unit 710 and an air conditioner outdoor unit 720;

[0244] The air-conditioning indoor unit 710 is communicatively connected with the elderly care assistive device via a local area network in the same indoor space; the air-conditioning indoor unit 710 is provided with a vibration reduction device 712 which is communicatively connected with the air-conditioning controller 711, and the vibration reduction device 712 includes a radar module 712-1, a vibration generator 712-2 and a vibration sensor 712-3 which are respectively communicatively connected with the air-conditioning controller 711.

[0245] The vibration sensor 712 - 3 is used to sense the vibration of the air conditioner indoor unit 710 . The vibration generator 712 - 2 is used to eliminate the vibration of the radar module 712 - 3 driven by the air conditioner indoor unit 710 .

[0246] The elderly care assistive device is used to receive and respond to the control instructions issued by the air conditioning controller 711 when executing any of the above methods for interconnecting and controlling the air conditioner and the elderly care assistive device, so as to control the elderly care assistive device to assist the individual in performing activities.

[0247] Among them, the radar module 712-3 includes a millimeter wave radar.

[0248] Specifically, the air conditioner and the wheelchair are in the same indoor environment and are connected to each other through the same local area network. The air conditioner is provided with an air conditioner indoor unit 710 and an air conditioner outdoor unit 720 which are connected through a refrigerant pipeline.

[0249] The air conditioner indoor unit 710 is provided with an air conditioner controller 711 and a vibration elimination device 712 which are in communication connection. The air conditioner controller 711 is integrated in the control chip of the air conditioner system. When the air conditioner control method based on the swimming pool is executed, the vibration elimination device 712 is controlled to offset the vibration caused by the operation of the air conditioner indoor unit 710, and then the human body is sensed in the indoor space. The process is as follows:

[0250] The vibration elimination device 712 is composed of a radar module 712-1, a vibration generator 712-2 and a vibration sensor 712-3 which are arranged independently of each other. When the air conditioner indoor unit 710 activates the dehumidification mode, the vibration generated by the fan itself will be transmitted to the air conditioner indoor unit 710 and its internal components due to the operation of the fan. Therefore, the air conditioner controller 711 periodically senses the vibration generated by the air conditioner indoor unit 710 through the vibration sensor 712-3, and fits the first vibration wave used to characterize the vibration degree of the air conditioner according to the vibration sampling signal collected within a sampling period.

[0251] The air conditioning controller 711 retains the period and amplitude of the first vibration wave, and delays its phase by half a period, and after obtaining a second vibration wave with a waveform opposite to the first vibration wave, controls the vibration generator 712-2 to emit the second vibration wave to continuously eliminate the vibration of the radar module 712-1.

[0252] During the process of the vibration generator 712-2 continuously eliminating the vibration of the radar module 712-1, the air conditioner controller 711 calculates and analyzes the electromagnetic waves reflected by the target individual (i.e., the user of the elderly care assistive device) in the space where the air conditioner is located through the vibration-eliminating radar module 712-1, and analyzes the human body morphological characteristics contained therein. If the body shape characteristic information obtained by the analysis of any target individual matches the preset joint control awakening posture, and the duration of the joint control awakening posture maintained by the individual reaches a preset threshold, it means that the individual's current behavioral intention is to actively perform the joint control awakening action to activate the joint control of the air conditioner and the elderly care assistive device:

[0253] The first joint control mode activated by the air conditioner in the joint control includes but is not limited to starting the sleep mode, controlling the horizontal swing blade assembly and / or the vertical swing blade assembly in the air conditioner to adjust the corresponding swing range, etc., so as to enable the air conditioner indoor unit to adjust the indoor temperature while minimizing the stress response caused by the air conditioning wind to the target individual whose behavior remains unchanged.

[0254] The second joint control mode activated by the elderly care assistive device in the joint control includes but is not limited to moving to the vicinity of the target individual so that the target individual can sit down without moving, adjusting the height of the contact surface with the target individual so that the target individual can sit down without squatting, and adjusting the shape of the contact surface with the target individual so that the contact surface can fit the human body curve as much as possible, etc., to solve various inconveniences or minor troubles in the life of the target individual and enable them to move normally.

[0255] On the contrary, if there is no target individual whose body feature information does not match the pre-set joint control wake-up posture, or the duration for which the individual maintains the joint control wake-up posture does not reach the preset threshold, it means that the individual's current behavioral intention is only to perform some specific actions in the indoor space, and there is no need to use elderly care assistive devices, so the joint control of the air conditioner and the elderly care assistive devices will not be triggered.

[0256] In the embodiment of the present invention, the vibration generator emits a second vibration wave opposite to the actual first vibration wave to eliminate the vibration propagated by the indoor unit of the air conditioner, and activates the linkage control between the air conditioner and the elderly care assistive device when the body feature information of at least one individual is in a state of continuously maintaining the joint control awakening posture through the radar module in the vibration elimination state. When the air conditioner and the wheelchair establish a communication relationship in the same local area network, the vibration waves emitted by the vibration transmitter and the vibration waves generated by the air conditioner itself when it is running are superimposed and eliminated, so that the air conditioner radar can stabilize the imaging during observation, and then coordinately adjust the working state of the air conditioner and the elderly care assistive device according to the perceived changes in human body posture, without the user having to manually adjust the two smart devices separately, reducing the control delay of the two smart devices, improving the control accuracy, and optimizing the user's experience of the air conditioner and the elderly care assistive device.

[0257] In addition, the logic instructions in the memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0258] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the interconnection control method of the air conditioner and the elderly care assistive device provided by the above-mentioned methods, wherein the air conditioner and the elderly care assistive device are arranged in the same indoor environment, and the method includes: determining a first vibration wave based on a vibration sampling signal collected by a vibration sensor from an indoor unit of the air conditioner; in the process of controlling the vibration generator to output a second vibration wave, controlling the air conditioner to start a first joint control mode and controlling the elderly care assistive device to start a second joint control mode respectively through the body feature information captured by the radar module from the target individual; wherein the target individual is a user of the elderly care assistive device; the first joint control mode includes at least one of the following Item: controlling the air conditioner to start the sleep mode, controlling the air conditioner to adjust the swing range; the second joint control mode includes at least one of the following items: controlling the elderly care assistive device to move to the fixed position where the target individual is located, controlling the elderly care assistive device to adjust the height, and controlling the elderly care assistive device to adjust the shape of the contact surface; the first vibration wave and the second vibration wave have the same period and amplitude, and the phase of the first vibration wave and the phase of the second vibration wave differ by half a period; the vibration sampling signal is a vibration signal generated by the operation of the fan of the air conditioner indoor unit during the sampling period; the vibration sensor, the radar module and the vibration generator are all arranged in the air conditioner indoor unit, the vibration sensor is used to sense the vibration of the air conditioner indoor unit, and the vibration generator is used to eliminate the vibration of the radar module driven by the air conditioner indoor unit.

[0259] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the interconnection control method of the air conditioner and the elderly care assistive device provided by the above-mentioned methods, wherein the air conditioner and the elderly care assistive device are arranged in the same indoor environment, and the method comprises: determining a first vibration wave based on a vibration sampling signal collected by a vibration sensor from an indoor unit of the air conditioner; in the process of controlling the vibration generator to output a second vibration wave, controlling the air conditioner to start a first joint control mode and controlling the elderly care assistive device to start a second joint control mode respectively according to the body feature information captured by the radar module from the target individual; wherein the target individual is a user of the elderly care assistive device; the first joint control mode comprises at least one of the following: controlling the air conditioner to start a sleep mode , controlling the air conditioner to adjust the swing range; the second joint control mode includes at least one of the following: controlling the elderly care assistive device to move to the fixed position where the target individual is located, controlling the elderly care assistive device to adjust its height, and controlling the elderly care assistive device to adjust the shape of its contact surface; the first vibration wave and the second vibration wave have the same period and amplitude, and the phase of the first vibration wave and the phase of the second vibration wave differ by half a period; the vibration sampling signal is a vibration signal generated by the operation of the fan of the air-conditioning indoor unit during the sampling period; the vibration sensor, the radar module and the vibration generator are all arranged in the air-conditioning indoor unit, the vibration sensor is used to sense the vibration of the air-conditioning indoor unit, and the vibration generator is used to eliminate the vibration of the radar module driven by the air-conditioning indoor unit.

[0260] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0261] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0262] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for interconnecting and controlling an air conditioner and an elderly care auxiliary device, wherein the air conditioner and the elderly care auxiliary device are arranged in the same indoor environment, characterized in that: include: Determine a first vibration wave based on a vibration sampling signal collected by a vibration sensor from an indoor unit of the air conditioner; In the process of controlling the vibration generator to output the second vibration wave, the body feature information of the target individual captured by the radar module is used to control the air conditioner to start the first joint control mode and to control the elderly care assistive device to start the second joint control mode; Wherein, the target individual is the user of the elderly care assistive device; the first joint control mode includes at least one of the following: controlling the air conditioner to start the sleep mode, and controlling the air conditioner to adjust the swing range; the second joint control mode includes at least one of the following: controlling the elderly care assistive device to move to the fixed position where the target individual is located, controlling the elderly care assistive device to adjust the height, and controlling the elderly care assistive device to adjust the shape of the contact surface; the first vibration wave and the second vibration wave have the same period and amplitude, and the phase of the first vibration wave and the phase of the second vibration wave differ by half a period; the vibration sampling signal is a vibration signal generated by the operation of the fan of the air conditioner indoor unit during the sampling period; the vibration sensor, the radar module and the vibration generator are all arranged in the air conditioner indoor unit, the vibration sensor is used to sense the vibration of the air conditioner indoor unit, and the vibration generator is used to eliminate the vibration of the radar module driven by the air conditioner indoor unit.

2. The interconnection control method of the air conditioner and the elderly care auxiliary equipment according to claim 1, characterized in that: The elderly care assistive device is a wheelchair; Accordingly, in the process of controlling the vibration generator to output the second vibration wave, the body feature information of the target individual captured by the radar module is used to control the air conditioner to start the first joint control mode, and to control the elderly care auxiliary device to start the second joint control mode, including: Based on the first posture information of the target individual monitored by the radar module after the second vibration wave is eliminated, and the second posture information of the wheelchair monitored, the wheelchair is controlled to move to the fixed position where the target individual is located and then assist the target individual to take a seat; After determining that the target individual is seated, adjusting the swing range of the air conditioner in the sleep mode according to the position information of the target individual that changes when the wheelchair is actuated; Among them, the radar module after the vibration is eliminated by the second vibration wave cancels out the vibration of the radar module caused by the first vibration wave under the propagation of the air-conditioning indoor unit by the second vibration wave having a phase difference of half a cycle with the first vibration wave.

3. The interconnection control method of the air conditioner and the elderly care auxiliary equipment according to claim 2, characterized in that: The method of controlling the wheelchair to move to the fixed position of the target individual and assisting the target individual to take a seat based on the first posture information of the target individual monitored by the radar module after the second vibration wave is eliminated and the second posture information of the wheelchair monitored includes: Based on the first posture information and the second posture information, controlling the wheelchair to move to an auxiliary receiving range corresponding to the target individual and brake; When it is determined by the radar module that the target individual and the wheelchair are facing the same direction, controlling the wheelchair to move to the assistance execution position within the assistance receiving range and then assisting the target individual to take a seat; 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.

4. The interconnection control method of the air conditioner and the elderly care auxiliary equipment according to claim 1, characterized in that: The elderly care auxiliary device is an auxiliary bed for getting up and lying down, and the auxiliary bed for getting up and lying down is provided with a fixed bed board and a movable bed board rotating relative to the fixed bed board; Accordingly, in the process of controlling the vibration generator to output the second vibration wave, the body feature information of the target individual captured by the radar module is used to control the air conditioner to start the first joint control mode, and to control the elderly care auxiliary device to start the second joint control mode, including: Based on the head position of each target individual monitored by the radar module after the second vibration wave is eliminated, the lower boundary of the default wind swing interval of the cross guide plate assembly is updated to the target execution angle; In the process of controlling the cross guide plate assembly to swing up and down in the new wind swing range, the user's behavior intention is determined by using the key point positions of the human body of each target individual monitored by the radar module after the second vibration wave is eliminated; When it is determined that the user behavior intention matches the tendency to get up, according to the target interval of the angle between the individual's upper body and the movable bed board collected by the radar module after the second vibration wave is damped, the movable bed board is controlled to rotate clockwise by the auxiliary angle change value corresponding to the target interval through the first bed body control instruction to assist the individual to get up; Among them, the radar module that uses the second vibration wave to eliminate vibration cancels out the vibration of the radar module caused by the first vibration wave under the propagation of the air-conditioning indoor unit by the second vibration wave that has a phase difference of half a cycle with the first vibration wave; the target execution angle is greater than the angle formed by the individual's head position and the vertical direction of the radar module; the target interval is one of all the angle sub-intervals between the upper body and the movable bed board in the process of the elderly getting up; any of the angle sub-intervals is preset with an auxiliary angle change value for the rotation of the movable bed board relative to the fixed bed board.

5. The interconnection control method of the air conditioner and the elderly care auxiliary equipment according to claim 4, characterized in that: After determining the user behavior intention, the method further includes: When it is determined that the user's behavioral intention matches the tendency to lie in bed, the air conditioner is controlled to start the sleep mode, and the movable bed board is controlled to rotate clockwise to a target rated rotation angle through a second bed body control instruction, and then the angle between the individual's upper body and the movable bed board is monitored by using the radar module after the second vibration wave is damped; When it is determined that the angle between the upper body of the individual and the movable bed board is decreasing, the movable bed board is controlled to rotate counterclockwise and reset through a third bed body control instruction; The target rated rotation angle is a rated rotation angle of the movable bed board when the auxiliary lying-down bed is in the state of raising the bed surface.

6. The interconnection control method of the air conditioner and the elderly care auxiliary equipment according to claim 4, characterized in that: The method of determining the user's behavior intention by using the radar module after the second vibration wave is eliminated to monitor the key point position of each target individual includes: Based on the position of the key points of the human body of each target individual monitored by the radar module after the vibration cancellation of the second vibration wave, a first torso segment and a second torso segment connected by the key point of the crotch of each target individual are determined; If the angle formed by the first torso segment and the second torso segment at the key point of the hips decreases over time from 180° within a preset time period, the user behavior intention is set as a tendency to get up; If the angle formed by the first torso segment and the second torso segment at the key point of the hips is continuously maintained at 90° within a preset time, the user behavior intention is set as a tendency to stay in bed; The first torso segment is determined at least based on the head key points and the hip key points, and the second torso segment is determined at least based on the hip key points and the foot key points.

7. The interconnection control method based on the air conditioner and the elderly care auxiliary equipment according to any one of claims 1 to 6, characterized in that: The method of determining the first vibration wave based on the vibration sampling signal collected by the vibration sensor from the indoor unit of the air conditioner includes: Obtaining an average sampling period according to a plurality of sampling periods included in the vibration sampling signal, and obtaining an average sampling amplitude according to the vibration amplitude corresponding to the target sampling point in each vibration period; generating the first vibration wave based on the average sampling period and the average sampling amplitude; The target sampling point is a peak sampling point and / or a trough sampling point within the sampling period.

8. The interconnection control method based on air conditioner and elderly care auxiliary equipment according to claim 7 is characterized in that: If the target sampling point is a sampling point other than the peak sampling point and the trough sampling point in the vibration period, the value of the target sampling point in the time domain includes and Here, k is a positive integer greater than 2.

9. An interconnection control device for an air conditioner and an elderly care auxiliary device, which is arranged on the air conditioner in the same indoor environment as the elderly care auxiliary device, characterized in that: include: A radar stabilization module, used to determine a first vibration wave based on a vibration sampling signal collected by a vibration sensor from an indoor unit of the air conditioner; The joint control module is used to control the air conditioner to start the first joint control mode and the elderly care auxiliary device to start the second joint control mode respectively according to the body feature information captured by the radar module on the target individual during the process of controlling the vibration generator to output the second vibration wave; Wherein, the target individual is the user of the elderly care assistive device; the first joint control mode includes at least one of the following: controlling the air conditioner to start the sleep mode, and controlling the air conditioner to adjust the swing range; the second joint control mode includes at least one of the following: controlling the elderly care assistive device to move to the fixed position where the target individual is located, controlling the elderly care assistive device to adjust the height, and controlling the elderly care assistive device to adjust the shape of the contact surface; the first vibration wave and the second vibration wave have the same period and amplitude, and the phase of the first vibration wave and the phase of the second vibration wave differ by half a period; the vibration sampling signal is a vibration signal generated by the operation of the fan of the air conditioner indoor unit during the sampling period; the vibration sensor, the radar module and the vibration generator are all arranged in the air conditioner indoor unit, the vibration sensor is used to sense the vibration of the air conditioner indoor unit, and the vibration generator is used to eliminate the vibration of the radar module driven by the air conditioner indoor unit.

10. An air conditioner, characterized in that: Including air conditioner indoor unit and air conditioner outdoor unit; The air conditioner indoor unit is communicatively connected with the elderly care auxiliary equipment via a local area network in the same indoor space; the air conditioner indoor unit is provided with a vibration elimination device communicatively connected with the air conditioner controller, and the vibration elimination device includes a radar module, a vibration generator and a vibration sensor which are communicatively connected with the air conditioner controller respectively; The vibration sensor is used to sense the vibration of the air conditioner indoor unit; the vibration generator is used to eliminate the vibration of the radar module driven by the air conditioner indoor unit; The elderly care assistive device is used to receive and respond to the control instruction issued by the air conditioning controller when executing the interconnection control method of the air conditioner and the elderly care assistive device according to any one of claims 1 to 8, and control the elderly care assistive device to assist the individual in performing activities; Wherein, the radar module includes a millimeter wave radar.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the interconnection control method between the air conditioner and the elderly care auxiliary equipment as described in any one of claims 1 to 8 is implemented.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the interconnection control method between the air conditioner and the elderly care auxiliary equipment as described in any one of claims 1 to 8 is implemented.

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