Method and device for interconnection control of air conditioner and elderly care aid, and air conditioner

Abstract

The application provides an air conditioner and an interconnection control method and device for an elderly care aid, and the method comprises the following steps: determining a first vibration wave based on a vibration sampling signal collected by a vibration sensor of an air conditioner indoor unit; in the process of controlling a vibration generator to output a second vibration wave, capturing body posture feature information of a target individual by a radar module, and respectively controlling the air conditioner to start a first interconnection control mode and controlling the elderly care aid to start a second interconnection control mode. The air conditioner and the interconnection control method and device for the elderly care aid, and the air conditioner provided by the application can realize the following: when the air conditioner and the wheelchair establish a communication relationship in the same local area network, the vibration wave emitted by the vibration emitter and the vibration wave generated by the air conditioner itself during operation are superimposed and damped, so that the air conditioner can stably image during observation, and the working state of the air conditioner and the elderly care aid can be cooperatively controlled according to the perceived human body posture change, and the use experience of the user for the air conditioner and the elderly care aid is optimized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of air conditioning equipment, in particular to an air conditioner and an interconnection control method and device of an elderly care aid, and an air conditioner. BACKGROUND

[0002] With the continuous development of population aging, the elderly have higher requirements for the 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 refrigeration and heating functions, only the AI technology scheme based on face recognition can achieve accurate personnel type judgment in the existing air conditioner intelligent control scheme based on human sensing. However, such a scheme not only needs to be equipped with a high-definition camera, but also needs to run a face recognition algorithm, which will greatly increase the manufacturing cost of the air conditioner, resulting in a decline in the market competitiveness of related products.

[0003] As an alternative, radar sensing is a wireless sensing technology that can obtain vital sign data such as breathing rate, heart rate, and body movement of personnel by processing and analyzing received radar echoes with human features. Millimeter wave radar is a radar that works in the millimeter wave (wavelength 1-10 mm, frequency 30-300 GHz) band for detection. It is mainly used in air conditioners to achieve functions such as automatic start when a person enters and automatic shutdown when a person leaves, and no wind feeling. However, the vibration generated by the air conditioner during operation can affect the data collection of the radar, and even cause imaging blur. The longitudinal wave of the longitudinal vibration can affect the vertical data collection of the target. Similarly, the transverse wave can affect the transverse data collection. If the amplitude is large, even the static target is imaged as a moving target, which seriously affects the judgment accuracy of the radar, and further causes the air conditioner to misjudge the true activity intention of the elderly, and cannot intelligently adjust according to the actual state of each other, resulting in poor user experience of the elderly user group. SUMMARY

[0004] The present application provides an interconnection control method and device of an air conditioner and an elderly care aid, and an air conditioner, to solve the defect of poor air conditioner control accuracy caused by the influence of air conditioner operation vibration on radar imaging quality in the prior art.

[0005] The present application provides an interconnection control method of an air conditioner and an elderly care aid, wherein the air conditioner and the elderly care aid are arranged in the same indoor environment, comprising:

[0006] Based on the vibration sampling signal collected by the vibration sensor of the air conditioner indoor unit, a first vibration wave is determined;

[0007] In the process of controlling the vibration generator to output the second vibration wave, the body state feature information captured by the radar module on the target individual is used to control the air conditioner to start the first interconnection control mode, and the elderly care aid to start the second interconnection control mode, respectively;

[0008] The target individual is a user of the old-age auxiliary tool; the first joint control mode includes at least one of the following: controlling the air conditioner to start a sleep mode, and controlling the air conditioner to adjust a swing range; the second joint control mode includes at least one of the following: controlling the old-age auxiliary tool to move to a fixed position where the target individual is located, controlling the old-age auxiliary tool to adjust a height, and controlling the old-age auxiliary tool to adjust a shape of a 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 are different by half a period; the vibration sampling signal is a vibration signal generated by the air conditioner indoor unit due to operation of a fan in a sampling period; the vibration sensor, the radar module and the vibration generator are arranged in the air conditioner indoor unit, the vibration sensor is used to sense a vibration condition of the air conditioner indoor unit, and the vibration generator is used to perform vibration elimination on the radar module which is vibrated by being driven by the air conditioner indoor unit.

[0009] According to the air conditioner and old-age auxiliary tool interconnection control method provided by the application, the old-age auxiliary tool is a wheelchair.

[0010] Correspondingly, in the process of controlling the vibration generator to output the second vibration wave, the body state feature information captured by the radar module on the target individual is used to control the air conditioner to start the first joint control mode, and the old-age auxiliary tool to start the second joint control mode, including:

[0011] Based on the first position information monitored by the radar module on the target individual after vibration elimination by using the second vibration wave, and the second position information monitored by the radar module on the wheelchair, the wheelchair is controlled to travel to a fixed position where the target individual is located, and then to assist the target individual to sit down;

[0012] After determining that the target individual has sat down, the swing range of the air conditioner in the sleep mode is adjusted according to the position information of the target individual changed under the action of the wheelchair;

[0013] The radar module after vibration elimination by using the second vibration wave is vibrated by the first vibration wave due to propagation of the air conditioner indoor unit, and the second vibration wave with a phase difference of half a period from the first vibration wave is used to eliminate the vibration.

[0014] According to the air conditioner and old-age auxiliary tool interconnection control method provided by the application, the radar module after vibration elimination by using the second vibration wave is used to monitor the first position information of the target individual and the second position information of the wheelchair, and then to control the wheelchair to travel to a fixed position where the target individual is located, and then to assist the target individual to sit down, including:

[0015] Based on the first pose information and the second pose information, the wheelchair is controlled to travel to a brake within an auxiliary receiving range corresponding to the target individual;

[0016] In a case where the target individual and the wheelchair are determined to be in the same direction by the radar module, the wheelchair is controlled to assist the target individual to sit down after traveling to an auxiliary execution position within the auxiliary receiving range;

[0017] The auxiliary receiving range is a receivable action range determined with respect to a fixed position of the target individual as a center, and the auxiliary execution position is closest to the fixed position of the target individual in the auxiliary receiving range.

[0018] According to the interconnection control method of the air conditioner and the pension aid provided by the application, the pension aid is an auxiliary bed, the auxiliary bed is provided with a fixed bed plate and a movable bed plate rotating relative to the fixed bed plate.

[0019] Correspondingly, in the process of controlling the vibration generator to output the second vibration wave, the body state feature information captured by the radar module for the target individual is used to control the air conditioner to start a first joint control mode and control the pension aid to start a second joint control mode, comprising:

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

[0021] In the process of controlling the horizontal guide plate assembly to swing up and down in the new swing interval, the human body key point position of each target individual monitored by the radar module after the second vibration wave is damped is used to determine the user behavior intention;

[0022] In a case where the user behavior intention matches the getting-up trend, according to the target interval in which the included angle between the upper body of the individual and the movable bed plate collected by the radar module after the second vibration wave is damped is located, a first bed body control instruction is used to control the movable bed plate to rotate clockwise by an auxiliary angle change value corresponding to the target interval, so as to assist the individual to get up;

[0023] The radar module after the second vibration wave is used to cancel the vibration of the radar module in the air conditioner indoor unit in the first vibration wave; the target execution angle is greater than the included angle formed by the head position of the individual and the vertical direction of the radar module; the target interval is one of all included angle subintervals between the upper body of the elderly and the movable bed plate during the execution of the getting-up action; any of the included angle subintervals is respectively provided with an auxiliary angle change value of the movable bed plate relative to the fixed bed plate.

[0024] According to the interconnection control method of the air conditioner and the elderly aid provided by the application, after the user behavior intention is determined, the method further comprises:

[0025] In the case that the user behavior intention matches the bed-lying trend, the air conditioner is controlled to start the sleep mode, and the movable bed plate is controlled to rotate clockwise by a target rated rotation angle through the second bed body control instruction, and then the included angle between the upper body of the individual and the movable bed plate is monitored through the radar module after the second vibration wave is used to cancel the vibration.

[0026] In the case that the included angle between the upper body of the individual and the movable bed plate is decreasing, the movable bed plate is controlled to rotate counterclockwise to reset through the third bed body control instruction.

[0027] The target rated rotation angle is a rated rotation angle of the movable bed plate when the auxiliary getting-up bed is lifted.

[0028] According to the interconnection control method of the air conditioner and the elderly aid provided by the application, the human body key point position of each target individual monitored by the radar module after the second vibration wave is used to cancel the vibration is used to determine the user behavior intention, which comprises:

[0029] Based on the human body key point position of each target individual monitored by the radar module after the second vibration wave is used to cancel the vibration, the first trunk segment and the second trunk segment connected by the hip key point of each target individual are determined.

[0030] If the included angle formed by the first trunk segment and the second trunk segment at the hip key point starts to decrease from 180° over a preset time period, the user behavior intention is set to the getting-up trend;

[0031] If the included angle formed by the first trunk segment and the second trunk segment at the hip key point is continuously maintained at 90° over a preset time period, the user behavior intention is set to the bed-lying trend.

[0032] The first trunk segment is determined according to at least the head key point and the crotch key point, and the second trunk segment is determined according to at least the crotch key point and the foot key point.

[0033] According to the application, a vibration sampling signal collected by a vibration sensor of an air conditioner indoor unit is determined as a first vibration wave, including:

[0034] An average sampling period is obtained according to a plurality of sampling periods contained in the vibration sampling signal, and an average sampling amplitude is obtained according to a vibration amplitude corresponding to a target sampling point in each vibration period.

[0035] The average sampling period and the average sampling amplitude are used to generate the first vibration wave.

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

[0037] According to the application, if the target sampling point is other than the wave peak sampling point and the wave trough sampling point in the vibration period, the value of the target sampling point in the time domain includes and

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

[0039] The application further provides an interconnected control device of an air conditioner and an elderly care aid, which is arranged in an air conditioner in the same indoor environment as the elderly care aid, and includes:

[0040] A radar stability maintenance module is configured to determine a first vibration wave based on a vibration sampling signal collected by a vibration sensor of an air conditioner indoor unit.

[0041] A joint control module is configured to control an air conditioner to start a first joint control mode and control the elderly care aid to start a second joint control mode by using body state feature information captured by a radar module from a target individual during the process of controlling a vibration generator to output a second vibration wave.

[0042] The target individual is a user of the elderly care auxiliary tool; the first joint control mode includes at least one of the following: controlling the air conditioner to start a sleep mode, and controlling the air conditioner to adjust a swing range; the second joint control mode includes at least one of the following: controlling the elderly care auxiliary tool to move to a fixed position where the target individual is located, controlling the elderly care auxiliary tool to adjust a height, and controlling the elderly care auxiliary tool to adjust a shape of a 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 are different by half a period; the vibration sampling signal is a vibration signal generated by the air conditioner indoor unit due to operation of a fan in a sampling period; the vibration sensor, the radar module and the vibration generator are arranged in the air conditioner indoor unit, the vibration sensor is used to sense a vibration condition of the air conditioner indoor unit, and the vibration generator is used to perform vibration elimination on the radar module which is vibrated by the air conditioner indoor unit.

[0043] The application further provides an air conditioner, including an air conditioner indoor unit and an air conditioner outdoor unit.

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

[0045] The vibration sensor is used to sense a vibration condition of the air conditioner indoor unit; and the vibration generator is used to perform vibration elimination on the radar module which is vibrated by the air conditioner indoor unit.

[0046] The elderly care auxiliary tool is used to receive and respond to a control instruction issued by the air conditioner controller when the air conditioner and the elderly care auxiliary tool are controlled according to the interconnection control method of any one of the above.

[0047] The radar module includes a millimeter wave radar.

[0048] The application further provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the interconnection control method of the air conditioner and the elderly care auxiliary tool according to any one of the above.

[0049] The application further provides a computer program product, including a computer program, and the computer program is executed by a processor to implement the interconnection control method of the air conditioner and the elderly care auxiliary tool according to any one of the above.

[0050] The application provides an air conditioner and an interconnection control method and device for the air conditioner and an elderly care aid, and the method comprises the following steps: a vibration generator sends a second vibration wave opposite to an actual first vibration wave to cancel the vibration transmitted by an indoor unit of the air conditioner, and when the radar module in the vibration cancellation state continuously maintains the state of the body feature information of at least one individual in the wake-up posture, the linkage control between the air conditioner and the elderly care aid is activated. When the air conditioner and the wheelchair are in the same local area network and the communication relationship is established, the vibration wave emitted by the vibration transmitter and the vibration wave generated by the air conditioner during operation are superimposed and damped, so that the air conditioner can be stably imaged during radar observation, and the working state of the air conditioner and the elderly care aid is cooperatively adjusted according to the perceived human posture change, the user does not need to manually adjust the two intelligent devices, the control time delay of the two intelligent devices is reduced, the control accuracy is improved, and the use experience of the air conditioner and the elderly care aid is optimized. BRIEF DESCRIPTION OF DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0052] Figure 1 is one of the flowcharts of the interconnection control method for the air conditioner and the elderly care aid provided by the application;

[0053] Figure 2 is a schematic diagram of the principle of vibration cancellation for the radar module;

[0054] Figure 3 is the second flowchart of the interconnection control method for the air conditioner and the elderly care aid provided by the application;

[0055] Figure 4 is a distribution diagram of the air conditioner and the auxiliary bed provided by the application;

[0056] Figure 5 is the third flowchart of the interconnection control method for the air conditioner and the elderly care aid provided by the application;

[0057] Figure 6 is a structural diagram of the interconnection control device for the air conditioner and the elderly care aid provided by the application;

[0058] Figure 7 is a structural diagram of the air conditioner provided by the application. DETAILED DESCRIPTION

[0059] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0060] The terms "first", "second", and the like in the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a category and do not limit the number of objects, for example, the first object can be one or more.

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

[0062] The terms "include" and "contain" indicate the presence of the described features, whole, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, whole, steps, operations, elements, components and / or sets thereof.

[0063] Figure 1 is one of the flow diagrams of the interconnection control method of the air conditioner and the elderly auxiliary provided by the present application. As shown in Figure 1 The interconnection control method of the air conditioner and the elderly auxiliary provided by the embodiments of the present application, wherein the air conditioner and the elderly auxiliary are arranged in the same indoor environment, the method comprises the following steps: step 101, determining a first vibration wave based on a vibration sampling signal collected by a vibration sensor on an air conditioner indoor unit.

[0064] Among them, the vibration sampling signal is a vibration signal generated by the air conditioner indoor unit due to the operation of the fan in the sampling period. The vibration sensor, the radar module and the vibration generator are arranged in the air conditioner indoor unit, the vibration sensor is used to sense the vibration condition 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 execution subject of the interconnection control method of the air conditioner and the elderly auxiliary is the interconnection control device of the air conditioner and the elderly auxiliary, which 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 aid in the embodiment of the application is that the air conditioner and the elderly care aid are in the same indoor environment and are connected in communication by means of the same local area network. When the user activates the air conditioner, the vibration sensor is used to perceive the vibration waveform change generated by the air conditioner at different air speeds and modes, and the vibration generator is used to emit an opposite waveform to offset the vibration of the radar module. The behavior intention of the individual is determined by the contour information fed back by the radar module after vibration offset, and the air supply mode of the air conditioner and the lifting of the auxiliary bed are adjusted accordingly.

[0067] In addition, the radar module is arranged on the air conditioner, periodically collects all individuals in the indoor environment within a specified time interval, and sends the distribution position of each individual in space to the interconnection control device of the air conditioner and the elderly care aid. The working period of the radar module is not limited in the embodiment of the application.

[0068] Optionally, the radar module can perform acquisition work at a default working period.

[0069] Optionally, the user can issue a period change instruction, so that the radar module receives and responds to the instruction, changes the working period to the period indicated by the instruction for acquisition work.

[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 operates at the default air speed of the mode, and the outdoor unit operates at the default frequency of the mode.

[0071] Optionally, the user can transmit the activation instruction by means of wireless communication between the control device and the air conditioning system through the control device, so as to initialize the working mode of the air conditioning system and start the radar module.

[0072] Optionally, the user can issue an activation instruction through voice interaction, and the air conditioning system receives the activation instruction and 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 aid receives and responds to the activation instruction of the working mode, the fan of the air conditioner indoor unit is controlled to operate at the corresponding speed in the mode, and the compressor of the air conditioner outdoor unit is controlled to operate at the corresponding power in the mode.

[0074] Since the fan actuation will cause the vibration occurred by itself to spread to the air conditioner indoor unit and its internal devices, the interconnection control device of the air conditioner and the elderly aid device periodically perceives the vibration occurred by the air conditioner indoor unit through the vibration sensor, and according to the vibration sampling signal collected in a sampling period, a first vibration wave for representing the vibration degree of the air conditioner is fitted.

[0075] Among them, the sampling period refers to the working period of the vibration sensor for perception, 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 application.

[0076] Step 102, in the process of controlling the vibration generator to output the second vibration wave, the body state feature information captured by the radar module to the target individual is controlled to start the first joint control mode of the air conditioner, and the second joint control mode of the elderly aid device is controlled.

[0077] Among them, the target individual is the user of the elderly aid device. The first joint control mode includes at least one of the following: controlling the air conditioner to start 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 aid device to move to the fixed position of the target individual, controlling the elderly aid device to adjust the height, and controlling the elderly aid device to adjust the shape of the contact surface. The period and amplitude of the first vibration wave and the second vibration wave are the same, and the phase of the first vibration wave and the phase of the second vibration wave are different by half a period.

[0078] Specifically, in step 102, the interconnection control device of the air conditioner and the elderly aid device retains the period and amplitude of the first vibration wave obtained in step 101, and delays the phase by half a period to obtain a second vibration wave with the opposite waveform of the first vibration wave, and then controls the vibration generator to emit vibration wave with the second vibration wave to continuously damp the radar module.

[0079] In the process of continuously damping the radar module by the vibration generator, the interconnection control device of the air conditioner and the elderly aid device analyzes the electromagnetic waves reflected by the target individual (i.e. the user of the elderly aid device) in the space where the air conditioner is located through the radar module, and analyzes the body shape features contained therein. If the body state feature information obtained by analyzing any target individual matches the pre-set joint control wake-up posture, and the duration of the individual maintaining the joint control wake-up posture reaches the pre-set threshold, it means that the current behavior intention of the individual is to actively perform the joint control wake-up action to activate the joint control of the air conditioner and the elderly aid device:

[0080] The first joint control mode started by the air conditioner in the joint control includes, but is not limited to, starting a sleep mode, controlling the horizontal swing blade assembly and / or the vertical swing blade assembly of the air conditioner to adjust the corresponding swing range, and the like, for weakening the stress reaction of the target individual caused by the air conditioner wind as much as possible while adjusting the indoor temperature.

[0081] The second joint control mode started by the elderly care aid in the joint control includes, but is not limited to, moving to the vicinity of the target individual for the target individual to sit down without moving, adjusting the height of the contact surface with the target individual for the target individual to 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, and the like, for solving various inconveniences or small troubles in the life of the target individual and enabling them to normally move.

[0082] Conversely, if the body feature information of any target individual does not match the pre-set joint control wake-up posture, or the duration of the individual maintaining the joint control wake-up posture does not reach the pre-set threshold, it means that the current behavior intention of the individual is only to make some specific actions in the indoor space, and there is no need to use the elderly care aid, so the joint control of the air conditioner and the elderly care aid is not triggered.

[0083] In the embodiment of the present application, the types and quantities of radar sensing devices in the radar module are not specifically limited.

[0084] For example, the radar module can include a laser radar, an infrared sensor, and the like.

[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 there is no privacy problem and no light influence, the response speed is also fast.

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

[0087] For example, the radar module can include multiple types of sensing elements such as millimeter wave radars, laser radars, infrared sensors, and the like, and the interconnection control device of the air conditioner and the elderly care aid integrates the contour information collected by each sensing element to comprehensively depict the real-time posture of the individual.

[0088] It can be understood that the pre-set joint control wake-up posture is not specifically limited in the embodiment of the present application.

[0089] Exemplarily, the joint control wake-up posture can be pre-set according to the self-action condition of the user individual, and after determining the body part with normal action ability, the action posture executable by the body part is selected as the joint control wake-up posture.

[0090] For example, the user individual is paralyzed in lower limbs, but the arms can withstand the amplitude of most basic actions, and then the waving action of the user individual at a certain frequency can be set as the joint control wake-up posture.

[0091] For another example, the user individual has hemiplegia caused by stroke, but the hand can still maintain a certain action, and then the finger of the user individual maintaining a certain specific posture can be set as the joint control wake-up posture.

[0092] The embodiment of the application transmits the second vibration wave opposite to the actual first vibration wave by the vibration generator to cancel the vibration transmitted by the air conditioner indoor unit, and when the body posture feature information of at least one individual is continuously maintained in the joint control wake-up posture state under the vibration cancellation state, the linkage control between the air conditioner and the elderly aid is activated. When the air conditioner and the wheelchair are in the same local area network to establish a communication relationship, the vibration wave emitted by the vibration transmitter and the vibration wave generated by the air conditioner itself during operation are superimposed to cancel the vibration, so that the air conditioner can be stably imaged during radar observation, and the working state of the air conditioner and the elderly aid is cooperatively adjusted according to the perceived human posture change, without the need for the user to manually adjust the two intelligent devices respectively, thereby reducing the control delay of the two intelligent devices, improving the control accuracy, and optimizing the use experience of the user for the air conditioner and the elderly aid.

[0093] On the basis of any of the above embodiments, the elderly aid is a wheelchair.

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

[0095] The radar module after the second vibration wave is used to cancel the vibration is used to cancel the vibration of the radar module caused by the first vibration wave under the propagation of the air conditioner indoor unit.

[0096] It should be noted that, Figure 2 is a schematic diagram of the principle of canceling the vibration of the radar module provided by the application. As 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 the vibration of the radar module is given:

[0097] During the operation of the air conditioner indoor unit, the vibration waveform generated is similar to a harmonic wave, but the amplitude of each period is not exactly the same, and there is a slight gap. Therefore, by collecting vibration signals of multiple vibration periods, the first vibration wave (sin(·)) can be fitted. Since the second vibration wave has a phase difference of half a cycle from the first vibration wave, its waveform is completely opposite to the first vibration wave, i.e. (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 generated by the air conditioner indoor unit can be eliminated.

[0098] Specifically, in step 102, in the case of a wheelchair as a pension aid, the air conditioner and the interconnection control device of the pension aid use the radar module in the second interconnection control mode to preferentially monitor the first pose information of the target individual in the indoor space and the second pose information of the wheelchair in the indoor space when there is a demand for calling the wheelchair, and to plan and correct the action route of the wheelchair in real time according to the relative position relationship between the two, until the wheelchair travels to the fixed position where the target individual is located, directly meeting the demand of the target individual for calling the wheelchair, and providing the function of assisting the seating.

[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, 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 the XoY plane to represent the horizontal plane where the air conditioner is located, and the direction perpendicular to the XoY plane and downward is defined as the positive direction of the Z axis.

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

[0101] The second pose information refers to the position coordinates of the wheelchair in the indoor space coordinate system and the corresponding azimuth angle. The second pose information 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 changed position information of the target individual under the action of the wheelchair.

[0103] It should be noted that before the air conditioner is controlled to start the first joint control mode, the wheelchair needs to monitor whether the wheelchair has completed the function of assisting the user to sit down after approaching the target individual, and the embodiment of the present application does not make specific limitation.

[0104] Exemplarily, a pressure sensor can be installed below the seat of the wheelchair. When the pressure sensor monitors that the seat bears the pressure generated by the individual sitting on the seat, and the pressure value reaches the body weight of the individual, the wheelchair sends a signal to the air conditioner to indicate that the target individual has sat down.

[0105] Exemplarily, the radar module on the air conditioner can continue to monitor the posture of the individual. When the radar module monitors that the human posture is sitting, it is determined that the target individual has sat down.

[0106] Specifically, in step 103, the air conditioner and the interconnection control device of the elderly care assistive device control the air conditioner to start the sleep mode in the process of controlling the target individual to sit down at the current position thereof, and after determining that the target individual has completed the sitting down, the target individual can change the position in the room under the action of the wheelchair, and then the radar module after vibration damping is continuously driven to adjust the air swing range of the air conditioner according to the real-time position information of the target individual when the target individual changes the position, so as to realize the function of "wind following the movement of the person".

[0107] The adjustment strategy of the air swing range includes that the execution angle of the horizontal swing leaf assembly arranged in parallel along the vertical direction at the air outlet of the air conditioner is always aligned with the real-time position of the target individual when the target individual changes the position under the action of the wheelchair, so that the horizontal swing leaf assembly changes the air guiding direction of the horizontal swing leaf assembly in the vertical direction along with the change of the body distribution range of the target individual in the vertical direction.

[0108] The adjustment strategy of the air swing range also includes that the execution angle of the vertical swing leaf assembly arranged in parallel along the horizontal direction at the air outlet of the air conditioner is always aligned with the real-time position of the target individual when the target individual changes the position under the action of the wheelchair, so that the vertical swing leaf assembly changes the air guiding direction of the vertical swing leaf assembly in the horizontal direction along with the change of the position of the target individual in the horizontal direction.

[0109] When the linkage control between the air conditioner and the wheelchair is activated, the relative position relationship between the target individual and the wheelchair activating the mode is captured in real time by the radar module after vibration damping to guide the wheelchair to the target individual to assist the sitting down, and then when the radar module monitors that the wheelchair carrying the target individual changes the position in the indoor space, the air swing range of the air conditioner is always aligned with the target individual. When the air conditioner and the wheelchair establish a communication relationship in the same local area network, the working states of the air conditioner and the wheelchair are cooperatively controlled according to the posture change of the user, without the need for the user to manually adjust the two intelligent devices respectively, so that the wheelchair far away from the user can automatically move to the position of the user to provide assistance, reduce the control time delay of the two intelligent devices, improve the control accuracy, and optimize the use experience of the user for the air conditioner and the wheelchair.

[0110] In any of the above embodiments, based on the first pose information monitored by the radar module after the second vibration wave is damped, and the second pose information monitored by the wheelchair, the wheelchair is controlled to travel to a fixed position where the target individual is located, and then assist the target individual to sit down, including: based on the first pose information and the second pose information, the wheelchair is controlled to travel to the target individual's corresponding auxiliary receiving range and brake.

[0111] Wherein, the auxiliary receiving range is a acceptable action range determined with the fixed position where the target individual is located as the center.

[0112] Specifically, the interconnection control device of the air conditioner and the elderly aid gradually guides the wheelchair to travel to the target individual's corresponding auxiliary receiving range according to the change of the second pose information of the unloaded wheelchair over time, and the change of the angle and distance relative to the first pose information, and then controls the wheelchair to brake and temporarily stop in the auxiliary receiving range to wait for further control instructions to approach the target individual.

[0113] Wherein, the auxiliary receiving range is a symmetric region divided with the fixed position where the target individual is currently located as the center.

[0114] Exemplarily, the auxiliary receiving range can be a symmetric region divided with the fixed position where the target individual is currently located as the center, combined with a fixed distance from the target individual.

[0115] Exemplarily, the auxiliary receiving range can also be an action range matching the action ability of the target individual itself, divided with the fixed position where the target individual is currently located as the center. The worse the individual's action ability is, the smaller the radius of the auxiliary receiving range is.

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

[0117] In the case where the orientations of the target individual and the wheelchair determined by the radar module are the same, the wheelchair is controlled to travel to an auxiliary execution position in the auxiliary receiving range to assist the target individual to sit down.

[0118] Wherein, 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 aid device determines the orientation of the target individual according to the azimuth angle in the first pose information collected by the radar module after the wheelchair is stationary in the auxiliary receiving range, and determines the orientation of the opening of the wheelchair according to the azimuth angle in the second pose information collected by the radar module at the moment, and compares the two orientations.

[0120] If the two orientations are consistent, it means that the wheelchair seat is open to the target individual, and the target individual does not need any additional action except the seating action, so the wheelchair is directly controlled to continue moving in the auxiliary receiving range along its current orientation until the auxiliary execution position is reached, and the target individual is seated.

[0121] The auxiliary execution position refers to the last path point in the predetermined route of the wheelchair to the target individual, and the planning of the path point needs to meet the condition that after moving in the direction of the previous path point in the auxiliary receiving range, it is just the closest to the rear side of the target individual.

[0122] If the two orientations are consistent, it means that the wheelchair seat is not directly opposite to the back of the target individual, and the target individual needs to adjust its orientation to get seated, so the wheelchair needs to be controlled first to be consistent with the orientation of the target individual, and then the wheelchair is controlled to continue moving towards the target individual in the auxiliary receiving range until the auxiliary execution position is reached, and the target individual is seated.

[0123] Figure 3 is a flowchart of the interconnection control method of the air conditioner and the elderly aid device provided by the present application. As shown in Figure 3 , the present application provides a specific embodiment of the interconnection control method of the air conditioner and the elderly aid device when the elderly aid 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 the second vibration wave to dissipate the vibration propagated to the radar module, and the millimeter wave radar after vibration dissipation is used to capture the body posture feature information. If the human body presents a "joint control wake-up" body posture, the air conditioner is controlled to enter a sleep state, and the air supply is fixed towards the target individual.

[0126] (3) When the "joint control wake-up" body posture is monitored for 20s, the joint control mode of the wheelchair is activated. Otherwise, go to step (2) to continue monitoring the human body posture.

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

[0128] (5) The initial planning route is rechecked in combination with the distribution of space objects, if there is no obstacle on the route, step (6) is executed, otherwise, jump to step (4) to recalculate the obstacle avoidance planning path.

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

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

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

[0132] (9) The air conditioner adjusts the air deflection range in real time, and the "air follows the person" mode is started.

[0133] The embodiment of the application is based on the change of the relative position relationship of the first pose information relative to the second pose information, guides the empty wheelchair to move to the auxiliary receiving range to wait for the judgment of the direction, and decides to control the wheelchair to continue to the auxiliary execution position along the current direction when the direction of the target individual and the wheelchair is consistent, so as to further approach the target individual to assist in sitting. In the process of controlling the empty wheelchair to approach the individual, the displacement distance and the direction angle are combined to judge the pose of the wheelchair close to the human body, so that the wheelchair can perform more accurate auxiliary seating function, improve the control precision, effectively avoid the physical consumption of the person when unnecessary actions are performed, and optimize the use experience of the air conditioner and the wheelchair.

[0134] On the basis of any of the above embodiments, the elderly auxiliary tool is an auxiliary bed, and the auxiliary bed is provided with a fixed bed plate and a movable bed plate rotating relative to the fixed bed plate.

[0135] Correspondingly, in the process of controlling the vibration generator to output the second vibration wave, the body state feature information captured by the radar module for each target individual is controlled to start the first joint control mode of the air conditioner and the second joint control mode of the elderly auxiliary tool, including: based on the head position of each target individual monitored by the radar module after vibration elimination by the second vibration wave, the lower boundary of the default air deflection range of the horizontal guide plate assembly is updated to a target execution angle.

[0136] The radar module after vibration elimination by the second vibration wave is used to offset the vibration of the radar module in the propagation of the air conditioner indoor unit by the first vibration wave. The target execution angle is greater than the included angle formed by the head position of the individual and the vertical direction of the radar module.

[0137] It should be noted that the auxiliary bed mainly faces the vulnerable groups such as the disabled and the elderly. The auxiliary bed comprises a hinged movable bed plate and a fixed bed plate, and the movable bed plate is supported by a pneumatic device below. The movable bed plate is driven by a controlled command to change the included angle of the movable bed plate and the fixed bed plate at the hinge, so as to realize the lifting of the movable bed plate. That is, when the included angle of the movable bed plate and the fixed bed plate at the hinge gradually increases to 180°, the movable bed plate of the auxiliary bed gradually descends until it is completely flattened to assist the user to lie down and sleep. When the included angle of the movable bed plate and the fixed bed plate at the hinge gradually decreases from 180°, the movable bed plate of the auxiliary bed gradually rises until it is completely lifted to assist the user to stand up, so as to be inclined to lean or assist to sit.

[0138] Specifically, in step 102, in the case of the auxiliary bed for the elderly, the air conditioner and the interconnection control device of the auxiliary device for the elderly use the radar module to collect the body feature information of each individual in the space of the air conditioner in the first interconnection control mode in real time, and extract the position information corresponding to the head feature to calculate the angle of the human head position relative to the vertical line where the radar module is located. On the basis of the angle, the target execution angle is continued to be expanded upward to make the target execution angle greater than the azimuth angle of the human head.

[0139] Then, the target execution angle is packaged into the air conditioner control command and sent to the indoor unit, so that the horizontal swing leaf assembly composed of a plurality of guide vanes arranged vertically at the air outlet of the indoor unit updates the lower boundary of the original default swing interval to the target execution angle obtained to form a new swing interval while keeping the upper boundary of the default swing interval unchanged.

[0140] Exemplarily, Figure 4 is a distribution diagram of the air conditioner and the auxiliary bed provided by the present application. As Figure 4 shown, no matter whether the individual is in a sitting posture or a lying posture on the auxiliary bed, the new swing interval is always above the head of the human body, so that the air conditioner swings above the head.

[0141] In the process of controlling the horizontal guide plate assembly to swing up and down in the new swing interval, the position of the key points of the human body monitored by the radar module after the second vibration wave is determined to determine the user's behavior intention.

[0142] Specifically, the interconnection control device of the air conditioner and the elderly auxiliary tool determines that the horizontal guide plate assembly has been in the process of freely swinging up and down in the new swing interval, and continuously monitors the body posture feature information of each individual through the damped radar module, connects and analyzes the corresponding posture of the human key point position, maps the individual posture to the corresponding user behavior intention, and outputs it after the user behavior intention matches the getting-up trend.

[0143] In the case where the user behavior intention matches the getting-up trend, according to the target interval in which the included angle between the upper body of the individual and the movable bed board collected by the radar module damped by the second vibration wave is located, the movable bed board is controlled to rotate clockwise by the first bed body control instruction by the corresponding auxiliary angle change value, to assist the individual to get up.

[0144] Among them, the target interval is one of all included angle subintervals between the upper body of the elderly and the movable bed board during the execution of the getting-up action. Any of the included angle subintervals is respectively provided with an auxiliary angle change value of the movable bed board relative to the fixed bed plate rotation.

[0145] It should be noted that since the auxiliary bed will track the individual's back in real time when performing the auxiliary task, the user's subjective distance between the back and the movable bed board means different behavior intentions.

[0146] For example, the included angle between the upper body of the individual and the movable bed board becomes smaller, which means that the individual needs to approach the movable bed board for support, and the included angle between the upper body of the individual and the movable bed board becomes larger, which means that the individual does not need to approach the movable bed board and does not need support.

[0147] Therefore, before the auxiliary bed executes the second interconnection control mode, it is necessary to divide N continuous included angle subintervals between the upper limit and the lower limit of the included angle between the individual's upper body and the movable bed board under different behavior intentions, and to distinguish the user's intention by quantifying different included angle subintervals.

[0148] Correspondingly, it is also necessary to divide N auxiliary angle change values corresponding to the rotation angle of the movable bed plate relative to the horizontal plane of the fixed bed plate according to the set N included angle subintervals.

[0149] Among them, N is an integer greater than 1, and the interconnection control of the air conditioner and the elderly auxiliary tool can be evenly divided or self-defined between the upper limit and the lower limit of the included angle to obtain multiple included angle subintervals, which are not limited in the embodiments of the present application.

[0150] Specifically, in step 103, the interconnection control device of the air conditioner and the elderly auxiliary tool compares and queries the behavior intention corresponding to the posture of the individual showing the human feature:

[0151] If the user behavior intention matches the getting-up trend, the angle between the upper body of the individual and the movable bed board is collected by the radar module, and the angle sub-interval in which the current angle is located is taken as the target interval, and the auxiliary angle change value corresponding to the angle sub-interval is taken as the rotation angle to be executed by the auxiliary getting-up bed in the current control.

[0152] Then, the auxiliary angle change value is packaged into the first bed body control instruction and sent to the auxiliary getting-up bed, so that the auxiliary getting-up bed rotates the movable bed board clockwise by the corresponding auxiliary angle change value on the basis of the current position, and provides auxiliary assistance for the getting-up action of the individual under different intentions in the process of lifting the movable bed board.

[0153] If the user behavior intention does not match the getting-up trend, no further processing is performed, and further analysis is required.

[0154] In the process of positioning the human body position by the radar module after vibration damping, the new execution angle of the horizontal swing leaf assembly is fitted according to the head position of the individual, so as to swing the air up and down above the head of the individual, and the user behavior intention is determined by the key point position of the human body monitored by the radar module. When the user behavior intention matches the getting-up trend, the target interval corresponding to the angle between the upper body of the individual and the movable bed board is determined, so that the auxiliary getting-up bed 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 getting-up bed establish a communication relationship in the same local area network, the working states of the air conditioner and the auxiliary getting-up bed are cooperatively controlled according to the posture change of the user, without the need for the user to manually adjust the parameters of the two intelligent devices respectively, the control time delay of the two intelligent devices is reduced, the control precision is improved, and the use experience of the user for the air conditioner and the auxiliary getting-up bed is optimized.

[0155] On the basis of any of the above embodiments, after determining the user behavior intention, it further includes: in the case that the user behavior intention matches the bed trend, respectively controlling the air conditioner to start the sleep mode, and through the second bed body control instruction, controlling the movable bed board to rotate the target rated rotation angle clockwise, and then monitoring the angle between the upper body of the individual and the movable bed board by using the radar module after vibration damping of the second vibration wave.

[0156] The target rated rotation angle is the rated rotation angle of the movable bed board when the auxiliary getting-up bed is in the bed surface lifting state.

[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 auxiliary getting-up bed is in the bed surface lifting state.

[0158] Specifically, the interconnection control device of the air conditioner and the elderly auxiliary tool compares the behavior intention corresponding to the posture of the individual exhibiting the human body characteristics:

[0159] If the user behavior intention matches the bed-lying trend, the active bed board is first controlled to rotate clockwise by a target rated rotation angle through a second bed body control instruction, and after the auxiliary bed-lifting bed is fully lifted on the bed surface, the angle between the upper body of the individual and the active bed board is collected by using the radar module.

[0160] If the user behavior intention does not match the bed-lying trend, no subsequent processing is performed, and further analysis is required.

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

[0162] Specifically, the interconnection control device of the air conditioner and the elderly auxiliary tool determines that the upper body of the user individual gradually fits to the active bed board through the angle between the upper body of the individual and the active bed board decreasing over time, and there is a tendency to gradually lie flat by relying on the bed body to descend, and sends a fourth bed body control instruction to the auxiliary bed-lifting bed, so that the auxiliary bed-lifting bed rotates counterclockwise to reset on the basis of the current position of the active bed board, and the active bed board provides auxiliary support force for the lying action of the individual under different intentions during the process of descending.

[0163] In the process of positioning the human body position by the radar module, the new execution angle of the horizontal swing leaf assembly is first fitted according to the position of the head of the individual to swing the wind up and down above the head of the individual, and the user behavior intention is determined by using the radar module to monitor the position of the key points of the human body. When the user behavior intention matches the bed-lying trend, the active bed board is first controlled to rotate clockwise to fully lift, and when the angle between the upper body of the individual and the active bed board decreases over time is determined by the radar module, the auxiliary bed-lifting bed is gradually reset to assist the individual to lie flat. When the air conditioner and the auxiliary bed-lifting bed establish a communication relationship in the same local area network, the working states of the air conditioner and the auxiliary bed-lifting bed are cooperatively controlled according to the posture change of the user, the user does not need to manually adjust the parameters of the two intelligent devices respectively, the control time delay of the two intelligent devices can be reduced, the control precision can be improved, and the use experience of the user for the air conditioner and the auxiliary bed-lifting bed can be optimized.

[0164] On the basis of any of the above embodiments, the user behavior intention is determined by monitoring the position of the key points of the human body of each target individual by using the radar module after the second vibration wave is eliminated, comprising: determining the first trunk segment and the second trunk segment connected by the hip key point of each target individual 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 eliminated.

[0165] wherein the first trunk segment is determined according to at least the head key point and the crotch key point, and the second trunk segment is determined according to at least the crotch key point and the foot key point.

[0166] Specifically, the interconnection control device of the air conditioner and the elderly auxiliary tool analyzes the segmented posture of the human body according to the distribution of the key point position of the human body monitored by each individual, and obtains the first trunk segment and the second trunk segment with the crotch key point as the boundary.

[0167] wherein the first trunk segment is determined according to at least the head key point and the crotch key point, and the second trunk segment is determined according to at least the crotch key point and the foot key point.

[0168] The second trunk segment is obtained by connecting the crotch key point, the foot key point and other key points between them in sequence after coordinate system conversion and standardization operation, and the posture exhibited by the lower body of the human body is output as the posture information of the lower body.

[0169] If the included angle formed by the first trunk segment and the second trunk segment at the crotch key point decreases from 180° over time within a preset time period, the user behavior intention is set to the getting-up trend.

[0170] If the included angle formed by the first trunk segment and the second trunk segment at the crotch key point is continuously maintained at 90° within a preset time period, the user behavior intention is set to the lying-in-bed trend.

[0171] Specifically, the interconnection control device of the air conditioner and the elderly auxiliary tool uses the relative position relationship of the crotch joint at the connection of the first trunk segment and the second trunk segment to analyze the user behavior intention:

[0172] If the included angle formed by the first trunk segment and the second trunk segment at the crotch key point of any individual decreases from 180° over time within a preset time period, it means that the user gradually gets up from the original lying posture, and the user behavior intention is set to the getting-up trend.

[0173] If the included angle formed by the first trunk segment and the second trunk segment at the crotch key point of any individual is always maintained at 90° within a preset time period, it means that the user maintains a sitting posture on the bed body for a period of time after the original active state, and it is determined that there is a rest tendency, and the user behavior intention is set to the lying-in-bed trend.

[0174] Exemplarily, Figure 5 is a flowchart of the interconnection control method of the air conditioner and the elderly auxiliary tool provided by the present application. As Figure 5As shown, the embodiment of the present application gives an old-age auxiliary device for assisting the bed when getting up, and a specific implementation of an air conditioner and an old-age auxiliary device interconnection control method is given:

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

[0176] (2) The vibration generator outputs a second vibration wave to dissipate the vibration propagated to the radar module, continues to capture the human body posture trajectory through the millimeter wave radar after the vibration is dissipated, and obtains the target execution angle by raising the top edge by 5° based on the inclination angle of the air conditioner.

[0177] (2) Continue to capture the human body by radar and divide it into two segments, and determine the user behavior intention according to the first trunk segment and the second trunk segment obtained by analyzing the respective posture. If the user behavior intention shows a trend of getting up, step (4) is executed, and if the user behavior intention shows a trend of lying in bed, step (5) is executed.

[0178] (4) Capture the angle a between the upper segment of the human body and the bed body by radar, and analyze it based on this:

[0179] If the included angle a is within the first threshold (5°) for 2s, it is considered that the old person needs to lean on the bed, and the bed body is controlled to start the leaning mode, so that the angle a tends to 0° to real-time fit the upper segment of the human body for leaning.

[0180] If the included angle a is within the first and second thresholds [5°, 10°] for 2s, it is considered that the old person needs assistance to get up, and the bed body is controlled to start the getting up mode, so that the bed is raised to 70° to real-time fit the upper segment of the human body to support getting up.

[0181] If the included angle a is greater than the second threshold (10°) for 2s, it is considered that the old person does not need assistance to get up, and the bed body is not moved.

[0182] (5) First control the bed body to rotate 70° clockwise to rise close to the human body in a sitting position.

[0183] (6) Capture the included angle a between the upper segment of the human body and the bed body from 20° to 0° by radar, and control the bed body to reset.

[0184] (7) During the resetting rotation of the bed body, if the angle a is within the first and second thresholds [5°, 10°] for 2s, the bed body stops rotating and enters the leaning mode

[0185] (8) During the resetting rotation of the bed body, the angle a changes from the first threshold 10° to 0° to fit within 2s, and the bed body resets and rotates.

[0186] The embodiment of the present application utilizes a radar module to segment and analyze the position of the human body key points monitored by an individual, and determines the user behavior intention by the relative position relationship between the first trunk segment and the second trunk segment connected by the hip. The recognition accuracy of the user intention is improved, and the use experience of the user for the air conditioner and the auxiliary bed is optimized.

[0187] On the basis of any of the above embodiments, the first vibration wave is determined based on the vibration sampling signal collected by the vibration sensor of the air conditioner indoor unit, comprising: obtaining an average sampling period according to a plurality of 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] Among them, the target sampling point is the wave peak sampling point and / or the wave trough sampling point in the sampling period.

[0189] Specifically, in step 101, the interconnection control device of the air conditioner and the elderly auxiliary tool carries out mean value processing on the vibration sampling signal which periodically fluctuates at the specific target sampling point in the sampling period, and obtains the average sampling period and the average sampling amplitude which can represent the overall vibration level, and the calculation formula is as follows:

[0190]

[0191]

[0192] Among them, 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 period in the sampling period. For any vibration period, if the target sampling point is the wave peak sampling point and the wave trough sampling point in the vibration period, then in the i-th vibration period, A j may be the amplitude peak value corresponding to the wave peak sampling point in the vibration period, and at this time j=2i-1. A j may be the amplitude valley value corresponding to the wave trough sampling point in the vibration period, and at this time j=2i.

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

[0194] Specifically, the interconnection control device of the air conditioner and the elderly auxiliary tool takes the average sampling period T and the average sampling amplitude A as new periods and amplitudes respectively, to reconstruct the first vibration wave after the vibration of the indoor unit is maintained.

[0195] The embodiment of the present application reconstructs the first vibration wave for representing the stable vibration level by using the average sampling period and the average sampling amplitude obtained after the mean value processing of the multiple vibration periods contained in the vibration sampling signal and the floating change of the vibration amplitude at the target sampling point in each vibration period. The vibration wave emitted by the air conditioner during its own operation can be maintained to provide reasonable reference value for subsequent superposition shock absorption, and the radar sensing accuracy of the air conditioner is greatly improved.

[0196] On the basis of any of the above embodiments, if the target sampling point is other sampling points in the vibration period except the wave peak sampling point and the wave trough sampling point, the value of the target sampling point in the time domain includes and

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

[0198] Specifically, if the target sampling point is any sampling point in the vibration period except the wave peak sampling point and the wave trough sampling point that is, in any vibration period, the absolute value of the amplitude of the sampling point is the same as that of the sampling point and .

[0199]

[0200] wherein is the average sampling amplitude at the sampling point , and are the amplitudes corresponding to the sampling points with the same absolute value of the amplitude of the sampling point in the mth vibration period.

[0201] Then, the interconnection control device for the air conditioner and the elderly aid adopts the average sampling amplitude A obtained by the wave peak and wave trough mean value processing, and also adopts the average sampling amplitude obtained by the mean value processing of other sampling points to reconstruct the first vibration wave.

[0202] Figure 6 is the structural diagram of the interconnection control device for the air conditioner and the elderly aid provided by the present application. On the basis of any of the above embodiments, as shown in Figure 6 , the interconnection control device for the air conditioner and the elderly aid provided by the embodiment of the present application is arranged in the air conditioner in the same indoor environment as the elderly aid, and includes a radar maintenance module 610 and an interconnection control module 620, wherein:

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

[0204] The joint control module 620 is configured to control the air conditioner to start a first joint control mode and control the elderly auxiliary tool to start a second joint control mode based on body feature information captured by the radar module from the target individual during the process of controlling the vibration generator to output a second vibration wave.

[0205] The target individual is a user of the elderly auxiliary tool. The first joint control mode includes at least one of the following: controlling the air conditioner to start a sleep mode and controlling the air conditioner to adjust a swing range. The second joint control mode includes at least one of the following: controlling the elderly auxiliary tool to move to a fixed position where the target individual is located, controlling the elderly auxiliary tool to adjust a height, and controlling the elderly auxiliary tool to adjust a shape of a 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 is different from the phase of the second vibration wave by half a period. The vibration sampling signal is a vibration signal generated by the air conditioner indoor unit due to operation of a fan in a 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 configured to sense a vibration condition of the air conditioner indoor unit, and the vibration generator is configured to perform vibration damping on the radar module that is vibrated by the air conditioner indoor unit.

[0206] Specifically, the radar stabilizing module 610 and the joint control module 620 are sequentially electrically connected.

[0207] After receiving and responding to an activation instruction of the working mode, the radar stabilizing module 610 controls a fan of the air conditioner indoor unit to operate at a corresponding speed and controls a compressor of the air conditioner outdoor unit to operate at a corresponding power.

[0208] Since the fan actuation causes the vibration generated by itself to propagate to the air conditioner indoor unit and internal devices thereof, the vibration sensor of the interconnection control device of the air conditioner and the elderly auxiliary tool periodically senses the vibration generated by the air conditioner indoor unit. According to a vibration sampling signal collected in a sampling period, a first vibration wave used to represent the vibration degree of the air conditioner is fitted.

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

[0210] In the process of the vibration generator continuously damping the radar module, the interconnection control device of the air conditioner and the elderly auxiliary tool analyzes the electromagnetic waves reflected by the target individual (i.e., the user of the elderly auxiliary tool) in the space of the air conditioner through the radar module after damping, analyzes the human body shape features contained therein, and if the body shape feature information obtained by analyzing any target individual matches the pre-set interconnection control wake-up posture, and the duration of the individual maintaining the interconnection control wake-up posture reaches the pre-set threshold, it means that the current behavior intention of the individual is to actively perform the interconnection control wake-up action to activate the joint control of the air conditioner and the elderly auxiliary tool:

[0211] The first interconnection control mode started by the air conditioner in the joint control includes but is not limited to starting the sleep mode, controlling the horizontal swing leaf assembly and / or vertical swing leaf assembly of the air conditioner to adjust the corresponding swing range, and other operations for weakening the stress reaction of the target individual caused by the air conditioner wind as much as possible while adjusting the indoor temperature of the air conditioner.

[0212] The second interconnection control mode started by the elderly auxiliary tool in the joint control includes but is not limited to moving to the vicinity of the target individual for the target individual to sit down without moving, adjusting the height of the contact surface with the target individual for the target individual to sit down without squatting, and adjusting the shape of the contact surface with the target individual to make the contact surface as much as possible to fit the human body curve, and other operations to solve various inconveniences or small troubles in the life of the target individual, so that they can normally move.

[0213] Optionally, the elderly auxiliary tool is a wheelchair.

[0214] Correspondingly, the interconnection control module 620 includes a wheelchair control unit and a first air conditioner control unit, wherein:

[0215] The wheelchair control unit is configured to control the wheelchair to assist the target individual to sit down after the wheelchair travels to the fixed position of the target individual based on the first posture information monitored by the radar module after damping the second vibration wave and the second posture information monitored by the wheelchair.

[0216] The first air conditioner control unit is configured to adjust the swing range of the air conditioner in the sleep mode according to the position information of the target individual changed under the action of the wheelchair after determining that the target individual is seated.

[0217] The radar module after damping the second vibration wave is used to offset the vibration of the radar module in the air conditioner indoor unit in the first vibration wave by the second vibration wave with a phase difference of half a cycle from the first vibration wave.

[0218] Optionally, the wheelchair control unit is specifically configured to control the wheelchair to brake within an assistance receiving range corresponding to the target individual based on the first pose information and the second pose information.

[0219] In a case where the radar module determines that the target individual and the wheelchair are in the same direction, the wheelchair is controlled to assist the target individual to sit down after traveling to an assistance execution position within the assistance receiving range.

[0220] The assistance receiving range is an acceptable action range determined with respect to a fixed position of the target individual, and the assistance execution position is closest to the fixed position of the target individual in the assistance receiving range.

[0221] Optionally, the elderly care assistive device is an assistive bed, and the assistive bed is provided with a fixed bed plate and a movable bed plate rotating relative to the fixed bed plate.

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

[0223] The second air conditioner control unit is configured to update a lower boundary of a default swing range of the horizontal guide plate assembly to a target execution angle based on a head position of each target individual monitored by the radar module after the second vibration wave is eliminated.

[0224] The intention recognition unit is configured to determine a user behavior intention by monitoring a human body key point position of each target individual by using the radar module after the second vibration wave is eliminated during control of the horizontal guide plate assembly to swing up and down in the new swing range.

[0225] The first bed body control unit is configured to control the movable bed plate to rotate clockwise by an assistance angle change value corresponding to a target range in which an included angle between an upper body of the individual and the movable bed plate is located by using the radar module after the second vibration wave is eliminated, to assist the individual to get up, in a case where the user behavior intention is determined to match a get-up trend.

[0226] The radar module after the second vibration wave is used to cancel the vibration of the radar module in the air conditioner indoor unit in the first vibration wave; the target execution angle is greater than the included angle formed by the head position of the individual and the vertical direction of the radar module; the target interval is one of all included angle subintervals between the upper body of the elderly and the movable bed board during the execution of the get-up action; any of the included angle subintervals is respectively provided with an auxiliary angle change value of the movable bed board relative to the fixed bed board.

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

[0228] The second bed body control unit is configured to, in a case where it is determined that the user behavior intention matches the bed-lying trend, respectively control the air conditioner to start the sleep mode, and after the movable bed board is controlled to rotate the target rated rotation angle clockwise through the second bed body control instruction, monitor the included angle between the upper body of the individual and the movable bed board through the radar module after the second vibration wave is used to cancel the vibration.

[0229] The reset unit is configured to, in a case where it is determined that the included angle between the upper body of the individual and the movable bed board is decreasing, control the movable bed board to rotate counterclockwise through the third bed body control instruction.

[0230] The target rated rotation angle is a rated rotation angle of the movable bed board when the auxiliary get-up bed is lifted.

[0231] Optionally, the intention recognition unit is specifically configured to determine, based on the position of the human body key point monitored by the radar module after the second vibration wave is used to cancel the vibration for each target individual, a first trunk segment and a second trunk segment connected through a crotch key point of each target individual.

[0232] If the included angle formed by the first trunk segment and the second trunk segment at the crotch key point starts to decrease over time from 180° within a preset time length, the user behavior intention is set as the get-up trend.

[0233] If the included angle formed by the first trunk segment and the second trunk segment at the crotch key point is continuously maintained at 90° within a preset time length, the user behavior intention is set as the bed-lying trend.

[0234] The first trunk segment is determined at least according to the head key point and the crotch key point, and the second trunk segment is determined at least according to the crotch key point and the foot key point.

[0235] Optionally, the radar stability maintenance module 610 comprises a stability maintenance calculation unit and a linear fitting unit, wherein:

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

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

[0238] wherein the target sampling point comprises a peak sampling point and a valley sampling point in the sampling period.

[0239] Optionally, if the target sampling point is other than the peak sampling point and the valley sampling point in the vibration period, the value of the target sampling point in the time domain comprises and

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

[0241] The air conditioner and the interconnection control device of the elderly auxiliary tool provided by the embodiments of the present application are used to execute the interconnection control method of the air conditioner and the elderly auxiliary tool provided by the present application, the implementation manners of which are consistent with the implementation manners of the interconnection control method of the air conditioner and the elderly auxiliary tool provided by the present application, and the same beneficial effects can be achieved, which will not be described here.

[0242] The embodiments of the present application realize the interconnection control between the air conditioner and the elderly auxiliary tool when the radar module under the vibration damping state continuously maintains the state of the body state feature information of the at least one individual in the interconnection wake-up posture, and the vibration generator emits the second vibration wave opposite to the actual first vibration wave to damp the vibration propagated by the air conditioner indoor unit, so that when the air conditioner and the wheelchair establish a communication relationship in the same local area network, the vibration wave emitted by the vibration transmitter and the vibration wave generated by the air conditioner itself during operation are superimposed and damped, so that the air conditioner radar observation can be stabilized to image, and the working state of the air conditioner and the elderly auxiliary tool is cooperatively controlled according to the perceived human posture change, without the need for the user to manually adjust the two intelligent devices respectively, thereby reducing the control delay of the two intelligent devices, improving the control accuracy, and optimizing the user's use experience of the air conditioner and the elderly auxiliary tool.

[0243] Figure 7 is a structural schematic diagram of the air conditioner provided by the present application. Based on any of the above embodiments, as shown in Figure 7 the air conditioner provided by the embodiments of the present application comprises an air conditioner indoor unit 710 and an air conditioner outdoor unit 720;

[0244] The air conditioner indoor unit 710 and the elderly aid are connected in communication through a local area network under the same indoor space; the air conditioner indoor unit 710 is provided with a vibration damping device 712 connected in communication with an air conditioner controller 711, and the vibration damping device 712 includes a radar module 712-1, a vibration generator 712-2 and a vibration sensor 712-3 connected in communication with the air conditioner controller 711 respectively.

[0245] The vibration sensor 712-3 is used to perceive the vibration condition of the air conditioner indoor unit 710. The vibration generator 712-2 is used to damp the vibration of the radar module 712-3 caused by the vibration of the air conditioner indoor unit 710.

[0246] The elderly aid is used to receive and respond to the control instructions issued by the air conditioner controller 711 when executing the interconnection control method of the air conditioner and the elderly aid according to any one of the above, and control the elderly aid to assist the individual to carry out activities.

[0247] 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 in communication by the same local area network, and the air conditioner is provided with an air conditioner indoor unit 710 and an air conditioner outdoor unit 720 connected by a refrigerant pipeline.

[0249] The air conditioner controller 711 is integrated in the control chip of the air conditioning system, so as to control the vibration damping device 712 to offset the vibration caused by the operation of the air conditioner indoor unit 710, and then perceive the human body in the indoor space, and the process is as follows:

[0250] The vibration damping device 712 is composed of the radar module 712-1, the vibration generator 712-2 and the vibration sensor 712-3 arranged independently. When the air conditioner indoor unit 710 activates the dehumidification mode, the vibration caused by the fan will spread to the air conditioner indoor unit 710 and its internal devices. Therefore, the air conditioner controller 711 periodically perceives the vibration of the air conditioner indoor unit 710 through the vibration sensor 712-3, and according to the vibration sampling signal collected in a sampling period, a first vibration wave is fitted to represent the vibration degree of the air conditioner.

[0251] The air conditioner controller 711 retains the period and amplitude of the first vibration wave, delays the phase by half a period, and obtains a second vibration wave opposite to the waveform of the first vibration wave, and then controls the vibration generator 712-2 to emit a vibration wave to continuously damp the radar module 712-1.

[0252] In the process of the vibration generator 712-2 continuously damping the radar module 712-1, the air conditioner controller 711 analyzes the electromagnetic waves reflected by the target individuals (i.e., the users of the elderly auxiliary tool) in the space where the air conditioner is located through the damped radar module 712-1, and analyzes the body shape features contained therein. If the body shape feature information of any target individual matches the pre-set joint control wake-up posture, and the individual maintains the joint control wake-up posture for a duration reaching the pre-set threshold, it means that the individual's current behavior intention is to actively perform the joint control wake-up action to activate the joint control of the air conditioner and the elderly auxiliary tool:

[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 leaf assembly and / or vertical swing leaf assembly of the air conditioner to adjust the corresponding swing range, and other operations for weakening the stress reaction of the target individual caused by the air conditioner wind as much as possible while adjusting the indoor temperature.

[0254] The second joint control mode activated by the elderly auxiliary tool in the joint control includes but is not limited to moving to the vicinity of the target individual for the target individual to sit down without moving, adjusting the height of the contact surface with the target individual for the target individual to sit down without squatting, and adjusting the shape of the contact surface with the target individual to make the contact surface as much as possible to fit the human body curve, and other operations to solve various inconveniences or small troubles in the life of the target individual, so that they can normally move.

[0255] On the contrary, if the body shape feature information of any target individual does not match the pre-set joint control wake-up posture, or the individual maintains the joint control wake-up posture for a duration not reaching the pre-set threshold, it means that the individual's current behavior intention is only to make some specific actions in the indoor space, and there is no need to use the elderly auxiliary tool, so the joint control of the air conditioner and the elderly auxiliary tool is not triggered.

[0256] The embodiment of the present application generates the second vibration wave opposite to the actual first vibration wave through the vibration generator to damp the vibration propagated by the air conditioner indoor unit, and activates the linkage control between the air conditioner and the elderly auxiliary tool when the body shape feature information of at least one individual to the radar module in the damped state is in a state of continuously maintaining the joint control wake-up posture. When the air conditioner and the wheelchair establish a communication relationship in the same local area network, the vibration wave emitted by the vibration emitter and the vibration wave generated by the air conditioner itself are superimposed to dampen the vibration, so that the air conditioner radar observation can be stabilized to image, and the working state of the air conditioner and the elderly auxiliary tool can be cooperatively controlled according to the perceived human posture change, without the need for the user to manually adjust the two intelligent devices respectively, reducing the control delay of the two intelligent devices, improving the control accuracy, and optimizing the user's experience of using the air conditioner and the elderly auxiliary tool.

[0257] Moreover, the logic instructions in the memory can be realized in the form of software function units and sold or used as independent products, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of software products. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0258] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program can be executed by a processor to enable a computer to execute the air conditioner and the interconnection control method of the elderly auxiliary tool provided by the above-mentioned method, wherein the air conditioner and the elderly auxiliary tool are arranged in the same indoor environment, and the method comprises the following steps: determining a first vibration wave based on a vibration sampling signal collected by a vibration sensor on an air conditioner indoor unit; in the process of controlling a vibration generator to output a second vibration wave, capturing body posture feature information of a target individual by a radar module, respectively controlling the air conditioner to start a first interconnection control mode, and controlling the elderly auxiliary tool to start a second interconnection control mode; wherein the target individual is a user of the elderly auxiliary tool; the first interconnection control mode comprises at least one of the following: controlling the air conditioner to start a sleep mode, and controlling the air conditioner to adjust a swing range; the second interconnection control mode comprises at least one of the following: controlling the elderly auxiliary tool to move to a fixed position where the target individual is located, controlling the elderly auxiliary tool to adjust a height, and controlling the elderly auxiliary tool to adjust a shape of a 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 are different by half a period; the vibration sampling signal is a vibration signal generated by the air conditioner indoor unit due to the operation of a fan in a sampling period; the vibration sensor, the radar module and the vibration generator are arranged in the air conditioner indoor unit, the vibration sensor is used to sense the vibration condition of the air conditioner indoor unit, and the vibration generator is used to damp the radar module which is vibrated by the air conditioner indoor unit.

[0259] In another aspect, the application also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the method for interconnection control of an air conditioner and an elderly care aid provided by the above method, wherein the air conditioner and the elderly care aid 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 on an air conditioner indoor unit; in a process of controlling a vibration generator to output a second vibration wave, capturing body posture feature information of a target individual by a radar module, and respectively controlling the air conditioner to start a first interconnection control mode and the elderly care aid to start a second interconnection control mode; wherein the target individual is a user of the elderly care aid; the first interconnection control mode comprises at least one of the following: controlling the air conditioner to start a sleep mode and controlling the air conditioner to adjust a swing range; the second interconnection control mode comprises at least one of the following: controlling the elderly care aid to move to a fixed position where the target individual is located, controlling the elderly care aid to adjust a height, and controlling the elderly care aid to adjust a shape of a 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 air conditioner indoor unit due to operation of a fan in a 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 configured to sense vibration of the air conditioner indoor unit, and the vibration generator is configured to perform vibration elimination on the radar module which is vibrated by the air conditioner indoor unit.

[0260] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0261] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary general hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in the various embodiments or some parts of the embodiments.

[0262] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An interconnection control method for an air conditioner and an elderly care aid, wherein the air conditioner and the elderly care aid are disposed in the same indoor environment, characterized by, The method comprises: determining a first vibration wave based on a vibration sampling signal collected by a vibration sensor of an air conditioner indoor unit; during the process of controlling a vibration generator to output a second vibration wave, capturing body state feature information of a target individual by a radar module, and respectively controlling the air conditioner to start a first joint control mode and controlling the elderly aid to start a second joint control mode; wherein the target individual is a user of the elderly aid; the first joint control mode includes at least one of the following: controlling the air conditioner to start a sleep mode, and controlling the air conditioner to adjust a swing range; the second joint control mode includes at least one of the following: controlling the elderly aid to move to a fixed position where the target individual is located, controlling the elderly aid to adjust a height, and controlling the elderly aid to adjust a shape of a 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 air conditioner indoor unit due to the operation of a fan in a 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 condition of the air conditioner indoor unit, and the vibration generator is used to eliminate vibration of the radar module which is driven to vibrate by the air conditioner indoor unit.

2. The interconnection control method of the air conditioner and the elderly care aid according to claim 1, characterized by, The elderly aid is a wheelchair; Correspondingly, the process of capturing body state feature information of a target individual by a radar module during the process of controlling a vibration generator to output a second vibration wave, and respectively controlling the air conditioner to start a first joint control mode and controlling the elderly aid to start a second joint control mode, comprises: based on first pose information monitored by the radar module after vibration elimination using the second vibration wave, and second pose information monitored by the wheelchair, controlling the wheelchair to travel to a fixed position where the target individual is located and then assisting the target individual to sit down; after determining that the target individual has sat down, adjusting the swing range of the air conditioner in the sleep mode according to the position information of the target individual changed under the action of the wheelchair; wherein the radar module after vibration elimination using the second vibration wave is eliminated by the second vibration wave which has a phase difference of half a period with the first vibration wave, and the vibration of the radar module propagating in the air conditioner indoor unit is eliminated by the first vibration wave.

3. The method of claim 2, wherein the air conditioner and the elderly aid device are connected to each other through a wired or wireless communication network. The process of controlling the wheelchair to travel to a fixed position where the target individual is located and then assisting the target individual to sit down based on first pose information monitored by the radar module after vibration elimination using the second vibration wave, and second pose information monitored by the wheelchair, comprises: based on the first pose information and the second pose information, controlling the wheelchair to travel to a brake in an auxiliary receiving range corresponding to the target individual; in the case that the orientations of the target individual and the wheelchair are determined to be the same by the radar module, controlling the wheelchair to travel to an auxiliary execution position in the auxiliary receiving range to assist the target individual to sit down; The auxiliary receiving range is an acceptable action range determined with the fixed position of the target individual as the center; and the auxiliary execution position is closest to the fixed position of the target individual in the auxiliary receiving range.

4. The method of claim 1, wherein the air conditioner and the elderly aid device are connected to each other through a wired or wireless communication network. The elderly care aid is an auxiliary bed, and the auxiliary bed is provided with a fixed bed plate and a movable bed plate rotating relative to the fixed bed plate; Correspondingly, in the process of controlling the vibration generator to output the second vibration wave, the body posture feature information captured by the radar module is used to control the air conditioner to start the first joint control mode and control the elderly care aid 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 used to eliminate vibration, the lower boundary of the default swing interval of the horizontal guide plate assembly is updated to a target execution angle; In the process of controlling the horizontal guide plate assembly to swing up and down in the new swing interval, the human body key point position of each target individual monitored by the radar module after the second vibration wave is used to eliminate vibration is used to determine the user behavior intention; In the case that the user behavior intention matches the getting-up trend, the auxiliary bed plate is controlled to rotate clockwise by a first bed body control instruction by a target interval of an angle between the upper body of the individual and the movable bed plate, so as to assist the individual to get up, wherein the radar module after the second vibration wave is used to eliminate vibration is used to eliminate the vibration of the radar module caused by the first vibration wave in the propagation of the indoor unit of the air conditioner; the target execution angle is greater than the angle between the head position of the individual and the vertical direction of the radar module; the target interval is one of all angle subintervals between the upper body of the individual and the movable bed plate in the process of the old person performing the getting-up action; and each of the angle subintervals is respectively provided with an auxiliary angle change value of the rotation of the movable bed plate relative to the fixed bed plate. After determining the user behavior intention, the method further includes:

5. The method of claim 4, wherein the air conditioner and the elderly aid device are connected to each other through a wired or wireless communication network. In the case that the user behavior intention matches the getting-up trend, the auxiliary bed plate is controlled to rotate clockwise by a first bed body control instruction by a target interval of an angle between the upper body of the individual and the movable bed plate, so as to assist the individual to get up, wherein the radar module after the second vibration wave is used to eliminate vibration is used to eliminate the vibration of the radar module caused by the first vibration wave in the propagation of the indoor unit of the air conditioner; the target execution angle is greater than the angle between the head position of the individual and the vertical direction of the radar module; the target interval is one of all angle subintervals between the upper body of the individual and the movable bed plate in the process of the old person performing the getting-up action; and each of the angle subintervals is respectively provided with an auxiliary angle change value of the rotation of the movable bed plate relative to the fixed bed plate. In the case that the user behavior intention matches the getting-up trend, the auxiliary bed plate is controlled to rotate clockwise by a first bed body control instruction by a target interval of an angle between the upper body of the individual and the movable bed plate, so as to assist the individual to get up, wherein the radar module after the second vibration wave is used to eliminate vibration is used to eliminate the vibration of the radar module caused by the first vibration wave in the propagation of the indoor unit of the air conditioner; the target execution angle is greater than the angle between the head position of the individual and the vertical direction of the radar module; the target interval is one of all angle subintervals between the upper body of the individual and the movable bed plate in the process of the old person performing the getting-up action; and each of the angle subintervals is respectively provided with an auxiliary angle change value of the rotation of the movable bed plate relative to the fixed bed plate. In the case that the user behavior intention matches the getting-up trend, the auxiliary bed plate is controlled to rotate clockwise by a first bed body control instruction by a target interval of an angle between the upper body of the individual and the movable bed plate, so as to assist the individual to get up, wherein the radar module after the second vibration wave is used to eliminate vibration is used to eliminate the vibration of the radar module caused by the first vibration wave in the propagation of the indoor unit of the air conditioner; the target execution angle is greater than the angle between the head position of the individual and the vertical direction of the radar module; the target interval is one of all angle subintervals between the upper body of the individual and the movable bed plate in the process of the old person performing the getting-up action; and each of the angle subintervals is respectively provided with an auxiliary angle change value of the rotation of the movable bed plate relative to the fixed bed plate. In the case that the user behavior intention matches the getting-up trend, the auxiliary bed plate is controlled to rotate clockwise by a first bed body control instruction by a target interval of an angle between the upper body of the individual and the movable bed plate, so as to assist the individual to get up, wherein the radar module after the second vibration wave is used to eliminate vibration is used to eliminate the vibration of the radar module caused by the first vibration wave in the propagation of the indoor unit of the air conditioner; the target execution angle is greater than the angle between the head position of the individual and the vertical direction of the radar module; the target interval is one of all angle subintervals between the upper body of the individual and the movable bed plate in the process of the old person performing the getting-up action; and each of the angle subintervals is respectively provided with an auxiliary angle change value of the rotation of the movable bed plate relative to the fixed bed plate.

6. The method of claim 4, wherein the air conditioner and the elderly aid device are connected to each other through a wired or wireless communication network. ​ Based on the location of key points of the human body monitored by the radar module after vibration damping by the second vibration wave, the first trunk segment and the second trunk segment of each target individual are determined through the key point of the hip. If the angle formed by the first torso segment and the second torso segment at the key point of the hip decreases from 180° over time within a preset time period, the user's behavioral intention is set as a wake-up trend. If the angle formed by the first torso segment and the second torso segment at the key point of the hip remains at 90° for a preset time period, the user's behavioral intention will be set to a bedridden trend. 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 method of claim 1-6, wherein the air conditioner and the elderly aid device are connected to each other. The determination of the first vibration wave based on the vibration sampling signal collected by the vibration sensor from the indoor unit of the air conditioner includes: The average sampling period is obtained from the multiple sampling periods contained in the vibration sampling signal, and the average sampling amplitude is obtained from the vibration amplitude corresponding to the target sampling point in each vibration period. The first vibration wave is generated based on the average sampling period and the average sampling amplitude; The target sampling points are the peak sampling points and / or trough sampling points within the sampling period.

8. The method of claim 7, wherein the air conditioner and the elderly aid device are connected to each other through a wired or wireless communication network. If the target sampling point is a sampling point other than a peak sampling point and a valley sampling point in the vibration period, the value of the target sampling point in the time domain includes and Where k takes the value of a positive integer greater than 2.

9. An air conditioner and elderly care aid interconnection control device provided in an air conditioner disposed in the same indoor environment as the elderly care aid, characterized by, include: The radar stabilization module 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. The joint control 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 respectively, based on the body feature information captured by the radar module of the target individual during the process of controlling the vibration generator to output the second vibration wave. The target individual is the user of the assistive device for the elderly; the first control mode includes at least one of the following: controlling the air conditioner to start sleep mode, controlling the air conditioner to adjust the swing range; the second control mode includes at least one of the following: controlling the assistive device for the elderly to move to the fixed position of the target individual, controlling the assistive device to adjust its height, controlling the 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 the vibration signal generated by the air conditioner indoor unit due to the operation of the fan within the sampling period; the vibration sensor, the radar module, and the vibration generator are all installed 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 dampen the radar module that is vibrating due to the air conditioner indoor unit.

10. An air conditioner characterized by comprising: This includes indoor and outdoor air conditioning units; The indoor unit of the air conditioner and the elderly care assistive devices are connected via a local area network in the same indoor space; the indoor unit of the air conditioner is equipped with a vibration damping device that is connected to the air conditioner controller, and the vibration damping device includes a radar module, a vibration generator and a vibration sensor that are respectively connected to the air conditioner controller. The vibration sensor is used to sense the vibration of the indoor unit of the air conditioner; the vibration generator is used to dampen the vibration of the radar module caused by the indoor unit of the air conditioner. The assistive device for the elderly is used to receive and respond to a control command issued by the air conditioner controller when executing the interconnection control method between the air conditioner and the assistive device for the elderly as described in any one of claims 1 to 8, and to control the assistive device for the elderly to assist the individual in performing activities; The radar module includes a millimeter-wave radar.

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

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

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