CN109307346A - A kind of air purifying robot location method - Google Patents
A kind of air purifying robot location method Download PDFInfo
- Publication number
- CN109307346A CN109307346A CN201811132670.3A CN201811132670A CN109307346A CN 109307346 A CN109307346 A CN 109307346A CN 201811132670 A CN201811132670 A CN 201811132670A CN 109307346 A CN109307346 A CN 109307346A
- Authority
- CN
- China
- Prior art keywords
- 1000ths
- robotic arm
- less
- difference
- air purifying
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2110/00—Control inputs relating to air properties
- F24F2110/50—Air quality properties
- F24F2110/64—Airborne particle content
Abstract
The present invention discloses a kind of air purifying robot location method, includes the following steps: firstly, system initialization；Secondly, calculating PM2.5 difference；Then, judge whether above-mentioned PM2.5 difference percentage is less than critical value 5/1000ths；When such as less than 5/1000ths, robotic arm is horizontally rotated, continue the close quarters for capturing PM2.5, until being greater than this critical value；Again, PM2.5 close quarters are captured, then vehicle-carried mobile system；The robotic arm end big to PM2.5 numerical value is mobile；Finally, judging that region PM2.5 difference whether less than 5/1000ths, repeats step 3).The present invention is by meeting the needs of pure air in people's scope of activities.
Description
Technical field
The present invention relates to air cleaning facility technical fields, are related to a kind of air purifying robot location method.
Background technique
In manual more more and more universal today, intelligent appliance also gradually starts to popularize.PM2.5 has very big at present
Harmfulness.At present solve indoor accelerated test excessive concentration solution first is that using air purifier.It is all kinds of net in the market
It is various to change equipment.Since to be compared to fresh air system easier for installation for air purifier, occupied area is small and detergent power
The advantages that strong.The air purifier of commercial type at present, mostly static air clarifier can not be adjusted based on hommization
Section.
Summary of the invention
It is an object of the invention to solve the problems, such as current house resident concern, a kind of air purifying robot shifting is proposed
Motion positioning method.
The present invention is the technical issues of solution in the prior art, and the technical solution of proposition is as follows: a kind of air cleaning machine
People's location method, includes the following steps:
1) system initialization；
2) PM2.5 difference is calculated；
3) judge whether above-mentioned PM2.5 difference percentage is less than critical value 5/1000ths；
4) such as less than 5/1000ths when, horizontally rotate robotic arm, continue capture PM2.5 close quarters, until be greater than this
Critical value；
5) PM2.5 close quarters are captured, then vehicle-carried mobile system；
6) mobile to the big robotic arm end of PM2.5 numerical value；
7) judge that region PM2.5 difference whether less than 5/1000ths, repeats step 3) again.
The robotic arm height adjustable extent control is in 0.45-2.7m.
The two-arm rotational angle of the robotic arm is adjustable at 0-270 °.
The prior art is compared, the beneficial effects of the present invention are:
1, the present invention is by meeting the needs of pure air in people's scope of activities.
2, the present invention is provided with mobile hairbrush in cleaning equipment inlet and effectively stops outdoor particulate matter invasion interior,
It makes full use of space to increase filter area, promotes effective Clean air delivery rate.
4, the present invention can realize hommization, intelligent demand according to the mobile air purifying robot of pollutant concentration.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention.
Fig. 2 is present device structural schematic diagram.
Fig. 3 is control system logic control chart of the invention.
Appended drawing reference: 1-PM2.5 sensor, 2-hairbrush, 3-microprocessors, 4-programmable controllers, 5-is mobile
Onboard system, 6-temperature sensors, 7-fans, 8-cleaning equipments, 9-robotic arms, 10- wheel.
Specific embodiment
Technical solution of the present invention is described in further detail in the following with reference to the drawings and specific embodiments, it is described specific
Embodiment is only explained the present invention, is not intended to limit the invention.
As shown in Figure 1, a kind of air purifying robot location method, includes the following steps:
1) system initialization；
2) PM2.5 difference is calculated；
3) judge whether above-mentioned PM2.5 difference percentage is less than critical value 5/1000ths；
4) such as less than 5/1000ths when, horizontally rotate robotic arm, continue capture PM2.5 close quarters, until be greater than this
Critical value；
5) PM2.5 close quarters are captured, then vehicle-carried mobile system；
6) mobile to the big robotic arm end of PM2.5 numerical value；
7) judge that region PM2.5 difference whether less than 5/1000ths, repeats step 3) again.
As shown in Figures 2 and 3, a kind of air purifying robot that position adjusts in real time, including cleaning equipment 8, it is described net
The top for changing equipment 8 is provided with fan 7, and the entrance of the cleaning equipment 8 is arranged on top, and inlet is provided with hairbrush 2, prevents
Only particulate matter blocks.The cleaning equipment 8 is set in vehicle-carried mobile system 5, and 8 two sides of cleaning equipment are provided with free work
Dynamic robotic arm 9, the adjustable extent of robotic arm height described in the present embodiment is in 0.45-2.7m, the upper and lower arm of the robotic arm
Angle is adjustable at 0-270 °, and the end of described two movable robotic arms 9 is provided with PM2.5 sensor 1, and the PM2.5 is passed
1 data of sensor are transmitted to microprocessor 3, and the microprocessor 3 is transmitted according to the 1 data difference signal of PM2.5 sensor is obtained
To programmable controller 4, control vehicle-carried mobile system 5 and move, realize moving horizontally for cleaning equipment 8, the microprocessor 3 with
Mobile phone remote monitoring terminal (APP) is communicated by bluetooth approach, mobile data terminals control cleaning equipment start and stop and
The movement of robot.Microprocessor 3 described in the present embodiment uses STM32F103 microprocessor；The PM2.5 sensor 1 is adopted
The model PMS5003G5PM2.5 laser sensor produced with Britain Alpha.Several temperature are distributed on the cleaning equipment 8
Sensor 6 is spent, temperature sensor congratulates Li Shi PT-100 temperature sensor using Germany.
6 data of temperature sensor are transferred directly to microprocessor 3, and programmable controller 4 controls fan operation or closes
Close cleaning equipment:
If (a) numerical value is less than or equal to 20 degrees Celsius, for winter mode, fan is opened；
(a) concentration for passing through PM2.5 sensor on-line checking pollutant, if cleaning equipment is automatically closed in acceptability limit；
If not continuing to be delayed if acceptability limit.
The robotic arm height adjustable extent control is in 0.45-2.7m.
The two-arm rotational angle of the robotic arm is adjustable at 0-270 °.
Claims (3)
1. a kind of air purifying robot location method, which comprises the steps of:
1) system initialization；
2) PM2.5 difference is calculated；
3) judge whether above-mentioned PM2.5 difference percentage is less than critical value 5/1000ths；
4) such as less than 5/1000ths when, horizontally rotate robotic arm, continue the close quarters for capturing PM2.5, this is critical until being greater than
Value；
5) PM2.5 close quarters are captured, then vehicle-carried mobile system；
6) mobile to the big robotic arm end of PM2.5 numerical value；
7) judge that region PM2.5 difference whether less than 5/1000ths, repeats step 3) again.
2. a kind of air purifying robot location method according to claim 1, which is characterized in that the robotic arm
Height adjustable extent is controlled in 0.45-2.7m.
3. a kind of air purifying robot location method according to claim 1, which is characterized in that the robotic arm
Two-arm rotational angle it is adjustable at 0-270 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811132670.3A CN109307346A (en) | 2018-09-27 | 2018-09-27 | A kind of air purifying robot location method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811132670.3A CN109307346A (en) | 2018-09-27 | 2018-09-27 | A kind of air purifying robot location method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109307346A true CN109307346A (en) | 2019-02-05 |
Family
ID=65224297
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811132670.3A Pending CN109307346A (en) | 2018-09-27 | 2018-09-27 | A kind of air purifying robot location method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109307346A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101694312A (en) * | 2009-10-20 | 2010-04-14 | 泰怡凯电器(苏州)有限公司 | Intelligent automatic air processing device and air processing method thereof |
| CN101972128A (en) * | 2010-04-15 | 2011-02-16 | 雷学军 | Bionic intelligent air purification robot |
| CN204476465U (en) * | 2015-02-13 | 2015-07-15 | 济宁安通自控设备有限公司 | Mine safety monitoring night watching robot |
| CN105546676A (en) * | 2016-02-04 | 2016-05-04 | 昆山威胜干燥剂有限公司 | Indoor air purifier capable of intelligently moving and control method thereof |
| CN106378008A (en) * | 2016-08-30 | 2017-02-08 | 光大置业有限公司 | Toilet cleaning device |
| CN107883496A (en) * | 2017-12-12 | 2018-04-06 | 天津城建大学 | Mobile type indoor study on microenvironment regulation robot |
-
2018
- 2018-09-27 CN CN201811132670.3A patent/CN109307346A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101694312A (en) * | 2009-10-20 | 2010-04-14 | 泰怡凯电器(苏州)有限公司 | Intelligent automatic air processing device and air processing method thereof |
| CN101972128A (en) * | 2010-04-15 | 2011-02-16 | 雷学军 | Bionic intelligent air purification robot |
| CN204476465U (en) * | 2015-02-13 | 2015-07-15 | 济宁安通自控设备有限公司 | Mine safety monitoring night watching robot |
| CN105546676A (en) * | 2016-02-04 | 2016-05-04 | 昆山威胜干燥剂有限公司 | Indoor air purifier capable of intelligently moving and control method thereof |
| CN106378008A (en) * | 2016-08-30 | 2017-02-08 | 光大置业有限公司 | Toilet cleaning device |
| CN107883496A (en) * | 2017-12-12 | 2018-04-06 | 天津城建大学 | Mobile type indoor study on microenvironment regulation robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190205 |