KR20200075117A - Air conditioner and method for controlling the same - Google Patents

Abstract

According to one embodiment of the present invention, an indoor unit of an air conditioner comprises: a moving robot interface receiving an environment map from a moving robot disposed in an indoor space; a camera configured to acquire an image signal for the indoor space; and a control part configured to generate air current path information for automatic control, which corresponds to a structure of the indoor space, based on the environment map and image signal. Accordingly, a discharge air current can be controlled with intensity and wind direction appropriate for the structure of the indoor space.

Description

AIR CONDITIONER AND METHOD FOR CONTROLLING THE SAME

The present invention relates to an air conditioner for creating a comfortable indoor environment and a control method therefor.

An air conditioner is a device for maintaining an indoor space in a comfortable state. The air conditioner may provide a cooling function, a heating function, and a purification function to realize environmental conditions selected by the user. By such an air conditioner, indoor temperature, humidity, purification, and air flow distribution can be controlled.

In general, an air conditioner is a device that inhales indoor air and purifies, cools, heats and/or humidifies the inhaled air and discharges it back into the room. The air conditioner may include an indoor unit disposed in an indoor space and an outdoor unit mainly disposed outside the space.

The indoor unit may include an indoor heat exchanger for heat exchange between the intake port, which is a passage for sucking indoor air, and the sucked air and a refrigerant, an exhaust port, which is a passage for discharging air into the indoor space, and an indoor fan for generating airflow between the suction port and the discharge port Can. In addition, the indoor unit may further include vanes and/or louvers for adjusting the wind direction of the discharge streams disposed at the discharge ports and discharged to the indoor space.

However, there is a problem in that the discharge airflow may not reach the indoor space as a whole due to the location of the indoor unit, the structure of the indoor space, and the structure installed in the indoor space. Due to the blind spot of the discharge stream, there is a problem in that there is a limit in improving the comfort of the indoor space.

In this regard, the prior document 1 (Korean Patent Publication No. 10-2018-0068641; published on June 22, 2018; LG Electronics Co., Ltd.) is provided in the main body of the indoor unit having a suction port and a discharge port, the discharge port, and the discharge port A louver that controls the airflow that is discharged by relative movement, a blocking position in which the louver blocks the discharge port, a direct discharge position where the discharged airflow is set to be discharged directly to the user, and the discharged airflow is not directly discharged to the user Arbitrarily, the louver support portion supporting the relative movement to the indirect discharge position set differently from the direct discharge position, and driving the louver so that the louver moves to one of the blocking position, the direct discharge position and the indirect discharge position Disclosed is an indoor unit of an air conditioner having a louver driving unit, which starts to deliver or block a discharge stream directly to a user.

This prior art document 1 can remove the discharge airflow blocking member for blocking the discharge airflow directed to the user by controlling the direction of the discharge airflow by the louver, and can solve the blind spot in the room by increasing the angle to control the wind direction. Yes.

In addition, Prior Art Document 2 (Korean Patent Publication No. 10-2018-0125425; published Nov. 23, 2018; Samsung Electronics Co., Ltd.) discloses an air conditioner having a circular outlet. This prior art document 2 discloses that since air can be discharged in all directions by a circular discharge port, the blind spot of cooling and heating can be minimized.

In addition, the prior document 3 (Korean Patent Publication No. 10-2018-0091522; published on August 16, 2018; Daeyu Winia Co., Ltd.) is installed at the discharge port, respectively, and the horizontal blade to guide the wind and the horizontal blade are connected to the horizontal blade to discharge the horizontal blade. An air conditioner that includes a driving unit controlled by a control unit to adjust the angle, and controls the swing angle of the horizontal blade to a wide range up and down so that a blind area of the discharge wind does not occur when only one of the plurality of discharge ports is used by the control unit. Disclosed.

As described above, prior documents 1, 2 and 3 disclose means for controlling the wind direction of the discharge stream in order to reduce the blind spot of the discharge stream.

However, the prior documents 1, 2 and 3 do not disclose means for detecting the structure of the indoor space and means for detecting which area of the indoor space is a blind spot of the discharge stream.

In addition, the prior document 4 (Korean Patent Publication No. 10-2018-0051729; published on May 17, 2018; LG Electronics Co., Ltd.) is a camera that acquires an external image, an object recognition module that recognizes an object from the image acquired by the camera, And, the air conditioner including a control unit for controlling the air flow based on the position and texture of the recognized object. This prior art document 4 discloses an air conditioner that recognizes an object.

This prior document 4 recognizes the type or texture of the object from the image obtained by the camera based on the data learned by machine learning, and provides cooling airflow efficiency by providing a discharge airflow suitable for the recognized object. Start to improve.

However, since the indoor unit is fixed at any point in the indoor space, and the shooting range of the camera provided in the indoor unit is limited, it may be difficult to detect the overall structure of the indoor space from the image.

Therefore, according to the prior documents, since the structure of the indoor space is not detected, there is a problem that it is impossible to control the discharge airflow corresponding to the structure of the indoor space.

And, according to the prior documents, since it is not detected which area of the indoor space is a blind spot to which the discharge air stream does not reach, there is a problem that it is impossible to control the discharge air stream to face the blind spot. Therefore, there is a problem that it is virtually impossible to reduce the blind spot.

As such, by maintaining the blind spot of the discharge air stream, there is a problem in that the indoor space is generally comfortable.

An object of the present invention is to provide an air conditioner capable of controlling the discharge airflow in response to the structure of the indoor space and a control method thereof.

An object of the present invention is to provide an air conditioner capable of detecting a blind spot of a discharge stream in which the discharge stream is not reached in a straight path in a room space and a control method thereof.

An object of the present invention is to provide an air conditioner capable of reducing a blind spot of the discharge stream and a control method thereof.

The objects of the present invention are not limited to the objects mentioned above, and other objects and advantages of the present invention not mentioned can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. In addition, it will be readily appreciated that the objects and advantages of the present invention can be realized by means of the appended claims and combinations thereof.

The indoor unit of the air conditioner according to an embodiment of the present invention is a mobile robot interface that receives an environmental map from a mobile robot disposed in the living space, a camera that acquires an image signal for the indoor space, and the environmental map and the And a control unit generating airflow path information for automatic control corresponding to the structure of the indoor space based on the image signal.

Here, the control unit is an environmental map holding unit for holding an environmental map received from the mobile robot interface, a mobile robot detection unit for detecting a mobile robot object corresponding to the mobile robot from the image signal received from the camera, the video signal And a predicted distance corresponding to the degree to which the mobile robot is spaced apart from the camera based on the mobile robot object, and detects a horizontal distance between the mobile robot and the indoor unit based on the height of the camera and the predicted distance. The distance detecting unit, upon obtaining the image signal from the mobile robot interface, receives a mobile robot coordinate value corresponding to a point where the mobile robot is located, and based on the environment map, the mobile robot coordinate values, and the horizontal distance, the environment On the map, an indoor unit position detection unit that detects indoor unit coordinate values corresponding to a point on which the indoor unit is disposed, a map conversion unit that generates a conversion environment map consisting of coordinates using the indoor unit coordinate values as a reference point, and the discharge airflow discharged from the indoor unit. The area detection unit detects a direct reach area in which the discharge air flows in a straight path, and a blind spot area remaining excluding the direct reach area, based on a horizontal wind direction range, corresponding to the direct reach area A linear airflow path generating unit for generating a linear airflow path, a bypass airflow path generating unit for generating a bypass airflow path corresponding to the blind spot area, and at least an airflow path having an automatic control airflow path including the straight airflow path Includes retention.

And, the control method of the air conditioner according to an embodiment of the present invention comprises the steps of receiving an environmental map of the mobile robot from a mobile robot interface provided in the indoor unit and connected to a mobile robot disposed in a predetermined indoor space, the indoor unit Receiving an image signal for the indoor space from the camera provided in, and for automatically controlling the discharge airflow corresponding to the structure of the indoor space and discharged to the indoor space based on the environment map and the image signal And generating airflow path information for automatic control.

In addition, the control method of the air conditioner includes generating an air flow control signal for controlling at least one of the wind direction and intensity of the discharge air flow based on the air flow path information for the automatic control, and the indoor corresponding to the intensity of the discharge air flow The method further includes supplying the airflow control signal to at least one of a fan motor, a vane corresponding to the vertical direction of the discharge stream, and a louver corresponding to a horizontal direction of the discharge stream.

As described above, the air flow path information for automatic control corresponding to the structure of the indoor space is generated based on the environment map of the mobile robot and the image signal for the indoor space, and the air flow control signal is generated based on the air flow path information for automatic control to generate the indoor air. It is possible to control the discharge airflow with an intensity or wind direction suitable for the structure of the space.

And, by creating a bypass airflow path for guiding the discharge airflow to the blind spot area, the area where the discharge airflow is not reached in the indoor space can be minimized.

An air conditioner and a control method according to an embodiment of the present invention generate airflow path information for automatic control corresponding to the structure of an indoor space based on an environment map received from a mobile robot disposed in the indoor space. Then, an airflow control signal for controlling at least one of the intensity and the wind direction of the discharge airflow is generated based on the airflow path information for automatic control.

By doing this, there is an advantage in that the discharge airflow can be controlled with an intensity or wind direction suitable for the structure of the indoor space.

An air conditioner and a control method thereof according to an embodiment of the present invention detect a direct reach area in which a discharge stream reaches a straight path and a blind spot area other than the direct reach area among environmental maps corresponding to the indoor space Then, a straight airflow path corresponding to the direct reach area and a bypass airflow path corresponding to the blind spot area are generated. When the blind spot area is detected, the airflow path information for automatic control includes a straight airflow path and a bypass airflow path. Here, the bypass airflow path consists of a path that indirectly guides the discharge airflow to the blind area by the edge of the indoor space.

As described above, by detecting a blind spot area in which the discharge stream cannot be directly reached, and providing a bypass air flow path for guiding the discharge stream to the blind spot area, an area in which the discharge stream is not reached in the indoor space can be minimized. There are advantages.

Therefore, since the indoor space can be generally comfortable, there is an advantage that the practicality and convenience of the air conditioner can be improved.

In addition to the above-described effects, the concrete effects of the present invention will be described together while describing the specific matters for carrying out the invention.

1 is a view showing an air conditioner according to an embodiment of the present invention.
FIG. 2 is a view showing an example of the indoor unit of FIG. 1.
FIG. 3 is a view showing the control unit of FIG. 2.
4 is a view showing a method of controlling the discharge air flow by the control unit of FIG. 3 according to an embodiment of the present invention.
FIG. 5 is a view showing a step of receiving the environment map of FIG. 4 and a step of receiving an image signal.
FIG. 6 is a diagram illustrating steps of generating airflow path information for automatic control of FIG. 4.
7 to 12 are views illustrating an example of an environment map, an indoor unit, and a mobile robot in an indoor space for explaining some steps of FIGS. 5 and 6.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The same reference numbers in the drawings are used to indicate the same or similar components.

Hereinafter, an air conditioner and a control method thereof according to an embodiment of the present invention will be described with reference to the accompanying drawings.

1 is a view showing an air conditioner according to an embodiment of the present invention. FIG. 2 is a view showing an example of the indoor unit of FIG. 1. FIG. 3 is a view showing the control unit of FIG. 2.

As shown in FIG. 1, the air conditioner 10 according to an embodiment of the present invention includes an indoor unit 10a disposed in a predetermined indoor space (IS).

The air conditioner 10 may further include an outdoor unit 10b disposed outside the predetermined space (OS).

In addition, the air conditioner 10 may further include a remote controller 10c for receiving a user's command.

The outdoor unit 10b may be connected to at least one indoor unit 10a through a refrigerant pipe 10d that guides the movement of the refrigerant.

However, this is only an example, and the indoor unit 10a of the air conditioner 10 according to an embodiment of the present invention may be integrally formed with the outdoor unit 10b.

The indoor unit 10a includes a frame forming an exterior. The frame of the indoor unit 10a includes an air intake port (not shown) that is a path for sucking air in the indoor space IS and an air discharge port 110 that is a path for discharging air to the indoor space IS.

And, the indoor unit (10a) further includes a vane (111) and a louver (112) disposed in the air outlet (100).

The vane 111 corresponds to the wind direction in the vertical direction of the discharge stream discharged into the indoor space IS. That is, the direction in which the discharge stream is discharged from the vertical direction may be controlled by the arrangement angle of the vane 111.

The louver 112 corresponds to the horizontal direction of the discharge stream. That is, the direction in which the discharge stream is discharged in the horizontal direction may be controlled by the arrangement angle of the louver 112.

The indoor unit 10a further includes a mobile robot interface 120 connected to the mobile robot 200 disposed in the indoor space IS and a camera 130 that acquires an image signal for the indoor space IS. For example, the mobile robot 200 may be a robot cleaner that sucks dust or foreign substances in the surroundings while driving the indoor space IS. The mobile robot interface 120 and the camera 130 will be described in more detail below.

Although not shown in detail in FIG. 1, the air conditioner 10 may include a refrigerant cycle by the refrigerant pipe 10d. For example, the refrigerant cycle may include a compressor connected through a refrigerant pipe 10d, a main valve, an outdoor heat exchanger, an expander, and an indoor heat exchanger.

The compressor compresses the refrigerant, and the main valve controls the flow direction of the refrigerant pipe (10d).

When the air conditioner 10 is driven in the cooling mode, the outdoor heat exchanger functions as a condenser condensing the refrigerant, the expander expands the refrigerant condensed by the outdoor heat exchanger, and the indoor heat exchanger functions as an evaporator for evaporating the refrigerant.

Here, among the compressor, the main valve, the outdoor heat exchanger, the expander and the indoor heat exchanger, the indoor heat exchanger may be provided in the indoor unit 10a, and the rest, except for the indoor heat exchanger, may be provided in the outdoor unit 10b.

The indoor unit 10a may further include an indoor fan that is disposed adjacent to the indoor heat exchanger and generates an intake stream and a discharge stream, and an indoor fan motor that drives the indoor fan.

The outdoor unit 10b may further include an outdoor fan that is disposed adjacent to the outdoor heat exchanger and generates airflow around the outdoor heat exchanger and an outdoor fan motor that drives the outdoor fan.

As shown in FIG. 2, the indoor unit 10a receives a mobile robot interface 120 that receives an environment map from a mobile robot (not shown) disposed in the indoor space IS, and a video signal for the indoor space IS. It includes an acquiring camera 130 and a control unit 140 for generating airflow path information for automatic control corresponding to the structure of the indoor space IS based on the environment map and the image signal.

Here, the mobile robot interface 120 is associated with the mobile robot, and transmits and receives signals to and from the mobile robot. The mobile robot interface 120 attempts to link with the mobile robot using the link signal according to the instructions of the control unit 140, and when the link with the mobile robot is successful, receives the environment map from the mobile robot. For example, the mobile robot interface 120 may consider linking with the mobile robot to be successful if it transmits a linkage request signal and receives a linkage response signal from the mobile robot.

The environment map is for driving safety and reliability of the mobile robot, and shows the shape and structure of the indoor space (IS) in which the mobile robot travels. The mobile robot can detect its own position when driving based on the environment map. For a detailed description of the environmental map, refer to the disclosure of Korean Patent Publication No. 10-2010-0098999 (published on October 10, 2010; filed by LG Electronics Co., Ltd.).

The camera 130 may be disposed at a high point so as to be among the front frames of the indoor unit 10a. By doing this, there is an advantage that the photographing area of the camera 130 can be widened. The camera 130 may acquire an image signal according to the instructions of the control unit 140. For example, the photographing area may be fixed by fixing the lens of the camera 130. Alternatively, although not separately illustrated, the photographing area may be changed according to the instruction of the controller 140 through means for changing the lens position of the camera 130.

The control unit 140 corresponds to the structure of the indoor space IS, and generates airflow path information for automatic control for automatically controlling the intensity and direction of the discharge airflow.

That is, the control unit 140 may generate an air flow control signal that controls at least one of the intensity and direction of the discharge air flow based on the air flow path information for automatic control according to the air flow automatic control command received from the user interface 150. In addition, the control unit 140 includes an indoor fan motor 113 corresponding to the intensity of the discharge stream, a vane 111 corresponding to the horizontal direction of the discharge stream, and a louver 112 corresponding to the horizontal direction of the discharge stream. An airflow control signal may be supplied to at least one of them.

In addition, the control unit 140 may drive the compressor based on the temperature command received from the user interface 150 and the temperature information received from the temperature sensor 161.

Also, the control unit 140 may drive the indoor fan motor 113 based on the humidity command received from the user interface 150 and the humidity information received from the humidity sensor 162.

As shown in FIG. 3, the control unit 140 includes an environment map holding unit 141, a mobile robot detection unit 142, a distance detection unit 143, an indoor unit location detection unit 144, a map conversion unit 145, and an area It includes a detection unit 146, a linear airflow path generation unit 147a, a bypass airflow path generation unit 147b, and an airflow path holding unit 148.

In addition, the control unit 140 may further include an air flow control signal generation unit 149.

The mobile robot interface 120 transmits a map request signal to the mobile robot, and receives a map response signal including an environment map from the mobile robot. Then, the environment map according to the map response signal is transmitted to the environment map holding unit 141.

For example, the mobile robot interface 120 is associated with the mobile robot when the airflow path holding unit 148 does not retain airflow path information for automatic control, or when the user interface 150 receives an airflow path update command. You can try and receive an environmental map from the associated mobile robot.

The environment map holding unit 141 holds the environment map received from the mobile robot interface 120.

The camera 130 may acquire an image signal and transmit the image signal to the mobile robot detector 142 or the distance detector 143. For example, the camera 130 may move the mobile robot detecting unit 142 when the airflow path holding unit 148 does not retain airflow path information for automatic control or when the user interface 150 receives an airflow path update command. ) Or a video signal may be provided based on the request of the distance detection unit 143.

In addition, the camera 130 may transmit a coordinate request signal to the mobile robot through the mobile robot interface 120 at the time of obtaining the image signal. The mobile robot stores the coordinate values of the mobile robot at the point where the mobile robot is located at the time of receiving the coordinate request signal, and transmits the coordinate providing signal including the stored mobile robot coordinate values to the mobile robot interface 120. The mobile robot interface 120 transmits the mobile robot coordinate values to the indoor unit position detecting unit 144 based on the coordinate providing signal.

The mobile robot detector 142 detects a mobile robot object corresponding to the mobile robot from the image signal received from the camera 130. Here, the mobile robot detection unit 142 may detect the mobile robot object based on data previously learned by machine learning.

The distance detection unit 143 detects a prediction distance corresponding to the degree to which the mobile robot is spaced from the camera based on the image signal and the mobile robot object, and the distance between the mobile robot and the indoor unit based on the height of the camera and the detected prediction distance. It detects the horizontal distance corresponding to the level.

The indoor unit position detection unit 144 receives the mobile robot coordinate values from the mobile robot interface 120 and obtains the indoor unit coordinate values corresponding to the points where the indoor units are placed on the environment map based on the environment map, the mobile robot coordinate values, and the horizontal distance. To detect.

Here, the indoor unit position detecting unit 144 is the first and second horizontal distance, and the first and second image signals detected from the first and second image signals corresponding to the mobile robots of different positions according to the travel of the mobile robot The indoor and outdoor coordinate values may be detected based on the first and second mobile robot coordinate values corresponding to and the environment map.

The map conversion unit 145 generates a conversion environment map consisting of coordinates using indoor unit coordinates as reference points.

The area detection unit 146 detects a direct reach area in which the discharge air stream reaches a straight path among the conversion environment maps based on the conversion environment map and the wind direction range in the horizontal direction of the discharge air stream. In addition, when the conversion environment map and the direct arrival area are different from each other, the area detection unit 146 detects the remaining blind spot area excluding the direct arrival area among the conversion environment maps.

The linear airflow path generation unit 147a generates a straight airflow path corresponding to the direct reach area. Here, the direct reach area is made up of points where the discharge air stream reaches a straight path. The straight airflow path may include the intensity and wind direction of the discharge airflow corresponding to each point of arrival in the direct reach area.

For example, the linear airflow path generation unit 147a detects a direct separation distance between each arrival point of the edge facing the indoor unit 10a and the indoor unit 10a in the direct reach area, based on the conversion environment map, and each The intensity of the discharge stream can be set based on the direct separation distance of the arrival point. Here, the arrival point represents a destination to which the discharge air stream is reached in the direct reach area.

Then, the linear airflow path generation unit 147a detects the separation angle of each arrival point relative to the indoor unit 10a based on the conversion environment map, and based on the separation angle of each arrival point, determines the wind direction in the horizontal direction of the discharge stream. Can be set.

In addition, the linear airflow path generation unit 147a may detect structures disposed at each point of arrival based on the conversion environment map, and may set the vertical direction of the discharge airflow according to whether the structure is detected and the height of the structure.

The bypass airflow path generation unit 147b generates a bypass airflow path corresponding to the blind spot area. Here, the bypass airflow path consists of a path that indirectly guides the discharge airflow to the blind area by the edge of the indoor space (IS).

For example, the bypass airflow path generation unit 147b selects a bypass point facing any one of the blind spot areas of the blind spot area at the edge of the indoor space IS based on the conversion environment map. Then, the bypass airflow path generation unit 147b detects the first separation distance between the bypass point and the indoor unit and the second separation distance between the bypass point and the blind spot based on the conversion environment map, and the first and second separation distances. The intensity of the discharge stream can be set based on the distance.

In addition, the bypass airflow path generation unit 147b detects the separation angle of the bypass point relative to the indoor unit 10a based on the conversion environment map, and can set the horizontal direction of the discharge airflow based on the separation angle of the bypass point. have.

In addition, the bypass airflow path generation unit 147b may detect the structure disposed at the bypass point based on the conversion environment map, and set the vertical direction of the discharge airflow according to whether the structure is detected and the height of the structure.

Thus, airflow path information for automatic control including at least a straight airflow path is generated.

Alternatively, when a blind spot area is detected, airflow path information for automatic control includes a straight airflow path and a bypass airflow path.

The airflow path holding unit 148 holds airflow path information for automatic control.

The airflow control signal generation unit 149 generates an airflow control signal for controlling at least one of the wind direction and intensity of the discharge airflow based on the airflow path information for automatic control of the airflow path holding unit 148.

Then, the airflow control signal generation unit 149 transmits an airflow control signal to at least one of the indoor fan motor 113, the vane 111, and the louver 112.

Next, a control method of an air conditioner according to an embodiment of the present invention will be described.

4 is a view showing a method of controlling the discharge air flow by the control unit of FIG. 3 according to an embodiment of the present invention. FIG. 5 is a view showing a step of receiving the environment map of FIG. 4 and a step of receiving an image signal. FIG. 6 is a diagram illustrating steps of generating airflow path information for automatic control of FIG. 4.

7 to 12 are views illustrating an example of an environment map, an indoor unit, and a mobile robot in an indoor space for explaining some steps of FIGS. 5 and 6.

In the control method of the air conditioner according to an embodiment of the present invention, the control unit 140 provided in the indoor unit 100 controls the discharge airflow discharged from the air discharge port 110 of the indoor unit 100 to the indoor space IS. How to do. For example, the intensity of the discharge stream may be controlled by the rotational speed of the indoor fan motor 113 provided in the indoor unit 100, and the wind direction in the vertical direction of the discharge stream may be controlled by the arrangement angle of the vane 111. In addition, the wind direction in the horizontal direction of the discharge stream may be controlled by the arrangement angle of the louver 112.

As shown in Figure 4, the control method of the air conditioner according to an embodiment of the present invention is provided from the indoor unit 100 and moved from the mobile robot interface 120 associated with the mobile robot disposed in a predetermined indoor space Receiving an environmental map of the robot (S100), receiving an image signal for the indoor space (IS) from the camera 130 provided in the indoor unit (S200) and the indoor environment based on the environmental map and the image signal And generating the airflow path information for automatic control corresponding to the structure of the space IS (S300). Here, the airflow path information for automatic control is for automatically controlling the discharge airflow discharged into the indoor space (IS), and includes information on the intensity and wind direction for reaching the discharge airflow to each point in the indoor space (IS). .

Then, in the control method of the air conditioner, after generating the airflow path information for automatic control (S300), an airflow control signal for controlling at least one of the wind direction and intensity of the discharge airflow is generated based on the airflow path information for automatic control. Step (S400), and the indoor fan motor 113 corresponding to the intensity of the discharge stream, the vane 111 corresponding to the vertical direction of the discharge stream and the louver 112 corresponding to the horizontal direction of the discharge stream Further comprising the step (S500) of supplying an air flow control signal to at least one of.

The control method of the air conditioner is (A) before generating airflow path information for automatic control, receiving a start command for driving from the user interface 150 (S101), and receiving an airflow control command from the user interface 150. Step (S102), it may further include a step (S103) of checking whether or not the airflow path information for automatic control for automatic airflow control is retained.

That is, when the driving start command is received from the user interface 150 (S101), the openings of the air intake and air discharge ports 110 may be indicated. Then, upon receiving the automatic air flow control command from the user interface 150 (S102), it is checked whether the air flow path information for automatic control for supplying the discharge air flow evenly to each point of the indoor space IS is retained. (S103)

At this time, when the drive start command is received (S101), and the airflow path holding unit 148 holds the airflow path information for automatic control (S103), the airflow control signal generation unit 149 is a previously held airflow path for automatic control An airflow control signal can be generated based on the information. (S400)

On the other hand, when the airflow automatic control command is received (S102), and the airflow path holding unit 148 does not hold the airflow path information for automatic control (S103), the process of generating airflow path information for automatic control is started. (A)

In addition, even when the airflow path update command is received from the user interface 150 while the indoor unit is driving (S105), the process of generating airflow path information for automatic control may be started. (A)

For example, as illustrated in FIG. 5, when the process of generating airflow path information for automatic control is started (A), the controller 140 transmits an airflow path generation start signal to the mobile robot interface 120 and the camera 130. do. (S110)

The mobile robot interface 120 transmits and receives a link signal with the mobile robot 200 based on the airflow path generation start signal. (S120) As an example, when the mobile robot interface 120 transmits a connection request signal and receives a connection response signal from the mobile robot 200, it may be considered that the connection with the mobile robot is successful.

Thus, the mobile robot interface 120 completes detection of the mobile robot 200 that is being driven indoors. (S130)

Subsequently, the mobile robot interface 120 receives a map response signal including the environment map of the mobile robot 200 from the detected mobile robot 200. (S140) As an example, the mobile robot interface 120 transmits a map request signal to the detected mobile robot 200, and receives a map response signal including an environment map of the mobile robot 200 from the mobile robot 200. Can.

Subsequently, the mobile robot interface 120 transmits an environment map of the mobile robot 200 to the control unit 140 based on the map response signal. (S100)

Accordingly, the control unit 140 receives the environment map of the mobile robot 200 from the mobile robot interface 120, and the environment map holder 141 of the control unit 140 receives the mobile map received from the mobile robot interface 120. Have 200 environmental maps.

The camera 130 acquires the first image signal based on the airflow path generation start signal. (S210) And, the camera 130 transmits the acquired first image signal to the control unit 140. (S200) Accordingly, the mobile robot detection unit 142 and the distance detection unit 143 of the control unit 140 receives the first image signal.

The camera 130 transmits a coordinate request signal to the mobile robot 200 through the mobile robot interface 120 at the time of acquiring the first image signal. (S211)

The mobile robot 200 stores coordinate values of a point located while driving on the environment map based on the coordinate request signal. Then, the mobile robot 200 transmits a coordinate providing signal including the stored coordinate values to the mobile robot interface 120. (S212) At this time, the mobile robot 200 may maintain driving driving.

The mobile robot interface 120 detects a first mobile robot coordinate value corresponding to the first image signal based on the coordinate providing signal, and detects the detected first mobile robot coordinate value by the indoor unit position detecting unit 144 of the controller 140 To pass. (S213)

Subsequently, the camera 130 acquires the second video signal after a predetermined period has elapsed since the time at which the first video signal was acquired. (S230) At this time, since the mobile robot 200 maintains driving driving, the second video signal displays the mobile robot 200 located at a different point from the first video signal.

Then, the camera 130 transmits the acquired second image signal to the controller 140. (S200') Accordingly, the mobile robot detection unit 142 and the distance detection unit 143 of the control unit 140 receives the second image signal.

In addition, the camera 130 transmits a coordinate request signal to the mobile robot 200 through the mobile robot interface 120 at the time of acquiring the second image signal. (S231)

The mobile robot 200 stores coordinate values of a point located while driving on the environment map based on the coordinate request signal. Then, the mobile robot 200 transmits a coordinate providing signal including the stored coordinate values to the mobile robot interface 120. (S232)

The mobile robot interface 120 detects a second mobile robot coordinate value corresponding to the second image signal based on the coordinate providing signal, and detects the detected second mobile robot coordinate value by the indoor unit position detection unit 144 of the controller 140 To pass. (S233)

As shown in FIG. 6, the step (S300) of generating airflow path information for automatic control includes detecting a first mobile robot object corresponding to the mobile robot 200 from the first image signal (S311 ), and the first image. Based on the signal and the first mobile robot object, the mobile robot 200 detects a first predicted distance corresponding to the distance from the camera 130, and moves based on the height of the camera 130 and the first predicted distance The robot 200 detects a first horizontal distance corresponding to the degree of separation from the indoor unit 10a (S321), and detects a second mobile robot object corresponding to the mobile robot 200 from the second image signal. (S312), based on the second image signal and the second mobile robot object, the mobile robot 200 detects a second predicted distance corresponding to the degree of separation from the camera 130, and the height and height of the camera 130 2 Based on the predicted distance, the mobile robot 200 detects a second horizontal distance corresponding to the degree of separation from the indoor unit 10a (S322), and the first and second image signals from the mobile robot interface 120 Receiving the corresponding first and second mobile robot coordinate values, and corresponding to the point where the indoor unit 10a is located on the environmental map based on the environmental map, the first and second mobile robot coordinate values, and the first and second horizontal distances Detecting an indoor unit coordinate value (S330), converting an environment map to generate a conversion environment map composed of coordinates using indoor unit coordinate values as a reference point (S340), and converting it based on a horizontal wind direction range of the discharge air stream Detecting a direct reach area in which the discharge air flows in a straight path among environmental maps (S350), Detecting a blind spot area, excluding the direct reach area of the converted environment map (S360), corresponding to the direct reach area Generating a straight airflow path (S371), when a blind spot area is detected (S360), generating a bypass airflow path corresponding to the blind spot area (S372), and automatic control airflow including at least a straight airflow path It may include the step of generating the route information (S380). have.

Upon receiving the first image signal from the camera 130, the mobile robot detector 142 of the control unit 140 detects the first mobile robot object corresponding to the mobile robot 200 from the first image signal. (S311) Here, the mobile robot detection unit 142 may detect the mobile robot object based on the data learned by machine learning.

Then, the distance detection unit 143 detects a first predicted distance corresponding to the degree to which the mobile robot 200 is separated from the camera 130 based on the first image signal and the first mobile robot object, and the height of the camera and Based on the first predicted distance, a first horizontal distance corresponding to the spaced distance between the mobile robot 200 and the indoor unit 10a is detected. (S321)

As an example, as illustrated in FIG. 7, the distance detector 143 detects a first predicted distance (PD) to a first mobile robot object according to the accumulation of each pixel using image analysis logic. Then, the first horizontal distance (HD) corresponding to the camera height (CH) and the first prediction distance PD is detected using the Pythagorean formula. For example, the first horizontal distance HD may be derived by the following equation.

Thereafter, when the second video signal is received from the camera 130, the mobile robot detection unit 142 of the control unit 140 detects the second mobile robot object corresponding to the mobile robot 200 from the second video signal. (S312) Here, the mobile robot detection unit 142 may detect the mobile robot object based on the data learned by machine learning.

Then, the distance detecting unit 143 detects a second predicted distance corresponding to the degree to which the mobile robot 200 is separated from the camera 130 based on the second image signal and the second mobile robot object, and the height of the camera and Based on the second prediction distance, a second horizontal distance corresponding to the spaced distance between the mobile robot 200 and the indoor unit 10a is detected. (S322)

Next, the indoor unit position detecting unit 144, the environment map held in the environment map holding unit 141, the first and second mobile robot coordinate values received from the mobile robot interface 120, the first and second horizontal distance Based on the environment map, the indoor unit coordinate value corresponding to the point at which the indoor unit 10a is disposed is detected. (S330)

For example, as illustrated in FIG. 8, the environment map 300 of the mobile robot 200 is disposed in the structure 301 and the indoor space IS of the indoor space IS in which the mobile robot 200 travels. The structure 302 can be displayed. Here, the structure 302 may include various furniture and electronic devices that hinder the movement of the mobile robot 200. That is, when the indoor unit 10a is disposed in the indoor space IS, the environment map 300 may display the indoor unit 10a.

Then, in the step (S330) of detecting the indoor unit coordinate value, the indoor unit position detection unit 144 estimates the first spaced distance from the environment map 300 to the first mobile robot coordinate value MR1 and the first horizontal distance HD1. The points are detected and the second estimated points separated by the second mobile robot coordinate value MR2 and the second horizontal distance HD2 are detected. In addition, a point at which the first and second estimated points intersect may be derived as the indoor unit coordinate value, which is the point at which the indoor unit 10a is located.

Thereafter, the map conversion unit 145 converts the reference point of the coordinates of the environment map stored in the environment map holding unit 141 to indoor unit coordinate values, thereby generating a converted environment map. (S340)

The area detection unit 146 detects a direct reach area in which the discharge stream reaches a straight path in the conversion environment map based on the horizontal direction of the discharge stream according to the arrangement angle range of the louver 112. (S350)

In addition, as illustrated in FIG. 10, when the entire area 301 of the conversion environment map is larger than the direct arrival area 310, the area detection unit 146 is a rectangle that is the rest of the conversion environment map excluding the direct arrival area 310. The zone area 320 is detected. (S360)

As shown in FIG. 11, the straight airflow path generation unit 147a generates a straight airflow path 311 corresponding to the direct reach area 310. (S371) Here, the straight airflow path 311 may include the intensity and wind direction of the discharge airflow corresponding to each point of arrival in the direct reach area.

For example, the linear airflow path generation unit 147a detects a direct separation distance between each arrival point of the edge facing the indoor unit 10a and the indoor unit 10a in the direct reach area, based on the conversion environment map, and each The intensity of the discharge stream can be set based on the direct separation distance of the arrival point. Here, the arrival point represents a destination to which the discharge air stream is reached in the direct reach area.

Then, the linear airflow path generation unit 147a detects the separation angle of each arrival point relative to the indoor unit 10a based on the conversion environment map, and based on the separation angle of each arrival point, determines the wind direction in the horizontal direction of the discharge stream. Can be set.

In addition, the linear airflow path generation unit 147a may detect structures disposed at each point of arrival based on the conversion environment map, and may set the vertical direction of the discharge airflow according to whether the structure is detected and the height of the structure.

As illustrated in FIG. 12, when the blind spot area 320 is detected (S360 ), the bypass airflow path generation unit 147b generates a bypass airflow path 321 corresponding to the blind spot area 320. (S372) Here, the bypass airflow path 321 is made of a path that indirectly guides the discharge airflow to the blind area by the edge of the indoor space (IS).

For example, the bypass airflow path generation unit 147b selects a bypass point facing any one of the blind spot areas of the blind spot area at the edge of the indoor space IS based on the conversion environment map. Then, the bypass airflow path generation unit 147b detects the first separation distance between the bypass point and the indoor unit and the second separation distance between the bypass point and the blind spot based on the conversion environment map, and the first and second separation distances. The intensity of the discharge stream can be set based on the distance.

In addition, the bypass airflow path generation unit 147b detects the separation angle of the bypass point relative to the indoor unit 10a based on the conversion environment map, and can set the horizontal direction of the discharge airflow based on the separation angle of the bypass point. have.

In addition, the bypass airflow path generation unit 147b may detect the structure disposed at the bypass point based on the conversion environment map, and set the vertical direction of the discharge airflow according to whether the structure is detected and the height of the structure.

Thus, airflow path information for automatic control including at least a straight airflow path is generated. (S380)

That is, when a blind spot area is not detected (S360), the airflow path information for automatic control includes only a straight airflow path. On the other hand, when a blind spot area is detected (S360), the airflow path information for automatic control includes a straight airflow path and a bypass airflow path.

The generated airflow path information for automatic control is transmitted to the airflow path holding unit 148, and the airflow path holding unit 148 holds the airflow path information for automatic control. (S301 in Fig. 4)

Thereafter, the airflow control signal generation unit 149 of the control unit 140 generates an airflow control signal based on the airflow path information for automatic control held in the airflow path holding unit 148. (S400) Here, the air flow control signal may be a signal indicating the wind direction or intensity for reaching the discharge air stream to each point in the indoor space.

Next, the airflow control signal generation unit 149 supplies an airflow control signal to at least one of the indoor fan motor 113, the vane 111, and the louver 112. (S500)

As described above, according to an embodiment of the present invention, the indoor unit 10a receives an environmental map from the mobile robot 200 disposed together with the indoor unit 10a in the indoor space IS, and the indoor robot 10a By controlling the discharge stream based on the environment map, it is possible to provide the discharge stream corresponding to the structure of the indoor space.

That is, according to the structure of the indoor space, there is an advantage in that the intensity and wind direction for reaching the discharge air stream to each point of the indoor space can be set.

And, according to an embodiment of the present invention, the discharge airflow in the environment map of the mobile robot 200 based on the arrangement angle range of the louver 112 corresponding to the wind direction in the horizontal direction of the discharge airflow is to be reached in a straight path Unable to detect blind spot areas. In addition, by creating a bypass airflow path, which is a path indirectly guiding the discharge airflow to the blind spot area by the edge of the interior space, it is possible to minimize the area in which the discharge airflow is not reached in the interior space.

As a result, the indoor space can be made generally comfortable.

The above-described present invention, the above-described embodiments and the accompanying drawings because it is possible for a person having ordinary knowledge in the technical field to which the present invention pertains to various substitutions, modifications and changes without departing from the technical spirit of the present invention It is not limited by.

10: air conditioner
10a: indoor unit 10b: outdoor unit
10c: remote control 10d: refrigerant tube
110: air outlet 111: vane
112: Louver
120: mobile robot interface
130: camera
200: mobile robot

Claims (11)

In the air conditioner including an indoor unit disposed in a predetermined indoor space,
The indoor unit
A mobile robot interface that receives an environment map from the mobile robot disposed in the intramural space;
A camera that acquires a video signal for the indoor space; And
And an air conditioner for generating airflow path information for automatic control corresponding to the structure of the indoor space based on the environment map and the image signal.
According to claim 1,
The control unit
An environment map holding unit for holding an environment map received from the mobile robot interface;
A mobile robot detector configured to detect a mobile robot object corresponding to the mobile robot from the image signal received from the camera;
Based on the image signal and the mobile robot object, the mobile robot detects a predicted distance corresponding to the distance from the camera, and based on the height of the camera and the predicted distance, the horizontal between the mobile robot and the indoor unit A distance detector for detecting a distance;
When acquiring the image signal from the mobile robot interface, the mobile robot coordinate values corresponding to the point where the mobile robot is located are received, and the indoor unit is displayed on the environment map based on the environment map, the mobile robot coordinate values, and the horizontal distance. The indoor unit position detection unit detects the indoor unit coordinate values corresponding to the arranged position;
A map conversion unit generating a conversion environment map consisting of coordinates using the indoor unit coordinates as a reference point;
An area for detecting a direct reach area in which the discharge air stream reaches a straight path and a blind spot area other than the direct reach area of the conversion environment map based on a horizontal direction direction of the discharge air stream discharged from the indoor unit. Detection unit;
A straight airflow path generation unit generating a straight airflow path corresponding to the direct reach area;
A bypass airflow path generation unit generating a bypass airflow path corresponding to the blind spot area; And
An air conditioner comprising an airflow path holding portion for holding an airflow path for automatic control including at least the straight airflow path.
According to claim 2,
The camera transmits a coordinate request signal to the mobile robot through the mobile robot interface when acquiring the image signal,
When the mobile robot interface receives a coordinate providing signal corresponding to the coordinate request signal from the mobile robot, the air conditioner delivers the mobile robot coordinate values to the indoor unit position detection unit based on the coordinate providing signal.
According to claim 2,
When the area detection unit detects the blind spot area, the airflow path for automatic control includes the straight airflow path and the bypass airflow path,
The bypass airflow path is an air conditioner consisting of a path for guiding the discharge airflow to the blind spot area indirectly by an edge of the indoor space.
According to claim 2,
The control unit
And an airflow control signal generator configured to generate an airflow control signal for controlling at least one of wind direction and intensity of the discharge airflow based on the airflow path information for automatic control.
The method of claim 5,
The control unit
Air conditioning to supply the airflow control signal to at least one of an indoor fan motor corresponding to the intensity of the discharge stream, a vane corresponding to a vertical direction of the discharge stream, and a louver corresponding to a horizontal direction of the discharge stream. group.
Receiving an environment map of the mobile robot from a mobile robot interface provided with an indoor unit and connected to a mobile robot disposed in a predetermined indoor space;
Receiving an image signal for the indoor space from a camera provided in the indoor unit; And
And generating airflow path information for automatic control for automatically controlling a discharge stream discharged into the indoor space and corresponding to the structure of the indoor space based on the environment map and the image signal. .
The method of claim 7,
Generating an airflow control signal for controlling at least one of the wind direction and intensity of the discharge airflow based on the airflow path information for the automatic control; And
Supplying the airflow control signal to at least one of an indoor fan motor corresponding to the intensity of the discharge stream, a vane corresponding to a vertical wind direction of the discharge stream, and a louver corresponding to a horizontal wind direction of the discharge stream; Control method of the air conditioner further comprising.
The method of claim 7,
Prior to the step of receiving the environmental map,
Further comprising the step of receiving an airflow control command from the user interface, and if the airflow path holding unit does not hold the airflow path information for the automatic control, transmitting an airflow path generation start signal to the mobile robot interface and the camera,
The camera acquires first and second image signals at different time points based on the airflow path generation start signal, and transmits a coordinate request signal to each of the first and second image signals through the mobile robot interface. To the mobile robot,
The mobile robot interface detects the mobile robot, receives the environment map from the mobile robot, receives a coordinate providing signal corresponding to the coordinate request signal from the mobile robot, and based on the coordinate providing signal. A control method of an air conditioner for transmitting coordinate values of first and second mobile robots corresponding to the first and second image signals to a control unit.
The method of claim 9,
Receiving the automatic airflow control command and generating the airflow control signal based on the airflow path information for automatic control held in the airflow path holding unit when the airflow path holding unit holds the airflow path information for automatic control. Control method of the air conditioner comprising.
The method of claim 9,
The step of generating airflow path information for automatic control is
Detecting a first mobile robot object corresponding to the mobile robot from the first image signal;
Based on the first video signal and the first mobile robot object, the mobile robot detects a first prediction distance corresponding to the distance from the camera, and moves based on the height of the camera and the first prediction distance. Detecting, by the robot, a first horizontal distance corresponding to a degree spaced from the indoor unit;
Detecting a second mobile robot object corresponding to the mobile robot from the second image signal;
Based on the second video signal and the second mobile robot object, the mobile robot detects a second prediction distance corresponding to the distance from the camera, and moves based on the height of the camera and the second prediction distance. Detecting, by the robot, a second horizontal distance corresponding to a degree spaced apart from the indoor unit;
Detecting an indoor unit coordinate value corresponding to a point at which the indoor unit is disposed on the environment map based on the environment map, the first and second mobile robot coordinate values, and the first and second horizontal distances;
Converting the environment map to generate a converted environment map consisting of coordinates using the indoor unit coordinate values as a reference point;
Detecting a direct reach area in which the discharge stream reaches a straight path among the converted environment maps based on a horizontal direction range of the discharge stream;
Generating a straight airflow path corresponding to the direct reach area;
Generating a bypass airflow path corresponding to the blind spot area when a blind spot area remaining in the converted environment map other than the direct reach area is detected; And
Generating the airflow path information for automatic control including at least the straight airflow path,
When the blind spot area is detected, the airflow path information for automatic control includes the straight airflow path and the bypass airflow path,
In the step of generating the bypass airflow path, the bypass airflow path is an air conditioner control method comprising a path indirectly guiding the discharge airflow to the blind spot by the edge of the room.

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