CN112286196A - Air purification robot based on automatic driving technology - Google Patents
Air purification robot based on automatic driving technology Download PDFInfo
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- CN112286196A CN112286196A CN202011188052.8A CN202011188052A CN112286196A CN 112286196 A CN112286196 A CN 112286196A CN 202011188052 A CN202011188052 A CN 202011188052A CN 112286196 A CN112286196 A CN 112286196A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- 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
- F24F11/50—Control or safety arrangements characterised by user interfaces or communication
- F24F11/56—Remote control
- F24F11/58—Remote control using Internet communication
-
- 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
- F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
- F24F11/63—Electronic processing
- F24F11/64—Electronic processing using pre-stored data
-
- 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
- F24F11/89—Arrangement or mounting of control or safety devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F3/00—Air-conditioning systems in which conditioned primary air is supplied from one or more central stations to distributing units in the rooms or spaces where it may receive secondary treatment; Apparatus specially designed for such systems
- F24F3/12—Air-conditioning systems in which conditioned primary air is supplied from one or more central stations to distributing units in the rooms or spaces where it may receive secondary treatment; Apparatus specially designed for such systems characterised by the treatment of the air otherwise than by heating and cooling
- F24F3/16—Air-conditioning systems in which conditioned primary air is supplied from one or more central stations to distributing units in the rooms or spaces where it may receive secondary treatment; Apparatus specially designed for such systems characterised by the treatment of the air otherwise than by heating and cooling by purification, e.g. by filtering; by sterilisation; by ozonisation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating
Abstract
The invention provides an air purification robot based on an automatic driving technology, which belongs to the field of air purification equipment and comprises a navigation module and an air processing module; the navigation module realizes autonomous navigation and active obstacle avoidance of the robot and finds a centralized air quality problem; and the air processing module judges the air quality from different directions around the robot and selects the direction with the largest problem to purify the air. The invention can judge the concentrated zone of the abnormal air according to a plurality of air quality detection modules, thereby autonomously going to and actively purifying the air in the area.
Description
Technical Field
The invention relates to air purification equipment, in particular to an air purification robot based on an automatic driving technology.
Background
At the present stage, an automatic driving technology is rapidly developed, navigation based on sensors such as a GPS, a radar, a camera and an IMU is increasingly abundant in obstacle avoidance frames, but if the automatic driving technology is used in actual traffic, in order to guarantee personal safety, a scheme capable of actually getting on the road is not mature enough, and more optimization and practical adjustment are needed. If the complex automatic driving technology is subjected to function elimination and optimization and then applied to a proper small scene, the development of other equipment can be promoted, human resources can be saved, and the improvement of the technology can be promoted. The air purifier commonly used in our life can only be fixed at a certain place, and needs a fixed power supply, even if the larger volume has larger throughput, the air purifier can only be limited in a range or a room, if a plurality of rooms exist, each room needs to be equipped independently, which is very inconvenient and also occupies a large space.
Disclosure of Invention
In order to solve the technical problems, the invention provides an air purification robot based on an automatic driving technology. The air purifier is changed into a movable form, and then the size is reduced, so that the occupied area can be reduced, and the air can be conveniently purified in a proper place, so that the air purification is more flexible.
The technical scheme of the invention is as follows:
an air purification robot based on an automatic driving technology comprises a navigation module and an air processing module;
wherein the content of the first and second substances,
the navigation module is used for realizing autonomous navigation and active obstacle avoidance of the robot and finding a centralized air quality problem;
and the air processing module judges the air quality from different directions around the robot and selects the direction with the largest problem to purify the air.
Further, in the above-mentioned case,
the navigation module is divided into a path decision module and a mobile control module:
the path decision module is responsible for autonomous navigation and active obstacle avoidance according to the obstacle data and issuing a control instruction to the mobile module;
the mobile module is responsible for the movement of the robot.
The air treatment module is divided into an air quality detection module and an air purification module:
the air quality detection module is responsible for monitoring the quality of air from all directions in real time and judging the source of problematic air;
the air purification module is responsible for purifying the surrounding air.
Further, in the above-mentioned case,
the sensor of the navigation module is a laser radar, the path decision, the chassis control of the robot and the air quality are used in the processing unit, the laser radar can acquire point cloud data around the robot, the processing unit can perform path planning and obstacle avoidance according to the data of the laser radar through the path decision, and the air pollutant transmission direction can be judged according to the data of different air quality detection sensors.
In a still further aspect of the present invention,
the path decision module adopts the following steps:
before use, map construction is required to be carried out, and a movable route map is drawn;
1) the method comprises the following steps that sensors in different directions around a robot receive different air quality data Q, and the maximum problem range X of the air quality and the standard air quality U are set;
2) if the difference delta Q between the air quality of each sensor is larger than X, performing a step 3), if the difference delta Q between the air quality of each sensor is smaller than X, performing a step 4), and if the difference delta Q between the air quality of each sensor and the standard air quality U is smaller than X, stopping air purification;
3) obtaining a sensor azimuth P with the worst air quality, obtaining point cloud data A of the laser radar, and if the point cloud data A is not obtained in the direction of P, performing step 5), otherwise, performing step 6);
4) performing air purification, and then performing step 2);
5) controlling the robot to move towards the P direction, if new point cloud data A are generated in the way of the P direction, performing step 6), otherwise, waiting for reaching the target point and terminating, and then performing step 2);
6) the robot stops moving and waits for 2 seconds, point cloud data A of the laser radar is obtained again, an intersection point D of the direction right in front of the robot and the point cloud data A is taken, a straight line passing through a point D and establishing the horizontal direction and the focus of the point cloud data are respectively Z and Y, if the Z point and the Y point do not exist, the step 7) is carried out, if the Z point and the Y point do not exist, the step 8) is carried out, if the Z point and the Y point do not exist, the step 9) is carried out, and if the Z point and the Y point both exist, the step 10) is carried out;
7) judging the point cloud data on the left side and the right side according to the straight line right in front of the point D, if the point cloud data on the left side and the right side are equal in quantity, performing step 11), and if the point cloud data on the left side and the right side are not equal in quantity, performing step 12);
8) the robot moves 2R + S to the right (S is the distance between D and Z), then moves forwards to be in the same straight line with DZ, and then moves towards the target point P again and repeats the step 5);
9) the robot moves 2R + S to the left (S is the distance between D and Y), then moves forwards to be in the same straight line with DY, then moves towards the target point P again and repeats the step 5);
10) the robot rotates 90 degrees to the left and then repeats step 5);
11) the robot moves R to the left and then repeats step 5);
12) if the data volume of the point cloud on the left side is more than that of the point cloud on the right side, the robot moves R to the right and then the step 5) is repeated; if the left point cloud data is less than the right point cloud data, the robot moves R to the left and then repeats step 5).
Further, in the above-mentioned case,
and if the electric quantity is too low in the using process, an alarm is sent out to wait for shutdown charging.
Be connected to the robot through APP, carry out first setting, then 5 seconds after the start next time, can carry out air quality automatically and detect then find the relative worst position of air quality, then carry out air purification and handle.
Besides automatic navigation, the robot can be manually controlled to move through a mobile phone APP, or manually carried to a specified place to perform air purification.
The invention has the advantages that
1. Based on the automatic driving technology, the full-automatic air purification is realized;
2. the navigation module selects the laser radar to obtain the obstacle information, so that the delay of obtaining the obstacle information is reduced, and the accuracy of the information is improved;
3. the user operation is simple, and the robot can independently find a concentrated place with poor air quality, so that the user can find a pollution source and process the pollution source in time.
Drawings
Fig. 1 is a block diagram of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
The invention relates to an air purification robot based on an automatic driving technology, which consists of a navigation module and an air processing module. The main sensor of the navigation module is a laser radar, the navigation algorithm and the chassis control and air quality of the robot are used in the processing unit, the laser radar can acquire point cloud data around the robot, the processing unit can execute the navigation algorithm according to the data of the laser radar to carry out path planning and obstacle avoidance, and the air pollutant transmission direction can be judged according to the data of different air quality detection sensors, so that a problem source can be found.
The problem of how to go to the air quality concentration point independently about air purification robot. The path decision module adopts the following algorithm:
before the movable route map is used, map construction is required to be carried out, and the movable route map is drawn.
Before use, map construction is required to be carried out, and a movable route map is drawn;
1) the method comprises the following steps that sensors in different directions around a robot receive different air quality data Q, and the maximum problem range X of the air quality and the standard air quality U are set;
2) if the difference delta Q between the air quality of each sensor is larger than X, performing a step 3), if the difference delta Q between the air quality of each sensor is smaller than X, performing a step 4), and if the difference delta Q between the air quality of each sensor and the standard air quality U is smaller than X, stopping air purification;
3) obtaining a sensor azimuth P with the worst air quality, obtaining point cloud data A of the laser radar, and if the point cloud data A is not obtained in the direction of P, performing step 5), otherwise, performing step 6);
4) performing air purification, and then performing step 2);
5) controlling the robot to move towards the P direction, if new point cloud data A are generated in the way of the P direction, performing step 6), otherwise, waiting for reaching the target point and terminating, and then performing step 2);
6) the robot stops moving and waits for 2 seconds, point cloud data A of the laser radar is obtained again, an intersection point D of the direction right in front of the robot and the point cloud data A is taken, a straight line passing through a point D and establishing the horizontal direction and the focus of the point cloud data are respectively Z and Y, if the Z point and the Y point do not exist, the step 7) is carried out, if the Z point and the Y point do not exist, the step 8) is carried out, if the Z point and the Y point do not exist, the step 9) is carried out, and if the Z point and the Y point both exist, the step 10) is carried out;
7) judging the point cloud data on the left side and the right side according to the straight line right in front of the point D, if the point cloud data on the left side and the right side are equal in quantity, performing step 11), and if the point cloud data on the left side and the right side are not equal in quantity, performing step 12);
8) the robot moves 2R + S to the right (S is the distance between D and Z), then moves forwards to be in the same straight line with DZ, and then moves towards the target point P again and repeats the step 5);
9) the robot moves 2R + S to the left (S is the distance between D and Y), then moves forwards to be in the same straight line with DY, then moves towards the target point P again and repeats the step 5);
10) the robot rotates 90 degrees to the left and then repeats step 5);
11) the robot moves R to the left and then repeats step 5);
12) if the data volume of the point cloud on the left side is more than that of the point cloud on the right side, the robot moves R to the right and then the step 5) is repeated; if the left point cloud data is less than the right point cloud data, the robot moves R to the left and then repeats step 5).
If in the use, air purification robot electric quantity is low excessively can send the warning, waits to shut down and charges, owing to fill electric pile and need fixed power and area, but this robot is small, so be not suitable for autonomic charging device.
When specifically using, use for the first time, only need download corresponding APP and be connected to the robot, carry out initial setting, then 5 seconds after the start next time, can carry out air quality automatically and detect then find the relative worst position of air quality, then carry out air purification and handle. Besides automatically carrying out air, the robot can be manually controlled to move through the mobile phone APP, or manually carried to a specified place to carry out air purification work.
The robot can be applied to air purification work in daily life, is automatic and independent in the whole process, is intelligent and convenient, small in size, good in flexibility, simple to operate, quick to use and capable of better performing air purification work.
The above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (8)
1. An air purification robot based on automatic driving technology is characterized in that,
the device comprises a navigation module and an air processing module; wherein the content of the first and second substances,
the navigation module is used for realizing autonomous navigation and active obstacle avoidance of the robot and finding a centralized air quality problem;
and the air processing module judges the air quality from different directions around the robot and selects the direction with the largest problem to purify the air.
2. The robot of claim 1,
the navigation module is divided into a path decision module and a mobile control module:
the path decision module is responsible for autonomous navigation and active obstacle avoidance according to the obstacle data and issuing a control instruction to the mobile module;
the mobile module is responsible for the movement of the robot.
3. Robot according to claim 1 or 2,
the air treatment module is divided into an air quality detection module and an air purification module:
the air quality detection module is responsible for monitoring the quality of air from all directions in real time and judging the source of problematic air;
the air purification module is responsible for purifying the surrounding air.
4. A robot as claimed in claim 3,
the sensor of the navigation module is a laser radar, the path decision, the chassis control of the robot and the air quality are used in the processing unit, the laser radar can acquire point cloud data around the robot, the processing unit can perform path planning and obstacle avoidance according to the data of the laser radar through the path decision, and the air pollutant transmission direction can be judged according to the data of different air quality detection sensors.
5. Robot according to claim 4,
the path decision module adopts the following steps:
before use, map construction is required to be carried out, and a movable route map is drawn;
1) the method comprises the following steps that sensors in different directions around a robot receive different air quality data Q, and the maximum problem range X of the air quality and the standard air quality U are set;
2) if the difference delta Q between the air quality of each sensor is larger than X, performing a step 3), if the difference delta Q between the air quality of each sensor is smaller than X, performing a step 4), and if the difference delta Q between the air quality of each sensor and the standard air quality U is smaller than X, stopping air purification;
3) obtaining a sensor azimuth P with the worst air quality, obtaining point cloud data A of the laser radar, and if the point cloud data A is not obtained in the direction of P, performing step 5), otherwise, performing step 6);
4) performing air purification, and then performing step 2);
5) controlling the robot to move towards the P direction, if new point cloud data A are generated in the way of the P direction, performing step 6), otherwise, waiting for reaching the target point and terminating, and then performing step 2);
6) the robot stops moving and waits for 2 seconds, point cloud data A of the laser radar is obtained again, an intersection point D of the direction right in front of the robot and the point cloud data A is taken, a straight line passing through a point D and establishing the horizontal direction and the focus of the point cloud data are respectively Z and Y, if the Z point and the Y point do not exist, the step 7) is carried out, if the Z point and the Y point do not exist, the step 8) is carried out, if the Z point and the Y point do not exist, the step 9) is carried out, and if the Z point and the Y point both exist, the step 10) is carried out;
7) judging the point cloud data on the left side and the right side according to the straight line right in front of the point D, if the point cloud data on the left side and the right side are equal in quantity, performing step 11), and if the point cloud data on the left side and the right side are not equal in quantity, performing step 12);
8) the robot moves 2R + S to the right (S is the distance between D and Z), then moves forwards to be in the same straight line with DZ, and then moves towards the target point P again and repeats the step 5);
9) the robot moves 2R + S to the left (S is the distance between D and Y), then moves forwards to be in the same straight line with DY, then moves towards the target point P again and repeats the step 5);
10) the robot rotates 90 degrees to the left and then repeats step 5);
11) the robot moves R to the left and then repeats step 5);
12) if the data volume of the point cloud on the left side is more than that of the point cloud on the right side, the robot moves R to the right and then the step 5) is repeated; if the left point cloud data is less than the right point cloud data, the robot moves R to the left and then repeats step 5).
6. The robot of claim 1,
and if the electric quantity is too low in the using process, an alarm is sent out to wait for shutdown charging.
7. Robot according to claim 4,
be connected to the robot through APP, carry out first setting, then 5 seconds after the start next time, can carry out air quality automatically and detect then find the relative worst position of air quality, then carry out air purification and handle.
8. The robot of claim 7,
besides automatic navigation, the robot can be manually controlled to move through a mobile phone APP, or manually carried to a specified place to perform air purification.
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| CN202011188052.8A CN112286196A (en) | 2020-10-30 | 2020-10-30 | Air purification robot based on automatic driving technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011188052.8A CN112286196A (en) | 2020-10-30 | 2020-10-30 | Air purification robot based on automatic driving technology |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112286210A (en) * | 2020-11-20 | 2021-01-29 | 济南浪潮高新科技投资发展有限公司 | Express delivery robot path selection method based on automatic driving technology |
| CN113075935A (en) * | 2021-06-04 | 2021-07-06 | 深圳市慧航星科技有限公司 | Robot path planning method, system and storage medium based on 5G network |
| CN115013917A (en) * | 2021-03-03 | 2022-09-06 | 研能科技股份有限公司 | Indoor gas pollution detection and filtration method |
-
2020
- 2020-10-30 CN CN202011188052.8A patent/CN112286196A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112286210A (en) * | 2020-11-20 | 2021-01-29 | 济南浪潮高新科技投资发展有限公司 | Express delivery robot path selection method based on automatic driving technology |
| CN115013917A (en) * | 2021-03-03 | 2022-09-06 | 研能科技股份有限公司 | Indoor gas pollution detection and filtration method |
| CN113075935A (en) * | 2021-06-04 | 2021-07-06 | 深圳市慧航星科技有限公司 | Robot path planning method, system and storage medium based on 5G network |
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