CN114754471A - Air purifier and control method thereof - Google Patents

Air purifier and control method thereof Download PDF

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Publication number
CN114754471A
CN114754471A CN202210484301.0A CN202210484301A CN114754471A CN 114754471 A CN114754471 A CN 114754471A CN 202210484301 A CN202210484301 A CN 202210484301A CN 114754471 A CN114754471 A CN 114754471A
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Prior art keywords
driving wheel
pollution index
air
state
main body
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Inventor
黄浩哲
陈德波
曾祥锋
张子月
林陆展
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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Priority to CN202210484301.0A priority Critical patent/CN114754471A/en
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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
    • 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
    • F24F8/00—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying
    • F24F8/80—Self-contained air purifiers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F2110/00—Control inputs relating to air properties
    • F24F2110/50—Air quality properties
    • F24F2110/64—Airborne particle content
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F2110/00—Control inputs relating to air properties
    • F24F2110/50—Air quality properties
    • F24F2110/65—Concentration of specific substances or contaminants
    • F24F2110/66—Volatile organic compounds [VOC]

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Fuzzy Systems (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Filtering Of Dispersed Particles In Gases (AREA)

Abstract

The invention relates to the technical field of air purification, in particular to an air purifier and a control method thereof, wherein the air purifier comprises: the main body structure comprises a front air inlet part and a rear air inlet part, the front air inlet part is provided with a first air quality sensor, the rear air inlet part is provided with a second air quality sensor, the first air quality sensor can detect the front pollution index of the main body structure, and the second air quality sensor can detect the rear pollution index of the main body structure; the left driving wheel and the right driving wheel are respectively arranged on the left side and the right side of the bottom of the main body structure; the driving structure is used for respectively driving the left driving wheel and the right driving wheel to rotate around respective wheel shafts; and the controller is in communication connection with the first air quality sensor, the second air quality sensor and the driving structure respectively.

Description

Air purifier and control method thereof
Technical Field
The invention relates to the technical field of air purification, in particular to an air purifier and a control method thereof.
Background
With the higher living standard of human beings, the concern about self health is also increased. However, as the air quality gets worse, particulate matters such as PM2.5 and PM10 exist outside the air, and formaldehyde gas is released inside the air to cause health hazards, so that the air purifier is produced. The existing air purifier has various functions, and can remove formaldehyde and kill viruses besides basic dust. The air firstly passes through a primary filter screen of the purifier to filter out some large particles such as hair, dust and the like; then a core filter screen is arranged, generally consisting of a HEPA filter screen and electrostatic fibers, and can accurately filter particles which are as small as 0.1 micron; and finally, formaldehyde is decomposed, oxygen in the air is separated and dissociated into active oxygen, formaldehyde molecules are oxidized and decomposed under the action of the active oxygen and are converted into carbon dioxide molecules and water molecules, and relatively clean air is output to provide healthy breathing, protecting and navigating for people.
The air purifier on the market at present only has an application area of about 80 square meters, and can not completely cover a house type with 120 square meters or even more than 120 square meters, and the purifying effect is unsatisfactory. And most families can not select the scheme that a plurality of purifiers are matched for use, and how to finish the whole-house air purification by using one purifier becomes the greatest difficulty.
The prior art discloses a method for detecting air quality, which comprises the following steps: s1: detecting a current location of a movable air purifier and air pollution indexes of at least two locations within a predetermined range around the current location; specifically, a coordinate map of an area to be purified is calculated and established through distance data between the movable air purifier and the obstacle or through a fuzzy memory algorithm, the movable air purifier walks in the area to be purified according to a preset walking path, and air pollution indexes of a plurality of positions in a preset range are detected. The preset range can be flexibly set according to the actual situation; s2: when the air pollution index of the current position is smaller than that of any one of the at least two positions, controlling the movable air purifier to move a preset distance to the direction of the position with the highest air pollution index in the at least two positions; s3: repeatedly performing the above steps S1 and S2 until the air pollution index of the current location of the movable air purifier is equal to or greater than the air pollution index of all locations in at least two locations within a predetermined range around the current location of the movable air purifier; and taking the current position of the movable air purifier as the position with the worst air quality. The prior art actually sets a route, then walks along the route, memorizes where the air quality index is poor after walking once, and then goes to the corresponding position for purification. However, if there is a problem in the set route, the area with serious pollution may not fall into the set route, and the area with the most serious pollution cannot be found, and there is also a problem that the air purifier reaches the area with the most serious pollution in the process of finding the area with the most serious pollution, and the air purifier needs to continue to travel along the set route, and finally determines the area with the most serious pollution and then returns to the position to perform air purification, so that the purification efficiency is low.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is to overcome the defects that the air purifier in the prior art cannot find the most polluted region and has low purification efficiency, so as to provide an air purifier which can find the most polluted region and has high purification efficiency and a control method thereof.
In order to solve the above technical problem, the present invention provides an air purifier, comprising: the main body structure comprises a front air inlet part and a rear air inlet part, wherein the front air inlet part is provided with a first air quality sensor, the rear air inlet part is provided with a second air quality sensor, the first air quality sensor can detect the front pollution index of the main body structure, and the second air quality sensor can detect the rear pollution index of the main body structure; the left driving wheel and the right driving wheel are respectively arranged on the left side and the right side of the bottom of the main body structure; the driving structure is used for respectively driving the left driving wheel and the right driving wheel to rotate around respective wheel shafts, and has a first state that the rotating speed of the left driving wheel is equal to that of the right driving wheel and the left driving wheel travels forwards, a second state that the rotating speed of the left driving wheel is equal to that of the right driving wheel and the left driving wheel travels backwards, and a third state that the rotating speed of one of the left driving wheel and the right driving wheel is 0; and the controller is respectively in communication connection with the first air quality sensor, the second air quality sensor and the driving structure.
Optionally, a first air duct and a second air duct which are separated from each other are arranged inside the main body structure, the front air inlet portion is communicated with the first air duct, and the rear air inlet portion is communicated with the second air duct.
Optionally, the first air quality sensor comprises a first dust sensor and a first formaldehyde sensor, and the second air quality sensor comprises a second dust sensor and a second formaldehyde sensor.
Optionally, the top end of the main body structure is provided with a laser radar, and the laser radar is in communication connection with the controller.
The invention also provides a control method of the air purifier, the air purifier comprises a main body structure, a left driving wheel, a right driving wheel and a driving structure, the main body structure comprises a front air inlet part and a rear air inlet part, the front air inlet part is provided with a first air quality sensor, the rear air inlet part is provided with a second air quality sensor, the first air quality sensor can detect the front pollution index of the main body structure, and the second air quality sensor can detect the rear pollution index of the main body structure; the left driving wheel and the right driving wheel are respectively arranged on the left side and the right side of the bottom of the main body structure; the driving structure is used for respectively driving the left driving wheel and the right driving wheel to rotate around respective wheel shafts, the driving structure has a first state that the rotating speed of the left driving wheel is equal to that of the right driving wheel and the left driving wheel walks forwards, a second state that the rotating speed of the left driving wheel is equal to that of the right driving wheel and the left driving wheel walks backwards, and a third state that one of the rotating speeds of the left driving wheel and the right driving wheel is 0, and the control method comprises the following steps:
Acquiring the front pollution index and the rear pollution index;
comparing the front pollution index with the rear pollution index, and determining the movement mode of the air purifier according to the comparison result; wherein the movement pattern comprises at least one of: a first state, a second state, and a third state;
and controlling the left driving wheel and the right driving wheel to move by using the driving structure according to the movement mode.
Optionally, the comparing the front pollution index and the rear pollution index, and determining the movement pattern of the air purifier according to the comparison result includes:
judging whether the front pollution index and the rear pollution index are equal or not;
if the front pollution index is equal to the rear pollution index, determining that the movement mode of the air purifier is in a third state, and searching whether a direction in which the front pollution index is not equal to the rear pollution index exists;
if the front pollution index is not equal to the rear pollution index or the front pollution index is not equal to the rear pollution index, judging whether the front pollution index is larger than the rear pollution index;
If so, determining that the movement mode of the air purifier is in a first state, so that the main structure moves forward for a preset distance, and repeating the step of judging whether the front pollution index and the rear pollution index are equal or not; if not, determining that the movement mode of the air purifier is in a second state, so that the main structure retreats for a preset distance, and repeating the step of judging whether the front pollution index is equal to the rear pollution index or not.
Optionally, the first air quality sensor comprises a first dust sensor and a first formaldehyde sensor, the second air quality sensor comprises a second dust sensor and a second formaldehyde sensor, and the step of obtaining the front pollution index and the rear pollution index further comprises, before the step of obtaining the front pollution index and the rear pollution index:
acquiring an air purification mode, wherein the air purification mode comprises a first mode in which solid particles are preferential or a second mode in which gaseous particles are preferential;
when the air purification mode is a first mode, the front pollution index is an air pollution index detected by the first dust sensor, and the rear pollution index is an air pollution index detected by the second dust sensor;
When the air purification mode is a second mode, the front pollution index is an air pollution index detected by the first formaldehyde sensor, and the rear pollution index is an air pollution index detected by the second formaldehyde sensor.
Optionally, a laser radar is disposed at the top end of the main body structure, and the control method further includes:
acquiring the distance between the obstacle and the main structure;
if the distance between the obstacle and the main structure is smaller than a preset value;
determining the movement mode of the air purifier to be one of a first state, a second state and a third state so as to enable the main body structure to move towards the direction away from the obstacle.
The invention also provides a control device of the air purifier, the air purifier comprises a main body structure, a left driving wheel, a right driving wheel and a driving structure, the main body structure comprises a front air inlet part and a rear air inlet part, the front air inlet part is provided with a first air quality sensor, the rear air inlet part is provided with a second air quality sensor, the first air quality sensor can detect the front pollution index of the main body structure, and the second air quality sensor can detect the rear pollution index of the main body structure; the left driving wheel and the right driving wheel are respectively arranged on the left side and the right side of the bottom of the main body structure; the driving structure is used for respectively driving the left driving wheel and the right driving wheel to rotate around respective wheel shafts, the driving structure has a first state that the rotating speed of the left driving wheel is equal to that of the right driving wheel and the left driving wheel travels forwards, a second state that the rotating speed of the left driving wheel is equal to that of the right driving wheel and the left driving wheel travels backwards, and a third state that one of the rotating speeds of the left driving wheel and the right driving wheel is 0, and the control device comprises:
The first acquisition module is used for acquiring the front pollution index and the rear pollution index;
the first comparison module is used for comparing the front pollution index with the rear pollution index and determining the motion mode of the air purifier according to the comparison result; wherein the movement pattern comprises at least one of: a first state, a second state, and a third state;
and the first execution module controls the left driving wheel and the right driving wheel to move by utilizing the driving structure according to the movement mode.
The present invention also provides a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the control method.
The technical scheme of the invention has the following advantages:
1. the air purifier provided by the invention can enable the air purifier to gradually reach the most seriously polluted area, and firstly purify the most seriously polluted area, thereby improving the purification efficiency.
2. According to the control method of the air purifier, the forward pollution index and the backward pollution index are continuously compared, the driving structure is controlled, the air purifier can gradually reach the most polluted area, the most polluted area is firstly purified, and the purification efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of an air purifier provided in embodiment 1 of the present invention;
fig. 2 is a flowchart of a control method of an air purifier provided in embodiment 2 of the present invention.
Description of reference numerals:
1. a body structure; 2. a front air inlet part; 3. a rear air inlet part; 4. a first air quality sensor; 5. a second air quality sensor; 6. a left drive wheel; 7. a motor; 8. a follow-up support wheel; 9. a battery; 10. a laser radar.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
Furthermore, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
This embodiment provides an air purifier, and this air purifier can find the most serious region of indoor pollution to improve purification efficiency.
In one embodiment, as shown in fig. 1, the air purifier includes a body structure 1, left and right drive wheels 6 and 6 (not shown in fig. 1), a drive structure, and a controller. The main structure 1 comprises a front air inlet part 2 and a rear air inlet part 3, the front air inlet part 2 is provided with a first air quality sensor 4, the rear air inlet part 3 is provided with a second air quality sensor 5, the first air quality sensor 4 can detect the front pollution index of the main structure 1, and the second air quality sensor 5 can detect the rear pollution index of the main structure 1; the left driving wheel 6 and the right driving wheel are respectively arranged at the left side and the right side of the bottom of the main body structure 1; the driving structure is used for respectively driving the left driving wheel 6 and the right driving wheel to rotate around respective wheel shafts, and has a first state that the rotating speed of the left driving wheel 6 is equal to that of the right driving wheel and the driving structure walks forwards, a second state that the rotating speed of the left driving wheel 6 is equal to that of the right driving wheel and the driving structure walks backwards, and a third state that one of the rotating speeds of the left driving wheel 6 and the right driving wheel is 0; the controller is respectively connected with the first air quality sensor 4, the second air quality sensor 5 and the driving structure in a communication mode.
It should be noted that the front side may refer to the front side of the air purifier, the rear side may refer to the back side of the air purifier, correspondingly, the front air intake part 2 is disposed at the front side of the air purifier, the rear air intake part 3 is disposed at the rear side of the air purifier, and after the front and rear directions are determined, the left and right directions are also determined accordingly. Of course, the front, back, left and right directions can be positioned according to actual needs.
In the embodiment, the front air inlet part 2 and the rear air inlet part 3 are arranged, the front pollution index of the main structure 1 is detected through the first air quality sensor 4, the rear pollution index of the main structure 1 is detected through the second air quality sensor 5, when the front pollution index is larger than the rear pollution index, the front pollution degree of the main structure 1 is larger than the rear pollution degree of the main structure 1, the controller controls the driving structure to be switched to the first state, so that the main structure 1 travels forwards, and the front pollution index and the rear pollution index are continuously compared when the main structure travels forwards; when the front pollution index is smaller than the rear pollution index, the pollution degree at the rear of the main body structure 1 is larger than the pollution degree at the front of the main body structure 1, at the moment, the controller controls the driving structure to be switched to the second state, so that the main body structure 1 travels backwards, and the front pollution index and the rear pollution index are continuously compared when the main body structure travels backwards; when the front pollution index is equal to the rear pollution index, the pollution degree at the rear of the main body structure 1 is equal to the pollution degree at the front of the main body structure 1, at the moment, the controller controls the driving structure to be switched to a third state, at the moment, because the rotating speed of one of the left driving wheel 6 and the right driving wheel is 0, the main body structure 1 rotates leftwards or rightwards in place, and in the process of rotating in place, the front pollution index and the rear pollution index are continuously compared; therefore, the air purifier can gradually reach the most seriously polluted area by continuously comparing the front pollution index with the rear pollution index and controlling the driving structure, and the most seriously polluted area is firstly purified, so that the purification efficiency is improved.
Wherein, drive structure includes motor 7, can be connected through the transaxle between left drive wheel 6 and the right drive wheel, and left drive wheel 6 and right drive wheel are connected with differential mechanism respectively, and motor 7 can link to each other through the main shaft of reduction gears with the transaxle to can realize coming the motion of simultaneous control left drive wheel 6 and right drive wheel through controlling a motor 7. In an alternative embodiment, the drive arrangement may include a first motor 7 and a second motor 7, wherein the first motor 7 is coupled to the left drive wheel 6 for controlling rotation of the left drive wheel 6, the second motor 7 is coupled to the right drive wheel for controlling rotation of the right drive wheel, and the controller is in communication with the first motor 7 and the second motor 7, respectively.
For differential steering, let the left wheel speed be VlThe rotating speed of the right wheel is VrAngular velocity of ωlAnd ωrThe driving radius from the center of the circle to the center point between the two wheels is r, and the distance between the left wheel and the right wheel is l. When the rotating speed V of the left wheellRight wheel speed VrThe purifier moves forwards and straightly; when the rotating speed V of the left wheellGreater than right wheel speed VrThen, the steering wheel turns to the right with a turning radius r equal to l (V)r+Vl)/2(Vr-Vl) Otherwise, the reverse is true; when the rotating speed V of the left wheellRight wheel speed-VrRotate right in place and vice versa.
As shown in fig. 1, the front and rear sides below the main structure 1 are further provided with a follow-up supporting wheel 8, and the follow-up supporting wheel 8 can balance and stabilize the stress of the main structure 1 in the movement process.
With further reference to fig. 1, a battery 9 is provided in the main body structure 1, the battery 9 provides power for the motor 7, and the battery 9 cooperates with the driving structure, the left driving wheel 6 and the right driving wheel to reach the area with the most serious pollution.
In addition to the above embodiments, in a preferred embodiment, a first air duct and a second air duct separated from each other are provided inside the main body structure 1, the front air inlet portion 2 is communicated with the first air duct, and the rear air inlet portion 3 is communicated with the second air duct. In this embodiment, the first air duct and the second air duct are separated, so that the front and rear air inlets do not interfere with each other, and the front pollution index and the rear pollution index of the main structure 1 can be more accurately detected by the first air quality sensor 4 and the second air quality sensor 5. Of course, in other alternative embodiments, the first air chute and the second air chute may not be separate.
On the basis of the above-described embodiments, in a preferred embodiment, the first air quality sensor 4 includes a first dust sensor and a first formaldehyde sensor, and the second air quality sensor 5 includes a second dust sensor and a second formaldehyde sensor. In this embodiment, first dust sensor can detect the pollution index of the solid-state particulate matter in 1 the place ahead of the major structure, first formaldehyde sensor can detect the pollution index of the gaseous state particulate matter in 1 the place ahead of the major structure, second dust sensor can detect the pollution index of the solid-state particulate matter in 1 the place behind the major structure, second formaldehyde sensor can detect the pollution index of the gaseous state particulate matter in 1 the place behind the major structure, can detect the pollution condition comprehensively, the user setting of also being convenient for simultaneously uses which pollutant as the standard, it is more humanized. Of course, in an alternative embodiment, the first air quality sensor 4 comprises only a first dust sensor or a first formaldehyde sensor, and the second air quality sensor 5 comprises only a second dust sensor or a second formaldehyde sensor.
On the basis of the above embodiments, in a preferred embodiment, the top end of the main body structure 1 is provided with a laser radar 10, and the laser radar 10 is in communication connection with the controller. In this embodiment, by providing the laser radar 10, the position of the main structure 1 can be located, and the distance between the main structure 1 and the obstacle can be determined, thereby realizing obstacle avoidance.
Example 2
The embodiment provides a control method of an air purifier, the air purifier comprises a main body structure 1, a left driving wheel 6, a right driving wheel and a driving structure, the main body structure 1 comprises a front air inlet part 2 and a rear air inlet part 3, the front air inlet part 2 is provided with a first air quality sensor 4, the rear air inlet part 3 is provided with a second air quality sensor 5, the first air quality sensor 4 can detect the front pollution index of the main body structure 1, and the second air quality sensor 5 can detect the rear pollution index of the main body structure 1; the left driving wheel 6 and the right driving wheel are respectively arranged at the left side and the right side of the bottom of the main body structure 1; the driving structure is used for driving the left driving wheel 6 and the right driving wheel to rotate around respective wheel shafts respectively, and has a first state that the rotating speed of the left driving wheel 6 is equal to that of the right driving wheel and the driving structure walks forwards, a second state that the rotating speed of the left driving wheel 6 is equal to that of the right driving wheel and the driving structure walks backwards, and a third state that one of the rotating speeds of the left driving wheel 6 and the right driving wheel is 0.
In one embodiment, as shown in fig. 2, the control method includes the steps of:
s1, acquiring a front pollution index and a rear pollution index. Specifically, the front pollution index is acquired by the first air quality sensor 4, and the rear pollution index is acquired by the second air quality sensor 5.
S2, comparing the front pollution index with the rear pollution index, and determining the motion mode of the air purifier according to the comparison result; wherein the movement mode comprises at least one of the following: a first state, a second state, and a third state. Specifically, when the front pollution index is greater than the rear pollution index, the movement mode of the air purifier is determined to be a first state, the air purifier is enabled to walk forwards, when the front pollution index is less than the rear pollution index, the movement mode of the air purifier is determined to be a second state, the air purifier is enabled to walk backwards, and when the front pollution index is equal to the rear pollution index, the movement mode of the air purifier is determined to be a third state, and the air purifier is enabled to rotate in place.
And S3, controlling the left driving wheel 6 and the right driving wheel to move by using the driving structure according to the movement mode. Specifically, the first state is realized by controlling the left driving wheel 6 and the right driving wheel to rotate forward and rotate at equal speeds through the driving structure, the second state is realized by controlling the left driving wheel 6 and the right driving wheel to rotate backward and rotate at equal speeds through the driving structure, and the third state is realized by controlling one of the left driving wheel 6 and the right driving wheel to rotate at 0 through the driving structure.
Through the control method provided by the embodiment, the air purifier can gradually reach the most polluted area by continuously comparing the front pollution index with the rear pollution index and controlling the driving structure, and the most polluted area is firstly purified, so that the purification efficiency is improved.
In a preferred embodiment, in addition to the above embodiment, the step S2 includes:
s21, judging whether the front pollution index is equal to the rear pollution index;
s22, if the front pollution index is equal to the rear pollution index, determining that the motion mode of the air purifier is in a third state, and searching again whether a direction in which the front pollution index is not equal to the rear pollution index exists;
s23, if the front pollution index and the rear pollution index are not equal or the front pollution index is not equal to the rear pollution index, judging whether the front pollution index is larger than the rear pollution index;
s24, if yes, determining that the motion mode of the air purifier is in a first state, so that the main body structure 1 moves forward for a preset distance, and repeating the step S21;
and S25, if not, determining that the motion mode of the air purifier is in the second state, so that the main body structure 1 is retreated for a preset distance, and repeating the step S21.
In the embodiment, the front pollution index and the rear pollution index are continuously compared, the driving structure is controlled until the front pollution index is equal to the rear pollution index and the front pollution index and the rear pollution index are not in the same direction after the air purifier rotates in place, and then the air purifier arrives at the area with the most serious pollution and purifies in place.
In addition to the above embodiments, in a preferred embodiment, the first air quality sensor 4 includes a first dust sensor and a first formaldehyde sensor, the second air quality sensor 5 includes a second dust sensor and a second formaldehyde sensor, and the method further includes, before the step S1:
s0. obtaining an air purification mode including a first mode where solid particulates are preferred or a second mode where gaseous particulates are preferred. When the air purification mode is a first mode, the front pollution index is an air pollution index detected by the first dust sensor, and the rear pollution index is an air pollution index detected by the second dust sensor; when the air purification mode is the second mode, the front pollution index is the air pollution index detected by the first formaldehyde sensor, and the rear pollution index is the air pollution index detected by the second formaldehyde sensor.
In this embodiment, the air purification mode can be selected by the user, for example, when a new house is finished, and the user can select the second mode to preferentially purify the area with serious gaseous pollutant pollution. Setting a first mode with preferential solid particles and a second mode with preferential gaseous particles for a user to select so as to deal with different use scenes
In addition to the above embodiments, in a preferred embodiment, the laser radar 10 is disposed at the top end of the main body structure 1, and the control method further includes:
and S4, acquiring the distance between the obstacle and the main structure 1. Specifically, in the process of walking of the main body structure 1, the laser radar 10 rotates at a high speed to emit laser, and then the distance between the main body structure 1 and the obstacle is determined by the time when the laser is reflected back by touching the obstacle after being emitted.
And S5, if the distance between the obstacle and the main structure 1 is smaller than a preset value, determining that the motion mode of the air purifier is one of a first state, a second state and a third state so that the main structure 1 moves towards the direction far away from the obstacle.
In this embodiment, the distance between the main body structure 1 and the obstacle is continuously detected, and when the main body structure 1 is close to the obstacle, the main body structure 1 is controlled to move towards the direction of the principle obstacle, so that the autonomous obstacle avoidance is realized.
Example 3
The embodiment provides a control device of an air purifier, the air purifier comprises a main body structure 1, a left driving wheel 6, a right driving wheel and a driving structure, the main body structure 1 comprises a front air inlet part 2 and a rear air inlet part 3, the front air inlet part 2 is provided with a first air quality sensor 4, the rear air inlet part 3 is provided with a second air quality sensor 5, the first air quality sensor 4 can detect the front pollution index of the main body structure 1, and the second air quality sensor 5 can detect the rear pollution index of the main body structure 1; the left driving wheel 6 and the right driving wheel are respectively arranged at the left side and the right side of the bottom of the main body structure 1; the driving structure is used for driving the left driving wheel 6 and the right driving wheel to rotate around respective wheel shafts respectively, and has a first state that the left driving wheel 6 and the right driving wheel are enabled to rotate at the same speed and walk forwards, a second state that the left driving wheel 6 and the right driving wheel are enabled to rotate at the same speed and walk backwards, and a third state that one of the left driving wheel 6 and the right driving wheel is enabled to rotate at 0.
In one embodiment, a control device includes:
the first acquisition module is used for acquiring a front pollution index and a rear pollution index. Specifically, the front pollution index is acquired by the first air quality sensor 4, and the rear pollution index is acquired by the second air quality sensor 5.
The first comparison module is used for comparing the front pollution index with the rear pollution index and determining the movement mode of the air purifier according to the comparison result; wherein the movement pattern comprises at least one of: a first state, a second state, and a third state. Specifically, when the front pollution index is greater than the rear pollution index, the movement mode of the air purifier is determined to be a first state, the air purifier is enabled to walk forwards, when the front pollution index is less than the rear pollution index, the movement mode of the air purifier is determined to be a second state, the air purifier is enabled to walk backwards, and when the front pollution index is equal to the rear pollution index, the movement mode of the air purifier is determined to be a third state, and the air purifier is enabled to rotate in place.
And the first execution module controls the left driving wheel 6 and the right driving wheel to move by utilizing the driving structure according to the motion mode. Specifically, the first state is realized by controlling the left driving wheel 6 and the right driving wheel to rotate forward and rotate at equal speeds through the driving structure, the second state is realized by controlling the left driving wheel 6 and the right driving wheel to rotate backward and rotate at equal speeds through the driving structure, and the third state is realized by controlling one of the left driving wheel 6 and the right driving wheel to rotate at 0 through the driving structure.
Through the controlling means that this embodiment provided, through constantly comparing the pollution index in the place ahead and the pollution index in the place behind and control drive structure, can make this air purifier reach the region that pollutes the most seriously step by step, purify the region that pollutes the most seriously at first, improve purification efficiency.
The control device provided in this embodiment is used to implement the foregoing embodiments and preferred embodiments, and details are not described again after the description. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
The control means in this embodiment is presented in the form of functional units, where a unit refers to an ASIC circuit, a processor and memory executing one or more software or fixed programs, and/or other devices that may provide the above-described functionality.
Further functional descriptions of the modules are the same as those of the corresponding embodiments, and are not repeated herein.
Example 4
The present embodiment provides a computer-readable storage medium on which computer instructions are stored, which when executed by a processor implement the control method in embodiment 2 described above.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. And obvious variations or modifications derived therefrom are intended to be within the scope of the invention.

Claims (10)

1. An air purifier, comprising:
the main body structure (1) comprises a front air inlet part (2) and a rear air inlet part (3), the front air inlet part (2) is provided with a first air quality sensor (4), the rear air inlet part (3) is provided with a second air quality sensor (5), the first air quality sensor (4) can detect a front pollution index of the main body structure (1), and the second air quality sensor (5) can detect a rear pollution index of the main body structure (1);
the left driving wheel (6) and the right driving wheel are respectively arranged on the left side and the right side of the bottom of the main body structure (1);
the driving structure is used for respectively driving the left driving wheel (6) and the right driving wheel to rotate around respective wheel shafts, and has a first state that the rotating speed of the left driving wheel (6) is equal to that of the right driving wheel and the left driving wheel travels forwards, a second state that the rotating speed of the left driving wheel (6) is equal to that of the right driving wheel and the left driving wheel travels backwards, and a third state that the rotating speed of one of the left driving wheel (6) and the right driving wheel is 0;
And the controller is respectively in communication connection with the first air quality sensor (4), the second air quality sensor (5) and the driving structure.
2. The air purifier according to claim 1, wherein the main body structure (1) is provided with a first air duct and a second air duct separated from each other inside, the front air inlet portion (2) is communicated with the first air duct, and the rear air inlet portion (3) is communicated with the second air duct.
3. The air purifier according to claim 1, wherein the first air quality sensor (4) comprises a first dust sensor and a first formaldehyde sensor, and the second air quality sensor (5) comprises a second dust sensor and a second formaldehyde sensor.
4. The air purifier according to claim 1, wherein a laser radar (10) is arranged at the top end of the main structure (1), and the laser radar (10) is in communication connection with the controller.
5. The control method of the air purifier is characterized by comprising a main body structure (1), a left driving wheel (6), a right driving wheel and a driving structure, wherein the main body structure (1) comprises a front air inlet part (2) and a rear air inlet part (3), the front air inlet part (2) is provided with a first air quality sensor (4), the rear air inlet part (3) is provided with a second air quality sensor (5), the first air quality sensor (4) can detect the front pollution index of the main body structure (1), and the second air quality sensor (5) can detect the rear pollution index of the main body structure (1); the left driving wheel (6) and the right driving wheel are respectively arranged on the left side and the right side of the bottom of the main body structure (1); the driving structure is used for respectively driving the left driving wheel (6) and the right driving wheel to rotate around respective wheel shafts, the driving structure has a first state that the rotating speed of the left driving wheel (6) and the rotating speed of the right driving wheel are equal and the left driving wheel travels forwards, a second state that the rotating speed of the left driving wheel (6) and the rotating speed of the right driving wheel are equal and the left driving wheel travels backwards, and a third state that one of the rotating speeds of the left driving wheel (6) and the right driving wheel is 0, and the control method comprises the following steps:
Acquiring the front pollution index and the rear pollution index;
comparing the front pollution index with the rear pollution index, and determining the movement mode of the air purifier according to the comparison result; wherein the movement pattern comprises at least one of: a first state, a second state, and a third state;
and controlling the left driving wheel (6) and the right driving wheel to move by using the driving structure according to the movement mode.
6. The control method of claim 5, wherein comparing the front pollution index and the rear pollution index and determining the movement pattern of the air purifier according to the comparison result comprises:
judging whether the front pollution index and the rear pollution index are equal or not;
if the front pollution index is equal to the rear pollution index, determining that the movement mode of the air purifier is in a third state, and searching whether a direction in which the front pollution index is not equal to the rear pollution index exists;
if the front pollution index is not equal to the rear pollution index or the front pollution index is not equal to the rear pollution index, judging whether the front pollution index is larger than the rear pollution index;
If so, determining that the movement mode of the air purifier is a first state, so that the main body structure (1) moves forward for a preset distance, and repeating the step of judging whether the front pollution index and the rear pollution index are equal; if not, determining that the movement mode of the air purifier is in a second state, so that the main body structure (1) retreats for a preset distance, and repeating the step of judging whether the front pollution index and the rear pollution index are equal or not.
7. The control method according to claim 5 or 6, characterized in that the first air quality sensor (4) comprises a first dust sensor and a first formaldehyde sensor, the second air quality sensor (5) comprises a second dust sensor and a second formaldehyde sensor, and before the step of obtaining the front pollution index and the rear pollution index, the method further comprises:
acquiring an air purification mode, wherein the air purification mode comprises a first mode in which solid particles are preferential or a second mode in which gaseous particles are preferential;
when the air purification mode is a first mode, the front pollution index is an air pollution index detected by the first dust sensor, and the rear pollution index is an air pollution index detected by the second dust sensor;
When the air purification mode is a second mode, the front pollution index is an air pollution index detected by the first formaldehyde sensor, and the rear pollution index is an air pollution index detected by the second formaldehyde sensor.
8. The control method according to claim 5 or 6, characterized in that the top end of the body structure (1) is provided with a lidar (10), the control method further comprising:
acquiring the distance between the obstacle and the main structure (1);
if the distance between the obstacle and the main structure (1) is smaller than a preset value;
determining the movement mode of the air purifier to be one of a first state, a second state and a third state so as to enable the main body structure (1) to move towards the direction far away from the obstacle.
9. The control device of the air purifier is characterized by comprising a main body structure (1), a left driving wheel (6), a right driving wheel and a driving structure, wherein the main body structure (1) comprises a front air inlet part (2) and a rear air inlet part (3), the front air inlet part (2) is provided with a first air quality sensor (4), the rear air inlet part (3) is provided with a second air quality sensor (5), the first air quality sensor (4) can detect the front pollution index of the main body structure (1), and the second air quality sensor (5) can detect the rear pollution index of the main body structure (1); the left driving wheel (6) and the right driving wheel are respectively arranged on the left side and the right side of the bottom of the main body structure (1); the driving structure is used for respectively driving the left driving wheel (6) and the right driving wheel to rotate around respective wheel shafts, the driving structure has a first state that the rotating speed of the left driving wheel (6) and the rotating speed of the right driving wheel are equal and the left driving wheel travels forwards, a second state that the rotating speed of the left driving wheel (6) and the rotating speed of the right driving wheel are equal and the left driving wheel travels backwards, and a third state that one of the rotating speeds of the left driving wheel (6) and the right driving wheel is 0, and the control device comprises:
The first acquisition module is used for acquiring the front pollution index and the rear pollution index;
the first comparison module is used for comparing the front pollution index with the rear pollution index and determining the motion mode of the air purifier according to the comparison result; wherein the movement pattern comprises at least one of: a first state, a second state, and a third state;
and the first execution module controls the left driving wheel (6) and the right driving wheel to move by using the driving structure according to the movement mode.
10. A computer-readable storage medium having stored thereon computer instructions, characterized in that the instructions, when executed by a processor, implement the control method of any one of claims 5-8.
CN202210484301.0A 2022-05-05 2022-05-05 Air purifier and control method thereof Pending CN114754471A (en)

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