WO2012083876A1

WO2012083876A1 - Air purifier and control method for purifying air

Info

Publication number: WO2012083876A1
Application number: PCT/CN2011/084502
Authority: WO
Inventors: 汤进举
Original assignee: 科沃斯机器人科技(苏州)有限公司
Priority date: 2010-12-25
Filing date: 2011-12-23
Publication date: 2012-06-28
Also published as: CN102563801B; CN102563801A

Abstract

Disclosed are an air purifier and control method for purifying air; the air purifier comprises a main body (1), a control unit (4), a moving unit (2), an air purifying unit (3) and a sensing unit (5), wherein the control unit (4), the moving unit (2) and the air purifying unit (3) are located inside the main body (1); the sensing unit (5) comprises an obstacle detecting sub-unit (51) and an air pollution detecting sub-unit (52), respectively connected to the control unit (4). The control method comprises the steps of: step 1, moving the air purifier along the edge of the space to be purified, detecting the degree of air pollution in real time while purifying air; step 2, the air purifier searching for the source of pollution and purifying the air where the source of pollution has been found when the air pollution value detected is more than a first predetermined value; step 3, moving the air purifier in a first predetermined travelling manner when the air pollution value detected is less than a second predetermined value; and step 4, returning to step 1 when the air purifier achieves the predetermined requirements while moving in the first predetermined travelling manner, or else continuing to move in the first predetermined travelling manner.

Description

Air purifier and control method for performing air purification thereof

The present invention relates to an air purifier and a control method therefor, and more particularly to an air purifier and a control method thereof for performing air purification. Background technique

With the current increase in air pollution and consumer awareness of the quality of the living environment, various functions of air purifiers are being used by more and more families. The principle of the air purifier: The indoor air circulates through the fan in the air purifier, and the polluted air is filtered by the air filter in the machine to remove or adsorb various pollutants, and then through the air outlet, the clean, The purified air is released. Purification methods usually include physical purification methods (eg, activated carbon or HEPA filters), electrostatic purification methods (eg, negative ions), or chemical purification methods (eg, photocatalysis or formaldehyde scavengers or pharmaceuticals).

The traditional air purifier can only be placed in a fixed position in the room. When the air purifier is used to purify the air, the air around the air purifier circulates smoothly, so the air purification effect is remarkable, but the air purification effect away from the air purifier is effective. It is relatively poor, so it takes a considerable amount of time to purify the indoor air more evenly.

With the development of technology, a fixed lift air purifier has emerged. The air purifier is installed at a fixed position, but the air purifying unit in the purifier can be moved up and down depending on the situation at different heights, so as to effectively circulate air in a certain area. For the specific technical solution of the air purifier, please refer to patent document No. ZL03106666.6, entitled "Air Purifier".

In addition, there has been a mobile smart cleaning robot that has the function of simultaneous cleaning and purification. The smart cleaning robot is provided with a dust collecting unit and a brush device for cleaning the surface to be cleaned by suction cleaning; at the same time, the smart cleaning robot has activated carbon built in, and adsorbs harmful substances in the air through the activated carbon. The smart cleaning robot adopts a random mode when walking, specifically, the robot is free to walk, while cleaning the ground while purging the air while walking freely.

The mobile intelligent cleaning robot is in a moving state when it is in operation, and cannot be powered by a fixed power source such as a commercial power like a stationary air purifying device. Therefore, the energy required for operation is provided by a charging battery that is provided by itself. Among them, the work of purifying air requires energy, and the movement also requires energy supply, so energy consumption is very fast. When the amount of electricity is insufficient to maintain its movement and air purification, the working mode of the air purifier is switched to the charging mode, that is, the air is no longer cleaned while moving in the predetermined area, but is returned to the charging stand for charging.

The aforementioned mobile smart cleaning robot uses a random mode while walking, which brings at least three questions. Title: First, the purification does not mean the rightness, and the pollution source cannot be effectively eliminated in the first time; secondly, some areas will be re-purified, while some areas have no defects of purification; the third is waste of energy and cannot be supplied in a limited energy supply. In case, improve purification efficiency. Summary of the invention

The technical problem to be solved by the present invention is to provide an air purifier and a control method for performing the air purification according to the deficiencies of the prior art, and to effectively purify the air in the predetermined area by designing an optimized walking route, in a limited energy supply. In the case of improving purification efficiency.

The technical problem to be solved by the present invention is achieved by the following technical solutions:

The present invention provides a method for controlling air purification by an air purifier, which specifically includes the following steps: Step 1. The air purifier is moved along the edge of the space to be cleaned, and the degree of pollution of the air is detected in real time while performing air purification;

Step 2: when the detected air pollution value is greater than the first predetermined value, the air purifier searches for a pollution source, and performs air purification on the found pollution source;

Step 3: when the detected air pollution value is less than a second predetermined value, moving the air purifier according to a first predetermined walking manner;

Step 4, when the air purifier reaches a predetermined requirement during the first predetermined walking mode, returning to step 1, otherwise continuing to move according to the first predetermined walking mode;

The first predetermined value is greater than the second predetermined value.

The present invention also provides an air purifier comprising a main body, a control unit, a moving unit, an air purifying unit and a sensing unit, wherein the control unit, the moving unit and the air purifying unit are disposed inside the main body, and the sensing unit comprises An obstacle detecting subunit and an air pollution detecting subunit respectively connected to the control unit, the control unit according to the obstacle signal detected by the obstacle detecting subunit and the air pollution value detected by the air pollution detecting subunit The method of claim 1 drives the mobile unit and the air purification unit to operate.

The beneficial effects of the invention are:

For the purification of large working areas, if random exploration is used directly, since the air purifier itself has limited electrification, it is easy to have the possibility of leakage purification due to the place where the air purifier has not passed. By working with the mode described in the present invention, the possibility of leak cleanup can be reduced and energy can be saved.

The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. DRAWINGS Figure 1 is a schematic structural view of an air purifier of the present invention;

2 is a block diagram showing the structure of an air purifier of the present invention;

3 is a flow chart of a method for controlling air purifying by an air purifier according to Embodiment 1 of the present invention; FIG. 4 is a flow chart showing optimization of a method for controlling air purifying of an air purifier according to Embodiment 1 of the present invention; Embodiment 1 A flow chart of a method for controlling a source of pollution in an air purifier for performing air purification,

6 is a schematic diagram of an air purifier looking for a pollution source according to Embodiment 1 of the present invention;

Figure 7 is a trajectory diagram of the air purifier when it is spirally moved according to the first embodiment of the present invention;

Figure 8 is a trajectory diagram of the air purifier when moving in a fan shape according to the first embodiment of the present invention;

Figure 9 is a trajectory diagram of the air purifier when it is moved in a comb shape according to the first embodiment of the present invention;

10 is a schematic diagram of an air purifier looking for a pollution source according to a second embodiment of the present invention;

11 is a flowchart of a third embodiment of the present invention, a method for controlling air purifying by an air purifier. detailed description

Embodiment 1

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing the structure of an air purifier of the present invention; Fig. 2 is a block diagram showing the structure of an air purifier of the present invention. As shown in Figs. 1 and 2, an air cleaner includes a main body 1, a moving unit 2, an air purifying unit 3, a control unit 4, and a sensing unit 5. The control unit 4, the moving unit 2 and the air purifying unit 3 are disposed inside the main body 1, and the sensing unit 5 includes an obstacle detecting subunit 51 and an air pollution detecting subunit 52 which are respectively connected to the control unit 4. The air pollution detecting subunit 52 includes a sensor that detects the degree of air pollution. The obstacle detecting subunit 51 includes a front side sensor 510 and a side side sensor 511. The front side sensor 510 is located at the front end of the main body of the air cleaner in the forward direction; the side surface sensor 511 is located on one side of the main body. The front side sensor 510 is a collision sensor. The collision sensor is a contact sensor such as a micro switch. In addition to the collision sensor, the front side sensor 510 can also be a pair of signal transmitting and receiving elements. The side sensor 511 is a pair of signal transmitting and receiving elements. The front side sensor 510 or the side side sensor 511 functions as a signal transmitting and receiving element, which may be one or any of a wireless electronic transmitting and receiving element, an infrared transmitting and receiving element, an optical transmitting and receiving element, and a laser transmitting and receiving element. combination.

The control unit 4 of the present air cleaner controls the operation of the mobile unit 2 and the air cleaning unit 3 based on the obstacle signal detected by the obstacle detecting subunit 51 and the air pollution value detected by the air pollution detecting subunit 52.

In the present embodiment, since the mobile unit 2 and the air cleaning unit 3 can adopt any one of the prior art, the description will not be repeated here. Fig. 3 and Fig. 4 respectively show a flow chart of the air purifier using the welt cleaning, and the control method for the air purifier to perform the air purifying will be specifically described as follows according to Fig. 3, Fig. 4 and with reference to Fig. 2:

Step S10, the air purifier moves along the edge of the space to be cleaned, and the degree of pollution of the air is detected in real time while performing air purification.

Step S10 includes steps S11, S12, S12a, S12b, and S13.

Step S11, the air purifier adjusts the posture, such as the movement, the rotation direction, and the like, so that the side sensor 511 can receive the signal, and when the side sensor 511 can receive the signal, the movement continues.

In step S12, the control unit 4 detects whether the detection signal sent from the side sensor 511 is continuously received; if yes, the process goes to step S12a; if not, the process returns to step S11 to adjust the posture again.

Step S12a, this step is a preferred solution for keeping the purifier at a certain distance from the edge. Therefore, the control unit 4 calculates the air purifier corresponding to the detection signal received by the side sensor 511 each time to the space to be cleaned. The distance between the edges, and whether the difference between the distances corresponding to the two adjacent detection signals is greater than a predetermined value? If it is greater, it proceeds to step S12b; if it is not greater, it proceeds to step S13.

In step S12b, the control unit 4 drives the air cleaner to approach or move away from the edge, and then returns to step S12a to perform discrimination comparison again.

When the control unit 4 determines that the difference between the distances corresponding to the two adjacent detection signals is not greater than a predetermined value, the process proceeds to step S13, indicating that the purifier and the edge maintain an ideal distance, and the purifier will continue to move in the current moving direction. Go to step S20.

In step S20, the air pollution detecting sub-unit 52 supplies the detected air pollution value to the control unit 4; the control unit 4 is provided with a first predetermined value A1, and the control unit 4 compares the detected air pollution value with the first predetermined value A1. For comparison, when the detected air pollution value is greater than the first predetermined value A1, the process proceeds to step S30; if not, the process returns to step S13 to continue the movement. In this step, the first predetermined value A1 represents a relatively heavy air pollution level and needs to be cleared.

Step S30, the air purifier searches for a pollution source, and performs air purification on the found pollution source.

Figure 5 is a flow chart of the control method for the air purifier to find the pollution source in the air purification process; how to find the pollution source, as shown in Figure 5:

Step 30a, the air purifier moves the straight-track trajectory, and determines the direction of the pollution source according to the air pollution value detected by the air pollution detecting sub-unit on the starting position and the ending position of the two right-angle sides.

In step 30b, the air purifier rotates in the direction of the pollution source at an angle determined by the air pollution value of the starting point position and the end point position of the two right-angled sides.

Step 30c, the air purifier continues to move the straight-angle trajectory, and determines the air pollution source during the movement Is it increased? If it is no longer increased, then in step S30d, the air purifier performs air purification at the position where the air pollution source is the largest; if it is increased, it returns to step 30b.

Further, the lengths of the two right-angled sides of the right-angled trajectory mentioned in the steps 30a and 30c are predetermined moving distances, which may or may not be equal. In addition to this, the length of the two right-angled sides of the right-angled trajectory may also be the distance corresponding to the time at which the set air cleaner moves.

Further, the step of determining the direction of the pollution source in step 30a specifically includes: obtaining a difference between the air pollution values of the two straight sides according to the air pollution value detected at the starting position and the ending position in the same direction, and determining the relative value of the air purifier according to the difference In the quadrant where the source of pollution is located.

The angle in step 30b is determined by the following steps: The air pollution value detected at the start position and the end position in the same direction, the absolute value of the difference between the air pollution values at the two right angles is obtained, and the angle value is obtained by a trigonometric function relationship.

Figure 6 is a schematic diagram of the air purifier looking for a source of pollution. For ease of understanding, steps 30a and 30b will now be described in conjunction with FIG.

The mobile unit starts straight under the control of the control unit, and sets the straight direction to the A direction, and the moving start point of the direction is ο point. As shown in Fig. 6, a timer is provided in the control unit. At this time, the timer starts counting, and the air pollution detecting subunit simultaneously detects the air pollution value. Once the time the mobile unit has traveled reaches the preset time in the control unit, the control unit controls the mobile unit to pause the movement, at which point the air purifier is at the end point of the movement in the Α direction. The air pollution information values of the two points o and a detected by the air pollution detecting subunit are Ao and Aa, respectively, and the two air pollution interest values of the memory in the control unit. The control unit controls the moving unit to rotate 90 degrees counterclockwise, so that the air purifier body direction is perpendicular to the original walking direction and starts straight in this direction, and the current straight traveling direction is B direction, and the air purifier is in the direction The starting point a moves (ie, the point in point A of the air purifier moving in the A direction), at the same time, the timer in the control unit starts counting, once the time the mobile unit walks reaches the preset time in the control unit, The control unit controls the mobile unit to pause the movement, at which point the air purifier is in the B direction, at the end point b of the movement. The information storage subunit stores the air pollution values of the points a and b detected by the air pollution detecting subunit at the points a and b respectively, respectively, Ba and Bb.

The control unit calculates the air pollution values Ao and Aa, Ba and Bb according to the stored values, and obtains the air pollution values Aa-Ao and Bb-Ba of the air purifiers in the A and B directions, respectively. After the obtained value of the air pollution value of the purifier in the A direction and the B direction is changed, the obtained air pollution information value is taken as an absolute value, and an inverse angle function is used to obtain an angle value (p=ar _C tanGA _a -A ₀ |/|Bb-Ba|), the angle ranges from 0° to 90°. And, the information processing subunit changes the values Aa-Ao and Bb-Ba according to the obtained air pollution information values, Determine the quadrant where the air purifier is located relative to the source of the pollution. The control unit controls the air purifier to approach the pollution source according to the quadrant in which the air purifier is located and the angle value φ.

Specifically, the air purifier starts from the starting point ο point, and measures the change values of the air pollution information values at points o, a, and b along the Α direction and the Β direction, respectively, which are Aa-Ao and Bb-, respectively. Ba. If the measured values of the air pollution information values Aa-Ao and Bb-Ba are positive numbers, the source of the pollution is in the first quadrant. Then, according to the absolute values of Aa-Ao and Bb-Ba, the angle value cp=arctan(;|Aa-Ao|/|Bb-Ba|;) is obtained by the inverse tangent function. Since the source of pollution is in the first quadrant, the air purifier rotates the angle φ clockwise at point b and maintains this direction, which is the direction of the source of the pollution.

The air purifier starts from the origin point ο, and measures the change values of the air pollution information values at point o, point a, and point b along the Α direction and the Β direction, respectively, Aa-Ao and Bb-Ba. If the measured air pollution information value change value Aa-Ao is negative, Bb-Ba is a positive number, indicating that the pollution source is in the second quadrant. Then, according to the absolute values of Aa-Ao and Bb-Ba, the angle value cp=arctan(|Aa-Ao|/|Bb-Ba|) is obtained by the inverse tangent function. Since the source of contamination is in the second quadrant, the air purifier rotates 90+φ in a clockwise direction at point B and maintains this direction, which is the direction of the source of the pollution.

The air purifier starts from the origin point ο, and measures the change values of the air pollution information values at point o, point a, and point b along the Α direction and the Β direction, respectively, Aa-Ao and Bb-Ba. If the measured change value Aa-Ao is negative, Bb-Ba is negative, indicating that the pollution source is in the third quadrant. Then, according to the absolute values of Aa-Ao and Bb-Ba, the angle value cp=arctan(|Aa-Ao|/|Bb-Ba|) is obtained by the inverse tangent function. Since the source of pollution is in the third quadrant, the air purifier rotates 180+φ in a clockwise direction at point B and keeps moving in this direction, which is the direction of the source of the pollution.

The air purifier starts from the origin point ο, and measures the change values of the air pollution information values at points o, a, and b along the Α direction and the Β direction, respectively, Aa-Ao and Bb-Ba. If the measured change value Aa-A is a positive number and Bb-Ba is a negative number, the source of contamination is in the fourth quadrant. Then according to the absolute values of Aa-Ao and Bb-Ba, the angle value is obtained by the inverse tangent function (p=ar _C tan(|A _a -A ₀ |/|Bb-Ba|). Since the pollution source is located in the fourth quadrant, purification The device rotates the -φ angle clockwise at point B and keeps moving in the original direction, which is the direction of the source of the pollution.

A timer is provided in the control unit, and a predetermined period of time is used to determine the distance the air purifier travels. In addition, it is also possible to directly set the distance traveled by the air purifier in the control unit. When the air purifier starts moving from the starting point in the Α direction, the control unit starts to calculate the distance traveled by the mobile unit, once calculated. When the distance traveled is the same as the preset distance, the control unit controls the robot to stop moving. The distance traveled by the mobile unit is calculated by the rotational speed of the motor in the mobile unit, the drive wheel diameter of the mobile unit, etc. Relevant information is determined.

Step S40: The air purifier detects the air pollution value and provides the information to the control unit while performing air purification at the position where the pollution value is the largest. The control unit compares the air pollution value detected by the air pollution detecting subunit with a second predetermined value preset in the control unit, and if the detected air pollution value is less than the second predetermined value, indicating that the air quality at this time is up to standard, Then, the process proceeds to step S50; if the detected air pollution value is greater than the second predetermined value, the in-situ purification is continued. Wherein the first predetermined value A1 is greater than the second predetermined value A2.

Step S50, the purifier moves and purifies the air according to the first predetermined walking manner. In this embodiment, the first predetermined walking mode is a random moving mode.

Step S60: The control unit determines whether the air purifier reaches a predetermined requirement during the movement according to the first predetermined walking mode. If yes, exit the first predetermined walking mode, return to step S10 or S l l, and enter the pasting step again. If not, return to step S50 to continue the random movement mode.

Here, the predetermined requirement is that the number of times the obstacle is detected in the random movement mode reaches a predetermined number of times, or the detected air pollution value is less than the second predetermined value, or a predetermined time to reach the random movement mode.

The random movement mode is that the air cleaner moves linearly to a predetermined length in the current advancing direction, or linearly according to the detected surrounding environment, after deflecting a predetermined or random angle. Also, in the random movement mode, the number of encounters of the obstacle includes a superposition of the number of steering processes or the number of the two after the number of times the obstacle is detected or moved by a predetermined distance.

As shown in FIG. 7 to FIG. 9, the first predetermined walking mode of the air purifier may be a spiral movement or a fan-shaped movement made by stopping the purifier as a center, in addition to the above-mentioned random movement mode, or Comb movement starting from the point where the purifier stops. At this time, the predetermined requirement is a spiral movement or a fan movement made at the center of the purifier stop, or the number of times the obstacle is detected during the comb movement starting from the purifier stop point reaches a predetermined number of times. , or the detected air pollution value is less than the second predetermined value, or is a predetermined time of operation in the random movement mode. In this, the number of encounters of the obstacle includes a superposition of the number of turns or a process of shifting the number of times the obstacle is detected or moved a predetermined distance.

In this embodiment, the purifying device effectively combines the moving mode such as the welt mode and the automatic search for the pollution source mode, thereby effectively solving the problem that the air purifier can remove the pollution source at the first time, and in the case of limited energy, the maximum effect is Purify the room. Embodiment 2

The second embodiment is basically the same as the first embodiment, and the only difference is: a method for finding a source of pollution. Embodiment 1 After walking a predetermined distance in the A direction and the B direction, after accurately determining the quadrant of the pollution source and the angle of rotation required by the purifier, the purifier starts to gradually approach the pollution source in a direction toward the pollution source at the current position. In the present embodiment, FIG. 10 is a schematic diagram of the air purifier looking for a pollution source according to the second embodiment of the present invention. After walking a predetermined distance in the A' direction and the B' direction, the quadrant of the pollution source and the purifier need to be accurately determined. After the angle, the purifier returns to the starting point, and from this position, the pollution source is gradually approached to the pollution source in a direction. The specific process is similar to that in the first embodiment, and details are not described herein again.

In addition to the method of calculating the angle value by performing an arctangent function on the amount of change of the air pollution information values in the two vertical directions in the first embodiment and the second embodiment, it is also possible to pass the air pollution information value to the two vertical directions. The amount of change is performed by a trigonometric function such as inverse cotangent to calculate the angle value. Embodiment 3

The third embodiment is an improvement on the basis of the first embodiment and the second embodiment. This adds only one step to the first embodiment and the second embodiment, namely: adding a purifying robot to stop walking for purification in the step of purifying the paste (S 10 ) and finding the movement of the source (S20).

As shown in Figure 1 1:

Step S15, a third predetermined value A3 is provided in the control unit, and the air cleaner control unit determines whether the detected air pollution value is greater than a third predetermined value A3 and is smaller than the first predetermined value A1. If yes, the process proceeds to step S16. If not, go to step S20

Step S16, the air purifier stops moving and performs air purification in situ.

In this embodiment, the third predetermined value A3 is greater than the second predetermined value A2 and smaller than the first predetermined value A1. At this time, it indicates that the air quality at this place is not enough for the air purifier to meet the requirements while purging while moving, but it is not enough to exit the mode of the welt movement. Therefore, at this time, by stopping the fixed point purification, It can be effectively purified. By adding a third predetermined value, the invention increases the different treatment modes of the air purifier for different detection data, so that the air purifier can remove the pollution more quickly and effectively, and highlights the high intelligence level of the robot sensitively responding to the complex environment.

Claims

Claim

A method for controlling air purification by an air purifier, comprising the following steps: Step 1: moving an air purifier along an edge of a space to be cleaned, and detecting air pollution in real time while performing air purification ;

The first predetermined value is greater than the second predetermined value.

2. The air purifier control method according to claim 1, wherein one side of the air purifier is provided with a side sensor, and in step 1, the air purifier is moved along an edge of the space to be cleaned. The specific steps are as follows:

Step 11, the air purifier moves linearly, and when the air purifier detects an obstacle, adjusts the posture of the air purifier, so that the side sensor receives the detection signal, and then continues to move linearly;

Step 12: detecting whether the detection signal sent by the side sensor is continuously received, and if continuously received, determining that the obstacle is an edge of the space to be cleaned, moving along the edge, if not received, turning to step 11 .

The method of controlling the air purifier according to claim 2, wherein, in the step 12, if the detection signal sent by the side sensor is continuously received, the process proceeds to step 12a;

Step 12a, calculating a distance from the air purifier corresponding to each detected probe signal to an edge of the space to be cleaned, and determining whether a difference between distances corresponding to two adjacent detection signals is greater than a predetermined value. If it is greater, the air purifier is driven to approach or away from the edge, and returns to step 12a; if not, the movement continues in the current moving direction.

4. The method for controlling air purification by an air purifier according to claim 1, wherein the step of the air purifier searching for a pollution source in step 2 is as follows:

A. The air purifier moves the right angle trajectory, and determines the direction of the pollution source according to the air pollution value of the starting point position and the ending position of the two right angle sides; B. The air purifier rotates in the direction of the pollution source by an angle determined by the air pollution value of the starting point position and the end point position of the two right angle sides;

C. The air purifier continues to move the straight-track trajectory and judge whether the air pollution value during the movement is increasing. If it is no longer increased, the air purification is performed at the position where the air pollution value is the largest; if it is increased, return to step B.

5. The method of controlling air purifying of an air purifier according to claim 1, wherein the step of the air purifier searching for a pollution source in step 2 is as follows:

A. The air purifier moves a straight-angle trajectory, and determines the direction of the pollution source according to the air pollution value of the starting point and the ending position of the two right-angled sides;

B. The air purifier returns to a starting position of the right angle trajectory;

C. The air purifier rotates in the direction of the pollution source by an angle determined by the air pollution value of the starting point and the ending position of the two right-angled sides;

D. The air purifier continues to move the straight-angle trajectory and judge whether the air pollution value during the movement is increasing. If it is no longer increased, the air purification is performed at the position where the air pollution value is the largest; if it is increased, return to step C.

The method for controlling air purification by an air cleaner according to claim 4 or 5, wherein: the lengths of the two right-angle sides of the right-angle trajectory described in the steps A, C, and D are predetermined. The distance traveled or the distance corresponding to the time required for the air purifier to move.

The air purifier control method according to claim 4 or 5, wherein the step of determining the direction of the pollution source comprises: air pollution detected according to the start position and the end position in the same direction; Value, the difference between the air pollution values at two right angles is obtained, and the quadrant of the air purifier relative to the pollution source is judged according to the difference.

8. The method of controlling air purifying by an air purifier according to claim 4 or 5, wherein the angle in step B or C is determined by the following steps: detecting air according to a starting position and an ending position in the same direction The pollution value is obtained as the absolute value of the difference between the air pollution values at two right angles, and the angle value is obtained by a trigonometric function relationship.

9. The air purifier control method according to claim 1, wherein the first predetermined walking mode in step 3 is a random moving mode, and the predetermined requirement in step 4 is: in the random moving mode. The number of times the obstacle is encountered is detected to be a predetermined number of times or the detected air pollution value is less than a second predetermined value or a predetermined time during which the air purifier is operated in the random movement mode.

10. The air purifier control method according to claim 9, wherein the random movement mode is that the air cleaner moves linearly to a predetermined length in a current forward direction, or according to the currently detected The surrounding environment is deflected to a predetermined or random angle and then moved linearly to a predetermined length.

11. The air purification device according to claim 1, wherein the second predetermined walking mode is a spiral movement, a fan movement, or a purification at a center of the stop point. The stop point of the device is the comb-like movement of the starting point. The predetermined requirements in step 4 are: a spiral movement or a fan-shaped movement with the stop point as the center of the circle, or a comb-like movement with the purifier stop point as the starting point. The number of times the obstacle reaches a predetermined number of times or the detected degree of air pollution is less than a predetermined value for the second predetermined value of the air purifier to operate in the random movement mode.

The method for controlling air purification by an air cleaner according to claim 9 or 11, wherein the number of times the obstacle is encountered includes the number of times the obstacle is detected or the predetermined distance is moved, and the rotation direction is adjusted. The number of processes or a superposition of both.

13. The air purifier control method according to claim 12, wherein a front end sensor is provided at a front end of the air purifier in a representative forward direction, and the front side sensor detects whether the encounter is encountered. obstacle.

14. The method of controlling an air purifier of an air purifier according to claim 1, wherein the step 1 and the step 2 are provided with a step 15

Step 15, when the detected air pollution value is greater than a third predetermined value and less than the first predetermined value, causing the air purifier to stop moving and performing air purification in situ; wherein the third predetermined value is greater than the second predetermined value.

An air purifier comprising a main body, a control unit, a moving unit, an air purifying unit and a sensing unit, wherein the control unit, the moving unit and the air purifying unit are disposed inside the main body, wherein the The sensing unit includes an obstacle detecting subunit and an air pollution detecting subunit respectively connected to the control unit, and the control unit detects the obstacle signal detected by the obstacle detecting subunit and the air pollution detecting subunit. The air pollution value drives the mobile unit, the air purification unit, according to the method of claim 1.

16. The air purifier according to claim 15, wherein the obstacle detecting subunit includes a front end sensor and a side sensor, wherein the front end sensor is located at a front end of a main body representing a forward direction of the air purifier The side sensor is located on one side of the body.

17. The air purifier according to claim 16, wherein the front side sensor is a collision sensor or a pair of signal transmitting and receiving elements.

18. The air cleaner according to claim 16, wherein the side sensor is a pair of signal transmitting and receiving elements.

19. The air purifier according to claim 17 or 18, wherein the signal transmitting and receiving elements are wireless electronic transmitting and receiving elements, infrared transmitting and receiving elements, optical transmitting and receiving elements, and laser transmitting and receiving One or any combination of the elements.