CN113188242A - Group type air purification method and device, air purification robot and computer readable storage medium - Google Patents
Group type air purification method and device, air purification robot and computer readable storage medium Download PDFInfo
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- CN113188242A CN113188242A CN202110374575.XA CN202110374575A CN113188242A CN 113188242 A CN113188242 A CN 113188242A CN 202110374575 A CN202110374575 A CN 202110374575A CN 113188242 A CN113188242 A CN 113188242A
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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
- F24F11/62—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
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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
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
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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
- F24F13/00—Details common to, or for air-conditioning, air-humidification, ventilation or use of air currents for screening
- F24F13/32—Supports for air-conditioning, air-humidification or ventilation units
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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
- 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
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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
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Abstract
The invention discloses a group type air purification method, a device, an air purification robot and a computer readable storage medium, wherein the group type air purification method comprises the steps of firstly acquiring environmental information of a position; then judging whether the detection index parameter value of the environmental information exceeds a preset threshold value of an index parameter of a prestored air quality index grading strategy model; and finally, according to the air quality index grading strategy model, when the detected index parameter value exceeds the index parameter preset threshold value for the first time, generating a first movement control instruction and sending the first movement control instruction to other air purification robots so that the other air purification robots can determine whether to move towards the position direction according to the first movement control instruction to carry out air purification operation. The method judges that when the local area has serious environmental pollution through real-time environmental information detection, a request is sent to other air purification robots to be cooperatively purified together so as to achieve the purpose of rapid fixed-point purification.
Description
Technical Field
The invention relates to the technical field of air purification, in particular to a group type air purification method and device, an air purification robot and a computer readable storage medium, which can realize group purification.
Background
With the higher and higher requirements of people on the quality of life, the air purification equipment is widely applied to daily life and work. The air purification is realized through the air purification equipment, and the beautiful life and working environment of people is ensured.
The existing air purification devices are of various types, such as pure air filtration and purification, and ultraviolet air purification devices capable of purifying viruses are also available. Such devices are not mobile, i.e. fixed at a specific location in a room, and cannot be moved to different locations, which results in that locations remote from the decontamination device cannot be effectively decontaminated.
In order to solve the problem, some automatic moving air purification devices have appeared, which can automatically move to a corresponding position according to self-detected environmental data or received external control information to realize air purification. The robots can automatically move, so that the robots can automatically walk to a specific area according to environmental information to realize air purification, and a dynamic air purification effect is realized. However, there are some problems, such as that when there are a plurality of single air purification devices in a region, each of them separately purifies air according to a predetermined pattern or path, and when there is too high air pollution in some regions, it is impossible to perform rapid air purification by using a plurality of robots. This problem needs to be solved.
Disclosure of Invention
The invention provides a group type air purification method, a group type air purification device, an air purification robot and a computer readable storage medium, and aims to solve the technical problem that the existing air purification equipment cannot realize interconnection and realize group type purification operation according to specific air pollution degree so as to realize fixed-point high-efficiency air purification.
In order to achieve the above object, an aspect of the present invention provides a group type air purification method, which is suitable for two or more air purification robots to purify air in the same or different areas, and the group type air purification method includes the following steps:
s1: acquiring environmental information of a position;
s2: judging whether the detection index parameter value of the environmental information exceeds a preset index parameter threshold value of a prestored air quality index grading strategy model or not;
s3: if the detection index parameter value of the environmental information exceeds the preset index parameter threshold value according to the air quality index grading strategy model for the first time, generating a first movement control instruction and sending the first movement control instruction to other air purification robots so that the other air purification robots can determine whether to move towards the position direction according to the first movement control instruction to carry out air purification operation;
and if all the detected index parameter values of the environment information are lower than the index parameter preset threshold value of the air quality index grading strategy model, continuing to execute the step S1 and the step S2.
In another aspect, the present invention provides a group type air purification apparatus, which includes:
the acquisition module is used for acquiring the environmental information of the position;
the judgment module is used for judging whether the detection index parameter value of the environmental information exceeds a preset index parameter threshold value of a prestored air quality index grading strategy model;
the output module is used for generating a first movement control instruction and sending the first movement control instruction to other air purification robots to enable the other air purification robots to determine whether to move towards the position direction or not according to the first movement control instruction so as to carry out air purification operation when the detection index parameter value of the environmental information exceeds the index parameter preset threshold value according to the air quality index grading strategy model; and when all the detection index parameter values of the environment information are lower than the index parameter preset threshold value of the air quality index grading strategy model, outputting first feedback information to an acquisition module.
Furthermore, the present invention also provides an air cleaning robot, which is configured to have a processor, a mobile execution mechanism electrically connected to the processor, and a memory, wherein the memory stores a program of a group type air cleaning method operable on the processor, and the program of the group type air cleaning method executes the steps of the group type air cleaning method when executed by the processor.
Finally, the invention also proposes a computer-readable storage medium, on which a program of a group air purification method is stored, which program, when executed by the processor, performs the steps of a group air purification method as described.
The invention can realize the following beneficial effects:
the invention provides a group type air purification method, a device, an air purification robot and a computer readable storage medium, wherein the group type air purification method comprises the steps of firstly obtaining environmental information of a position; then judging whether the detection index parameter value of the environmental information exceeds a preset threshold value of an index parameter of a prestored air quality index grading strategy model; and finally, according to the air quality index grading strategy model, when the detected index parameter value exceeds the index parameter preset threshold value for the first time, generating a first movement control instruction and sending the first movement control instruction to other air purification robots so that the other air purification robots can determine whether to move towards the position direction according to the first movement control instruction to carry out air purification operation. The method judges that when the local area has serious environmental pollution through real-time environmental information detection, a request is sent to other air purification robots to be cooperatively purified together so as to achieve the purpose of rapid fixed-point purification, and the effects of fixed-point purification and rapid purification are achieved.
Drawings
FIG. 1 is a schematic diagram of the basic structure of an air cleaning robot according to the present invention;
FIG. 2 is a schematic diagram of a basic flow of a group-based air purification method;
FIG. 3 is a flow chart of a specific judgment method of an air quality index classification strategy model;
FIG. 4 is a flowchart of the steps for identification information acquisition;
FIG. 5 is a table listing exemplary viral parameters, VOC value parameters, and PM2.5 parameters;
FIG. 6 is a schematic structural diagram of a cluster type air purification device;
fig. 7 is a schematic structural diagram of an air cleaning robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to fig. 1 to 7, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical scheme of the invention is that a group type air purification method, a group type air purification device, an air purification robot and a computer readable storage medium are mainly used for purifying air in the same or different areas by two or more than two air purification robots. The scheme relates to an air purification robot which can automatically detect air quality indexes and make corresponding air purification strategies according to the air quality indexes so as to realize group purification.
Specifically, as shown in fig. 1, the figure shows a basic structural diagram of an air cleaning robot. The air cleaning robot is an execution main body of the group type air cleaning method. It should be understood that the hardware structure of the air cleaning robot may be an existing air cleaning apparatus having an automatic walking function, an environmental information detection function, an air cleaning function, and a communication function. Specifically, for better explanation, as shown in fig. 1, the air cleaning robot includes a traveling mechanism 1, an air cleaning mechanism 2, an environmental information detection mechanism 3, a communication mechanism 4, and a controller 5. Running gear 1, air purification mechanism 2, environmental information detection mechanism 3, communication mechanism 4 electricity respectively are connected to controller 5, and environmental information detection mechanism 3 is responsible for detecting the environmental information of this air purification robot position and transmits for controller 5, and running gear 1 is responsible for the walking, and air purification mechanism 2 is responsible for carrying out purification treatment to the air, and communication mechanism 4 is responsible for realizing communication interconnection with other air purification robots or control end, controller 5 is according to received environmental information control running gear 1 walks to suitable position and control air purification mechanism 2 takes the corresponding tactics to realize air purification and realizes transmitting various information, data to other air purification robots or control end through control communication mechanism 4.
It should be understood that the traveling mechanism 1 and the air cleaning mechanism 2 may be provided as independent structures. Specifically, the traveling mechanism 1 is located in a base portion of the air cleaning robot, the air cleaning mechanism 2 is fixed to the traveling mechanism 1, and the traveling mechanism 1 controls traveling independently. When the walking mechanism is executed, the controller 5 provides the walking mechanism 1 with the corresponding geographical position information, and the walking mechanism 1 can walk automatically according to the geographical position information. Of course, the traveling mechanism 1 is realized by the prior art in the field, and details are not described in the present technical solution, but the present technical solution is not considered to be insufficient. The specific travel path control, the travel speed, and the like of the traveling mechanism 1 can be realized by adopting the existing technology, for example, by adopting a control method and a specific control structure similar to an automatic sweeper. In other aspects, the traveling mechanism 1 and the air cleaning mechanism 2 may be designed to be mechanically integrated, for example, the traveling mechanism 1 is embedded in the bottom of the air cleaning mechanism 2. Nevertheless, the specific control structure and control method of the traveling mechanism 1 can be realized by the prior art. The traveling mechanism 1 can realize specific traveling control by executing the control signal after receiving the control signal input by the controller 5.
The air cleaning mechanism 2 may be implemented using any suitable technology in existing air cleaning mechanisms. For example, ultraviolet photocatalyst purification technology is adopted. The air purification mechanism 2 may be a vertical structure or a horizontal structure. Specifically, the purification of the air purification mechanism 2 is realized by the controller 5, and different control methods can be selected according to different occasions. The control can also be realized by adopting the prior art.
The environmental information detection mechanism 3 includes various air index sensors. Examples include a virus sensor for detecting viruses, a formaldehyde sensor for detecting formaldehyde, an ozone sensor for detecting ozone, a PM2.5 sensor for detecting PM2.5, and a TVOC sensor for detecting TVOC gas. These sensors can be implemented using existing sensors. Specifically, when arranged, the sensors may be disposed on one side of the housing of the air purification mechanism 2 or may be disposed at regular intervals along the circumferential direction, for example, at intervals of 90 °. Specifically, these sensors may be disposed on both the air outlet side and the air inlet side of the air purifying mechanism 2, but are not limited thereto, and may be disposed in a manner commonly used in the existing air purifying devices.
In this scheme, controller 5 can adopt the singlechip, and its control software that can operate realizes the control to each mechanism. Of course, the controller 5 is implemented by using the existing technology, and the detailed description of the scheme is omitted.
Example 1:
as one of the technical innovations of the present invention, the present embodiment provides a group type air purification method, which is suitable for two or more air purification robots to purify air in the same or different areas, and specifically, as shown in fig. 2, the group type air purification method includes the following steps:
s1: acquiring environmental information of a position;
s2: judging whether the detection index parameter value of the environmental information exceeds a preset index parameter threshold value of a prestored air quality index grading strategy model or not;
s3: if the detection index parameter value of the environmental information exceeds the preset index parameter threshold value according to the air quality index grading strategy model for the first time, generating a first movement control instruction and sending the first movement control instruction to other air purification robots so that the other air purification robots can determine whether to move towards the position direction according to the first movement control instruction to carry out air purification operation;
and if all the detected index parameter values of the environment information are lower than the index parameter preset threshold value of the air quality index grading strategy model, continuing to execute the step S1 and the step S2.
In other words, in this embodiment, by detecting the environment information of the local location, and then comparing the environment information with the preset threshold of the pre-stored index parameter, when the index value of the existing environment information exceeds the preset threshold of the index parameter, a first mobile control instruction is generated; and finally, the first mobile control instruction is transmitted to other air purification robots so that the other air purification robots can move to the vicinity of the local air purification robots according to the first mobile control instruction to form a group type air purification system, the air purification system can achieve the purpose that a plurality of air purification robots can concentrate and rapidly purify the air at the local position together, the air purification efficiency is improved, and the air purification is ensured to be rapidly carried out.
The environment information may be set according to different situations. For example, the environmental information includes a virus index, a bacteria index, a formaldehyde index, an ozone index, a TVOC gas index, a PM2.5 index, etc., and all or part of these indexes are selected according to different occasions. Specifically, these indices are detected by various corresponding sensors, and any suitable existing sensors may be used for these sensors. It should be understood that, preferably, in the present embodiment, the environment information is air environment information of an air output end of the air cleaning robot.
When the air quality index grading strategy model works specifically, the environmental information is judged and analyzed through the air quality index grading strategy model. Namely, the environmental information is transmitted as an input signal to the air quality index grading strategy model to be realized. Specifically, the pre-stored air quality index grading strategy model is formed on the basis of the principle that the harm degrees of the air quality indexes to the human health are in sequence from large to small, and the corresponding detection index parameter values in the acquired environmental information are sequentially compared with the corresponding index parameter preset threshold values in sequence according to the sequence of the harm degrees of the air quality indexes to the human health. Namely, the air quality index grading strategy model automatically compares and judges each received environment information according to a preset sequence. For example, the environmental information includes a viral index, a bacterial index, a formaldehyde index, an ozone index, a TVOC gas index, a PM2.5 index; the indexes of virus, bacteria, formaldehyde, ozone, TVOC gas and PM2.5 are set from high to low. When the environmental information is input into the air quality index grading strategy model, the air quality index grading strategy model firstly judges whether the virus index exceeds the index parameter preset threshold value. It should be understood that as shown in fig. 3, the figure shows a specific judgment method of the air quality index grading strategy model, which performs comparison judgment after receiving environment information every time.
Step S3 is for outputting a corresponding signal according to step S2. Specifically, according to the fact that the harm to the human health is from high to low, when the value of the detection index parameter exceeds the corresponding index parameter preset threshold value at the first occurrence, a first movement control instruction is output. If all the indexes in the environment information received each time do not exceed the preset threshold of the corresponding index parameter, the steps S2 and S3 are continuously executed. Namely, outputting a first movement control instruction once the first occurrence exceeds; if not, continuing to compare and judge other subsequent indexes. For example, the indexes of virus, bacteria, formaldehyde, ozone, TVOC gas and PM2.5 are set according to the setting of the harmfulness degree of human health from high to low; firstly, comparing and judging whether the detection parameter value of the virus exceeds the index parameter preset threshold value of the virus, if so, outputting a first movement control instruction, if not, continuously judging whether the bacterial index exceeds the corresponding index parameter preset threshold value, if so, outputting a first movement control instruction, and if not, continuously judging the formaldehyde index; the operation is continuously carried out until the last index (PM2.5 index) is judged.
Specifically, in this embodiment, the first movement control instruction includes map information and identification information, the map information is formed by marking specific coordinate information of the location on the map information, and the identification information includes identification numbers of other air cleaning robots within a set distance near the location (the set distance near the location is preset, and may be 100 meters, for example). The air purification robot receiving the first mobile control instruction firstly judges whether the identification information comprises an identification number of the air purification robot, and if the identification information comprises the identification number, the air purification robot automatically moves to the position of the local air purification robot according to the map information to form a group type air purification group so as to improve the local air purification efficiency. It should be understood that the specific coordinate information of the location is marked on the map information by using the existing map marking method, which is not described in detail in this embodiment. The map information includes geographic location coordinate information of the local air cleaning robot, and the received machine moves according to the coordinate information. Of course, if the local air purification robot receives the first mobile control command sent by other air purification robots, it is first determined whether the first mobile control command includes an identification number corresponding to the local air purification robot, and if not, the first mobile control command is not executed; and if the coordinate information of the first movement control command is included, executing the first movement control command, and moving according to the corresponding coordinate information.
As shown in fig. 4, the identification information is obtained by:
transmitting a distance measurement instruction to other air purification robots in the peripheral area (for example, within 100 meters of the radius of the peripheral area);
receiving first feedback information sent by other air purification robots, wherein the first feedback information comprises distance information and an identification number of the position where the first feedback information is located;
judging the required number of other air purification robots required by air purification according to the environmental information;
and selecting the identification number set of other air purification robots which are matched with the required number and are closest to the other air purification robots to form the identification information.
That is, in this embodiment, the required number of air cleaning robots required for group-based air cleaning is set according to the local position, and then identification numbers of other air cleaning robots closest to the local position are collected. For example, when the local air cleaning robot calculates that 5 additional air cleaning robots are required to clean the local air exceeding the standard within a prescribed time (e.g., 15 minutes), the identification numbers of the 5 air cleaning robots closest to the local air cleaning robot are collected, and the first movement control command is generated based on the identification numbers. Firstly, the local air purification robot sends a distance measurement instruction to all other peripheral air purification robots, the distance measurement instruction comprises position information of the position of the local air purification robot, the other air purification robots perform example calculation according to map information prestored by themselves when receiving the position information to obtain distance information with the local air purification robot, and then first feedback information is sent to the local air purification robot, and the first feedback information comprises the distance information and a corresponding identification number. And when the local air purification robot receives the first feedback information, the distance information of other air purification robots is sequenced according to the required number of other air purification robots, the nearest air purification robot meeting the required number is determined, and the first mobile control instruction is generated according to all identification numbers of the determined air purification robots and the local position information. The method realizes the group connection of other air purification robots in required quantity so as to realize the group purification. Among them, it should be understood that the number of air cleaning robots required to calculate a prescribed time is calculated based on the maximum cleaning efficiency of a single air cleaning robot. For example, one air cleaning robot needs one hour to clean the air at the location completely, and if the cleaning needs to be completed within 10 minutes to accelerate the cleaning, five other air cleaning robots are required. Of course, the specific calculation is not limited to the method described in this embodiment, and may also be any other existing and suitable calculation and analysis method, which is not described herein again.
In addition, in the technical scheme, the method further comprises the following steps:
receiving second movement control instructions sent by other air purification robots;
judging whether the detection index parameters of the environmental information of the position exceed the index parameter preset threshold of the air quality index grading strategy model or not;
if not, executing the second movement control instruction to move to a position corresponding to the second movement control instruction; if the second movement control instruction is not executed, the second feedback information is sent to other air purification robots, and the other air purification robots send new second movement control instructions to the other air purification robots again according to the second feedback information;
wherein the second movement control instruction includes map information and identification information.
In the method, the problem that when the second control instruction of other air purification robots is received, the second control instruction conflicts with the purification of the position where the local air purification robot is located is mainly solved. For example, the local air quality index also exceeds the corresponding index parameter preset threshold, and at this time, the local air cleaning robot does not execute the second movement control instruction and leaves the local air cleaning robot, and the local air cleaning robot continues to stay in the local air cleaning robot for air cleaning. Therefore, when the local air cleaning robot receives the second movement control instruction, it is still determined whether the local detection index parameter exceeds the preset index parameter threshold value, except that it is determined whether the local identification number information is included. Specifically, after receiving a second movement control instruction, determining whether a local detection index parameter exceeds an index parameter preset threshold, if not, executing the second movement control instruction, and if so, sending second feedback information to the air purification robot sending the second movement control instruction and not executing the second movement control instruction. And when receiving the second feedback information, the air purification robot sending the second movement control instruction continues to send a new second movement control instruction to the next other control purification robot according to the distance information until the required number of group type air purification is met. Of course, it should be understood that the second movement control command and the first movement control command include the same type of data, for example, map information and identification information, which are not described herein again.
In some specific applications, the method further comprises the following steps:
receiving environmental information and geographical position information data sent by other air purifier people;
marking the environmental information and geographic information data in a local map;
and displaying the local map.
That is, the technical solution is to collect the air environment information of other air cleaning robots in the local vicinity area and display the information on the local map as the position information, so that the user can visually know the distribution and air quality of other air cleaning robots in the peripheral area through the local air cleaning robot. It should be understood that the environmental information and geographic information data may be marked in the local map by using an existing map marking method, which is not described in detail in this embodiment, but this should not be considered that the disclosure of the technical solution is insufficient. Specifically, when displaying, the display screen of the local air purification robot is used for displaying, for example, a liquid crystal display screen is used. It is noted that the local map may be marked with different colors in order to be able to reflect different air quality levels. For example, green for low contamination, yellow for light contamination, orange for medium contamination, and red for high contamination.
In some other specific applications, the method further comprises the step of sharing the acquired environmental information and the geographic information data of the location to the monitoring end. In other words, in this embodiment, the acquired environmental information and the corresponding geographical information of the location are uploaded to a monitoring terminal (for example, a remote monitoring computer), and the monitoring terminal can display the received environmental information and geographical information data on the monitoring terminal. In detail, the acquired environmental information and geographic information data are uploaded through a communication module of the local air purification robot. Of course, besides uploading the environmental information and the geographic information data to the monitoring terminal, the method can also include sending the acquired environmental information and the geographic information data of the location to other air purification robots so as to realize data contribution among different air purification robots.
In another embodiment, the air cleaning robot may be a robot as described below in addition to the above-described robot, and it should be understood that the basic hardware structure of the air cleaning robot as described below is similar to the above-described specific hardware structure of the air cleaning robot, and the difference is only that the various types of sensors of the present embodiment are arranged in groups at different positions on the peripheral side of the air cleaning robot. For example, a set of corresponding sensors for detecting the air quality is arranged on the front, the back, the left side and the right side of the air purification robot. When the controller of the air purification robot of the present embodiment does not need to perform group-based purification, the following method steps are specifically performed:
1): receiving a plurality of groups of detection data fed back in real time from a plurality of different directions;
2): judging the parameter values of various similar indexes in the multiple groups of detection data and sequencing to obtain a list;
3): comparing the list based on the degree of harm of different indexes to human health to set a walking route and generate first walking route control information;
4): and outputting control information of the first walking route to enable the air purifying machine to walk in real time according to the first speed and the walking route.
That is, in this embodiment, the air index of the area adjacent to the air cleaning robot is determined, the first traveling route control information is generated according to the determination result and the preset route setting rule, and finally, the first traveling route control information is transmitted to the air cleaning robot for execution by the air cleaning robot. Therefore, the walking robot can walk towards the direction that the control indexes of the peripheral area of the air purification machine exceed the standard all the time, and can walk along the area with the greatest harm to the health of a human body while detecting, so that the air purification is realized in an intelligent mode, and the effectiveness of the air purification is improved.
Each set of detection data in the multiple sets of detection data is an air index of one direction in the air purification machine.
For example, if there are three sets of sensed data, it represents the air quality in three different directions of the air cleaning machine. Each set of detection data comprises a plurality of groups of different air index parameters. Wherein, each detection data group comprises a virus parameter, a VOC value parameter and a PM2.5 parameter. The virus parameter may be a parameter obtained by a different type of virus detection sensor, and may be, for example, a virus parameter of a new coronavirus (COVID-19). Each group of detection comprises a PM2.5 sensor, a VOC sensor and a virus detection sensor; that is, each set of detection data obtained by each set of detection sensing part 101 includes a virus parameter, a VOC value parameter, and a PM2.5 parameter. Of course, the virus parameter, the VOC value parameter and the PM2.5 parameter are all from air quality detection sensors. The specific virus parameters come from virus detection sensors, the PM2.5 parameters come from the PM2.5 sensor and the VOC value parameters come from a VOC sensor, and the detection sensors can be realized by adopting the prior art. Wherein, the virus detection sensor can be a new coronavirus detection sensor, which can be realized by adopting the existing sensor; according to the report, a plurality of new coronavirus detection sensors for air detection have appeared so far, and therefore the new coronavirus detection sensor of the present embodiment cannot be considered to be insufficiently disclosed.
In practical applications, the multiple sets of detection data in different directions are synchronized in real time, that is, the data are collected at the same time or within the same time period (e.g., 10 seconds, 1 minute, or two minutes). For example, data detected within 10 seconds or 20 seconds of a time starting point. This ensures that the excess detection data can reflect the air quality in the peripheral region where the air cleaning machine is located.
The step of judging the size of the parameter values of various similar indexes in the multiple groups of detection data and sequencing the parameter values to obtain the list aims to compare the size of the parameter values of different groups of similar indexes, and the first walking route control information is conveniently judged, generated and output according to the degree of harm to human health. The method comprises a substep of classifying parameters belonging to the same-class indexes in a plurality of groups of detection data and a substep of sequencing the classified parameters of the same-class indexes and forming a list. Wherein each parameter includes corresponding orientation information. Namely, the list forming process mainly comprises two steps of sorting and sorting. For example, the test data sets received from three directions are shown in Table 1 below (where X represents a virus parameter, Y represents a VOC value parameter, and Z represents a PM2.5 parameter; and the numbers of subscripts of each letter represent orientation):
| a first direction | X1，Y1，Z1； |
| Second direction | X2，Y2，Z2； |
| Third direction | X3，Y3，Z3； |
The following table 2 shows the classification of the three sets of test data:
| viral parameters | X1，X2，X3 |
| VOC value parameter | Y1，Y2，Y3 |
| PM2.5 parameter | Z1，Z2，Z3 |
The list formed after sorting is shown in table 3 below:
| viral parameters | X1，X3，X2 |
| VOC value parameter | Y3，Y2，Y1 |
| PM2.5 parameter | Z3，Z1，Z2 |
It should be understood that in the present technical solution, each parameter includes one piece of orientation information; for example, the virus parameter X1 of the first direction includes a first direction orientation information, which facilitates determining the moving direction when subsequently generating the path information.
The list obtained after classification and sorting is detection data of a plurality of directions at the same time or in the same time period, and subsequent comparison and analysis are facilitated through classification to generate corresponding first-row routing control information.
In this embodiment, the comparing the list based on the degree of harm of the different indexes to the health of the human body to set the walking route and generate the first walking route control information specifically includes:
s31: grading various indexes in the list according to the degree of harm to human health from high to low;
s32: judging whether the parameter value corresponding to each level of index exceeds the parameter upper limit standard value and the parameter lower limit standard value set by the level of index; if any one of the parameter values corresponding to any one of the first-level indexes exceeds the upper limit standard value of the parameter corresponding to the level, executing step S33; if all the parameter values corresponding to any level of index do not exceed the parameter lower limit standard value corresponding to the level, executing step S33; if the largest one of the corresponding parameter values of the first-level index exceeds the lower limit standard value of the corresponding parameter and is smaller than the upper limit standard value of the corresponding parameter, and the smallest one of the any upper-level index of the first-level index is smaller than the lower limit standard value of the corresponding parameter, and a group of indexes with the largest parameter values larger than the upper limit standard value of the corresponding parameter value appears in the lower-level index of the first-level index, then step S34 is executed;
s33: generating the first walking path control information based on a maximum parameter value in an index with the maximum degree of harm to human health in a grading standard;
s34: and generating the first walking path control information based on the maximum parameter value of the first lower-level index with the maximum parameter value exceeding the parameter upper limit standard value of the level in the ranking of the indexes of one level.
The first travel route control information in the present embodiment is generated based on the degree of harm to human health from various indexes. Specifically, the degree of harm of various indexes to human health is graded, and each index is also graded, namely, the production of the first walking line control information is generated according to the grading of the index categories, and when the specific parameter of the index with larger degree of harm is lower than a certain standard, the index with parameter value larger than the certain standard in the next index is preferentially considered to generate the first walking line control information, so that the final air purification mode is achieved, and the harm of air to human health is reduced as much as possible. Wherein each detection data group comprises a virus index, a VOC value index and a PM2.5 index; wherein, the grading standards of the degree of harm to human health are respectively a virus parameter, a VOC value parameter and a PM2.5 parameter from high to low.
Each kind of detection data is classified according to the biological hazard to the human health, for example, if the hazard of the virus is greater than VOC, the virus parameter is the purification priority index, if the hazard of the VOC is greater than PM2.5, the VOC is the purification priority index, and the grading according to the index is the first grading standard; the parameters of each specific index are different degrees of harm to human bodies according to different concentrations or contents, the harm to human health is larger when the concentration or the content is high, the harm to human bodies is minimum or harmless when the concentration is low or the content is lower than a certain standard, and the classification based on the concentration or the content is a second classification standard. The virus parameter, the VOC value parameter, and the PM2.5 parameter are listed as examples, and are specifically shown in fig. 5.
In the air purification method of the present invention, the step of setting a walking route and generating first walking route control information by comparing the list based on the degree of harm of different types of indices to human health includes a substep of determining whether a parameter value corresponding to each level of indices exceeds a parameter upper limit standard value and a parameter lower limit standard value set by the level of indices, the substep mainly has three cases:
in the first case: and if any one of the parameter values corresponding to any one level of the indexes exceeds the upper limit standard value of the parameter corresponding to the level, generating the first walking path control information based on the maximum parameter value in the index with the maximum harm degree to the human health in the grading standard. X, Y, Z, the first travel route control information is generated in accordance with the direction corresponding to the maximum parameter value in the index type having the greatest risk to the health of the human body. For example, if the parameter value X1 of the first orientation of the virus parameter X is the maximum, the air purification method of the present invention generates the first row routing control information based on the first orientation corresponding to X1.
In the second case: and if all the parameter values in the parameter values corresponding to any one level of indexes do not exceed the lower parameter limit standard value corresponding to the level, generating the first walking path control information based on the maximum parameter value in the indexes with the maximum harm degree to human health in the grading standards. As shown in fig. 2, X, Y, Z the three parameter values are all smaller than the corresponding lower black horizontal line (i.e., the lower parameter lower limit criterion value), and in this case, the first travel route control information is generated based on the maximum parameter value in the index that is most harmful to human health as in the first case. For example, if the parameter value of Y1 in the Y index is the maximum, the present air cleaning method generates the first travel route control information in the orientation corresponding to Y1.
In the third case:
and if the maximum parameter value in the corresponding parameter values of the first-stage index exceeds the lower-limit standard value of the corresponding parameter and is less than the upper-limit standard value of the corresponding parameter, and the minimum parameter value in any upper-stage index of the first-stage index is less than the lower-limit standard value of the corresponding parameter, and a group of indexes with the maximum parameter values greater than the upper-limit standard value of the parameter value corresponding to the stage appears in the lower-stage index of the first-stage index, generating the first walking line control information based on the maximum parameter value corresponding to the lower-stage index with the maximum parameter value exceeding the upper-limit standard value of the parameter of the stage appearing in the first-stage index. For example, as shown in fig. 2, the air purification device of the present invention has three sets of detection data, wherein the maximum parameter values in the X index are all smaller than the corresponding parameter lower limit standard values; and generating the first walking path control information based on the maximum parameter in the Z index when the maximum parameter value in the Y index is larger than the corresponding parameter lower limit standard value and smaller than the parameter upper limit standard value and the maximum parameter value in the Z index is larger than the corresponding parameter upper limit standard value.
The concrete conditions of the three indexes are simplified and shown in fig. 3. Wherein XmaxIs the parameter upper limit standard value of X index, XminIs the lower limit criterion of the parameter of the X index, such that YmaxIs the upper limit standard value of the parameter of the Y index, YminThe lower limit parameter standard value of the Y index; zmaxIs the upper limit standard value of the parameter of Z index, ZminIs the lower limit standard value of the parameter of the Z index.
Specifically, in some specific scenarios, the upper parameter limit standard value of the virus parameter is 0, that is, only when no virus is detected, the VOC value parameter and PM2.5 are taken as the reference to perform analysis and detection to determine the final walking line. That is, in the present embodiment, it is considered that the virus parameter is first, that is, the first travel route control information is generated based on the direction in which the virus parameter is detected, with priority. For example, the first direction, the second direction and the third direction all detect corresponding virus parameters, and the first walking path control information is generated in the corresponding direction with the maximum value of the virus parameters. In the next received multiple groups of detection data, as long as a virus parameter is detected in any one direction, first walking path control information corresponding to the direction of the maximum parameter value in the virus parameters is generated. If the virus detection data in a plurality of groups of detection data received at a certain time is 0, the VOC value parameter and the PM2.5 parameter are used for preferentially judging the maximum harm to the human health; since VOC is harmful to the human body, the first walking path control information is generated with reference to the VOC values in the list. For example, if the VOC value parameter is larger than a certain threshold value, the first travel route control information is preferentially generated based on the magnitude of the VOC value parameter; and when no virus parameter exists in the next multiple groups of detection data, and then the VOC value parameter is lower than the parameter lower limit standard value and the PM2.5 value is higher than the parameter upper limit standard value, generating the first walking route control information preferentially based on the corresponding maximum parameter in the PM2.5 parameter.
It should be understood that the first walking path control information is a corresponding control command for controlling the movement of the air cleaning machine, including movement direction control information and operation speed control information. When the first travel route control information is output, the air cleaning machine travels in the movement direction of the first travel route control information and at the first speed. The movement direction information and the first speed information included in the first walking route control information may be generated by using the prior art.
In short, the present embodiment can determine whether group-based purification is required according to the detected environmental information, and when the purification needs to be accelerated, the present embodiment can achieve the purpose of group-based purification by sending a request to other air purification robots, thereby improving the efficiency of air purification.
Example 2:
the embodiment shown in fig. 6 proposes a group type air purification apparatus, comprising:
the acquisition module 10 is used for acquiring the environmental information of the position;
the judging module 20 is configured to judge whether a detection index parameter value of the environmental information exceeds a preset index parameter threshold of a pre-stored air quality index grading strategy model;
the output module 30 is configured to generate a first movement control instruction and send the first movement control instruction to other air purification robots to enable the other air purification robots to determine whether to move towards the location direction according to the first movement control instruction to perform air purification operation when the detected index parameter value of the environmental information exceeds the preset index parameter threshold value according to the air quality index classification strategy model; and when all the detection index parameter values of the environment information are lower than the index parameter preset threshold value of the air quality index grading strategy model, outputting first feedback information to an acquisition module.
In other words, in this embodiment, by detecting the environment information of the local location, and then comparing the environment information with the preset threshold of the pre-stored index parameter, when the index value of the existing environment information exceeds the preset threshold of the index parameter, a first mobile control instruction is generated; and finally, the first mobile control instruction is transmitted to other air purification robots so that the other air purification robots can move to the vicinity of the local air purification robots according to the first mobile control instruction to form a group type air purification system, the air purification system can achieve the purpose that a plurality of air purification robots can concentrate and rapidly purify the air at the local position together, the air purification efficiency is improved, and the air purification is ensured to be rapidly carried out.
The environment information may be set according to different situations. For example, the environmental information includes a virus index, a bacteria index, a formaldehyde index, an ozone index, a TVOC gas index, a PM2.5 index, etc., and all or part of these indexes are selected according to different occasions. Specifically, these indices are detected by various corresponding sensors, and any suitable existing sensors may be used for these sensors. It should be understood that, preferably, in the present embodiment, the environment information is air environment information of an air output end of the air cleaning robot.
In specific operation, the environmental information is judged and analyzed through the air quality index grading strategy model of the judgment module 20. Namely, the environmental information obtained by the obtaining module 10 is implemented in the air quality index classification strategy model as input to the judging module 20. Specifically, the pre-stored air quality index grading strategy model is formed on the basis of the principle that the harm degrees of the air quality indexes to the human health are in sequence from large to small, and the corresponding detection index parameter values in the acquired environmental information are sequentially compared with the corresponding index parameter preset threshold values in sequence according to the sequence of the harm degrees of the air quality indexes to the human health. Namely, the air quality index grading strategy model automatically compares and judges each received environment information according to a preset sequence. For example, the environmental information includes a viral index, a bacterial index, a formaldehyde index, an ozone index, a TVOC gas index, a PM2.5 index; the indexes of virus, bacteria, formaldehyde, ozone, TVOC gas and PM2.5 are set from high to low. When the environmental information is input into the air quality index grading strategy model, the air quality index grading strategy model firstly judges whether the virus index exceeds the index parameter preset threshold value.
The output module 30 is used for outputting a corresponding signal according to the judgment module 20. Specifically, according to the fact that the harm to the human health is from high to low, when the value of the detection index parameter exceeds the corresponding index parameter preset threshold value at the first occurrence, a first movement control instruction is output. If all the indexes in the received environment information do not exceed the preset threshold of the corresponding index parameter, the determining module 20 and the output module 30 will operate repeatedly according to the environment information input by the obtaining module 10. Namely, outputting a first movement control instruction once the first occurrence exceeds; if not, continuing to compare and judge other subsequent indexes. For example, the indexes of virus, bacteria, formaldehyde, ozone, TVOC gas and PM2.5 are set according to the setting of the harmfulness degree of human health from high to low; firstly, comparing and judging whether the detection parameter value of the virus exceeds the index parameter preset threshold value of the virus, if so, outputting a first movement control instruction, if not, continuously judging whether the bacterial index exceeds the corresponding index parameter preset threshold value, if so, outputting a first movement control instruction, and if not, continuously judging the formaldehyde index; the operation is continuously carried out until the last index (PM2.5 index) is judged.
In addition, the group type air purification device further comprises:
the first receiving module 40 is used for receiving second movement control instructions sent by other air purification robots;
the second judging module 50 is configured to judge whether a detection index parameter of the environmental information of the location exceeds an index parameter preset threshold of the air quality index classification strategy model;
the execution module 60 is configured to execute the second movement control instruction to move to a position corresponding to the second movement control instruction if the second determination module 50 determines that the detected index parameter of the environmental information of the location does not exceed the preset index parameter threshold of the air quality index grading strategy model; if the second judging module 50 judges that the detected index parameter of the environmental information of the position exceeds the index parameter preset threshold value of the air quality index grading strategy model, the second mobile control instruction is not executed, first feedback information is generated and sent to other air purification robots, so that the other air purification robots can send new second mobile control instructions to the other air purification robots again according to the first feedback information, wherein the second mobile control instructions comprise map information and identification information.
In the group type air purification device, the problem that the second control instruction of other air purification robots conflicts with the purification of the position of the local air purification robot when the second control instruction is received is mainly solved. For example, the local air quality index also exceeds the corresponding index parameter preset threshold, and at this time, the local air cleaning robot does not execute the second movement control instruction and leaves the local air cleaning robot, and the local air cleaning robot continues to stay in the local air cleaning robot for air cleaning. Therefore, when the first receiving module 40 of the local air cleaning robot receives the second movement control command, in addition to determining whether the local identification number information is included, it is still determined whether the local detection index parameter exceeds the index parameter preset threshold at this time. Specifically, after receiving a second movement control instruction, determining whether a local detection index parameter exceeds an index parameter preset threshold, if not, executing the second movement control instruction, and if so, sending second feedback information to the air purification robot sending the second movement control instruction and not executing the second movement control instruction. And when receiving the second feedback information, the air purification robot sending the second movement control instruction continues to send a new second movement control instruction to the next other control purification robot according to the distance information until the required number of group type air purification is met. Of course, it should be understood that the second movement control command and the first movement control command include the same data, such as map information and identification information, which are not described herein again.
In some embodiments, the group air purification device further comprises the following structure:
the second receiving module 70 is used for receiving the environmental information and the geographic position information data sent by other air purifier persons;
a marking module 80, configured to mark the environmental information and the geographic information data in a local map;
and a display module 90, configured to display the local map.
That is, the technical solution is to collect the air environment information of other air cleaning robots in the local vicinity area and display the information on the local map as the position information, so that the user can visually know the distribution and air quality of other air cleaning robots in the peripheral area through the local air cleaning robot. It should be understood that, the marking module 80 may adopt the existing map marking technology to mark the local map with the environmental information and the geographic information data, which is not described in detail in this embodiment, but it should not be considered that the disclosure of the technical solution is insufficient. The display module 90 may employ a liquid crystal display. It is noted that the local map may be marked with different colors in order to be able to reflect different air quality levels. For example, green for low contamination, yellow for light contamination, orange for medium contamination, and red for high contamination.
In some other specific applications, the group type air purification apparatus further includes a sharing module 100, configured to share the acquired environmental information and geographic information data of the location to the monitoring end. In this embodiment, the obtained environmental information and the corresponding geographic information of the location are uploaded to a monitoring terminal (for example, a remote monitoring computer) through the sharing module 100, and the monitoring terminal can display the received environmental information and the received geographic information data on the monitoring terminal. In detail, the acquired environmental information and geographic information data are uploaded through a communication module of the local air purification robot. Of course, besides uploading the environmental information and the geographic information data to the monitoring terminal, the method can also include sending the acquired environmental information and the geographic information data of the location to other air purification robots so as to realize data contribution among different air purification robots.
Example 3
As shown in fig. 7, the present embodiment provides an air cleaning robot, which is configured to have a processor 200, a mobile executing mechanism 300 electrically connected to the processor 200, and a memory 400, wherein the memory 400 stores a program of a group type air cleaning method operable on the processor 200, and the program of the group type air cleaning method executes any one of the steps of the group type air cleaning method according to the present invention when executed by the processor.
The air purification robot of this embodiment can send request message to other air purification robots when the air quality index of local surpasss preset threshold value, and other air purification robots respond to and move to predetermined position when receiving request message and realize purifying the air, improve air purification efficiency.
Example 4
The present embodiment proposes a computer-readable storage medium, on which a program of a group air purification method is stored, which, when executed by the processor, performs the steps of any one of the group air purification methods of the present invention.
The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device including one or more available media integrated servers, data centers, and the like. It should be noted that, those skilled in the art can understand that all or part of the steps in the methods of the above embodiments can be implemented by the relevant hardware instructed by the computer program, and the computer program can be stored in the computer readable storage medium, which can include but is not limited to: magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Disks (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)), among others.
In summary, according to the technical scheme of the present invention, the first mobile control instruction corresponding to the field detection index parameter value is generated to allow other air purification robots to move to the local area according to the first mobile control instruction to form a group relationship around the local air purification robot to perform air purification on the local area, so as to achieve group air purification and achieve the effect of improving air purification efficiency.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A group type air purification method is suitable for two or more air purification robots to purify air in the same or different areas, and is characterized by comprising the following steps:
s1: acquiring environmental information of a position;
s2: judging whether the detection index parameter value of the environmental information exceeds a preset index parameter threshold value of a prestored air quality index grading strategy model or not;
s3: if the detection index parameter value of the environmental information exceeds the preset index parameter threshold value according to the air quality index grading strategy model for the first time, generating a first movement control instruction and sending the first movement control instruction to other air purification robots so that the other air purification robots can determine whether to move towards the position direction according to the first movement control instruction to carry out air purification operation;
and if all the detected index parameter values of the environment information are lower than the index parameter preset threshold value of the air quality index grading strategy model, continuing to execute the step S1 and the step S2.
2. A group air cleaning method according to claim 1, characterized in that:
the air quality index grading strategy model is formed on the basis of the principle that the harm degrees of air quality indexes to human health are in sequence from large to small, and specifically, corresponding detection index parameter values in the acquired environmental information are sequentially compared with corresponding index parameter preset thresholds according to the sequence of the harm degrees of the air quality indexes to the human health from large to small.
3. A group air cleaning method according to claim 1, characterized in that:
the first movement control instruction comprises map information and identification information, the map information is formed by marking specific coordinate information of the position on the map information, and the identification information comprises identification numbers of other air purification robots within a set distance near the position.
4. A group air cleaning method according to claim 3, characterized in that:
the identification information is obtained by the following steps:
transmitting a distance measurement instruction to other air purification robots in the peripheral area;
receiving first feedback information sent by other air purification robots, wherein the first feedback information comprises distance information and an identification number of the position where the first feedback information is located;
judging the required number of other air purification robots required by air purification according to the environmental information;
and selecting the identification number set of other air purification robots which are matched with the required number and are closest to the other air purification robots to form the identification information.
5. The group air purification method as claimed in claim 1, further comprising the steps of:
receiving second movement control instructions sent by other air purification robots;
judging whether the detection index parameter value of the environmental information of the position exceeds an index parameter preset threshold value of the air quality index grading strategy model or not;
if not, executing the second movement control instruction to move to a position corresponding to the second movement control instruction; if the second movement control instruction is not executed, the second feedback information is sent to other air purification robots, and the other air purification robots send new second movement control instructions to the other air purification robots again according to the second feedback information;
wherein the second movement control instruction includes map information and identification information.
6. The group air purification method as claimed in claim 1, further comprising the steps of:
receiving environmental information and geographical position information data sent by other air purifier people;
marking the environmental information and geographic information data in a local map;
and displaying the local map.
7. The group air purification method as claimed in claim 1, further comprising the steps of:
and sharing the acquired environmental information and the geographic information data of the location to the monitoring end.
8. A group air cleaning apparatus, comprising:
the acquisition module is used for acquiring the environmental information of the position;
the judgment module is used for judging whether the detection index parameter value of the environmental information exceeds a preset index parameter threshold value of a prestored air quality index grading strategy model;
the output module is used for generating a first movement control instruction and sending the first movement control instruction to other air purification robots to enable the other air purification robots to determine whether to move towards the position direction or not according to the first movement control instruction so as to carry out air purification operation when the detection index parameter value of the environmental information exceeds the index parameter preset threshold value according to the air quality index grading strategy model; and when all the detection index parameter values of the environment information are lower than the index parameter preset threshold value of the air quality index grading strategy model, outputting first feedback information to an acquisition module.
9. An air cleaning robot, characterized in that it is configured with a processor, a mobile actuator electrically connected to the processor, and a memory, said memory having stored thereon a program of a group air cleaning method executable on said processor, said program of a group air cleaning method executing the steps of a group air cleaning method according to any one of claims 1 to 7 when executed by said processor.
10. A computer-readable storage medium characterized by:
the computer-readable storage medium has stored thereon a program of a group air purification method, which when executed by the processor performs the steps of a group air purification method according to any one of claims 1 to 7.
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| CN114322270A (en) * | 2022-03-03 | 2022-04-12 | 广州海洁尔医疗设备有限公司 | Air purification detection control system and method |
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| CN114557639A (en) * | 2022-01-25 | 2022-05-31 | 深圳市无限动力发展有限公司 | Air purification method, device, equipment and medium |
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| CN114557639A (en) * | 2022-01-25 | 2022-05-31 | 深圳市无限动力发展有限公司 | Air purification method, device, equipment and medium |
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| CN114322270A (en) * | 2022-03-03 | 2022-04-12 | 广州海洁尔医疗设备有限公司 | Air purification detection control system and method |
| CN114811916A (en) * | 2022-04-14 | 2022-07-29 | 福州美美环保科技有限公司 | Intelligent air control method and system |
| CN114838467A (en) * | 2022-04-14 | 2022-08-02 | 福州美美环保科技有限公司 | Intelligent control method and system based on robot |
| CN114508839A (en) * | 2022-04-19 | 2022-05-17 | 广州海洁尔医疗设备有限公司 | Air purification control method and system for animal laboratory |
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