CN110686335A - Intelligent air purification device and control method thereof - Google Patents
Intelligent air purification device and control method thereof Download PDFInfo
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- CN110686335A CN110686335A CN201910913198.5A CN201910913198A CN110686335A CN 110686335 A CN110686335 A CN 110686335A CN 201910913198 A CN201910913198 A CN 201910913198A CN 110686335 A CN110686335 A CN 110686335A
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- 238000004887 air purification Methods 0.000 title claims abstract description 69
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000000746 purification Methods 0.000 claims abstract description 60
- 238000004140 cleaning Methods 0.000 claims abstract description 6
- 239000011159 matrix material Substances 0.000 claims description 8
- 239000003463 adsorbent Substances 0.000 claims description 3
- 239000003054 catalyst Substances 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 3
- 239000011941 photocatalyst Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 abstract 1
- 239000003570 air Substances 0.000 description 57
- 238000003384 imaging method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000012080 ambient air Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003915 air pollution Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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- 230000011218 segmentation Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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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
- F24F8/00—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying
- F24F8/10—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by separation, e.g. by filtering
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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
- F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/50—Control or safety arrangements characterised by user interfaces or communication
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/50—Control or safety arrangements characterised by user interfaces or communication
- F24F11/56—Remote control
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
- F24F11/72—Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure
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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
- F24F11/88—Electrical aspects, e.g. circuits
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F13/00—Details common to, or for air-conditioning, air-humidification, ventilation or use of air currents for screening
- F24F13/28—Arrangement or mounting of filters
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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
- F24F8/00—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying
- F24F8/10—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by separation, e.g. by filtering
- F24F8/15—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by separation, e.g. by filtering by chemical means
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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
- F24F2110/00—Control inputs relating to air properties
- F24F2110/50—Air quality properties
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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
- F24F2120/00—Control inputs relating to users or occupants
- F24F2120/10—Occupancy
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Abstract
The invention belongs to the technical field of air purification control, and discloses an intelligent air purification device and a control method thereof, wherein environment image information scanned in a purification area is acquired, a three-dimensional image is generated, and a walking path for avoiding barrier articles is estimated; dividing the obtained cleanable area into a plurality of small areas based on the calculated walking path of the obstacle avoidance object, and respectively defining the small areas as different cleaning points; and acquiring the air concentrations of different purification points, and planning the shortest optimal path of the purification points with the concentrations exceeding the standard value through a Floyd algorithm. According to the invention, the sensor is used for monitoring the air concentration of different indoor areas, and the intelligent air purification system is formed with the automatic purification system, so that the air purification efficiency is improved, and the air comfort level is enhanced. According to the intelligent air purification control method provided by the invention, the shortest optimal path of the path is planned through the Floyd algorithm of the optimal path planning, the cruising path is optimized, and resources are saved.
Description
Technical Field
The invention belongs to the technical field of air purification control, and particularly relates to an intelligent air purification device and a control method thereof.
Background
Currently, the closest prior art:
the traditional air purifier needs a power line to be connected with a power supply and can be limited by the position, distance and use environment; in addition, the air purifier is usually fixed at a specific position, and cannot move freely or purify air beyond a purification range.
At present, a purification device which can be freely moved and uses a rechargeable battery as a power source is available on the market. However, the route planning of the device in the moving process is complex, and the optimal path planning is difficult; the air pollution degree of different positions is different, so that the purification time of different positions is uncertain.
In summary, the problems of the prior art are as follows:
(1) this air purification device air purification inefficiency of prior art can not strengthen the air comfort level.
(2) In the air purification control method in the prior art, the shortest optimal path of the path is not planned by a Floyd algorithm combined with optimal path planning, so that the cruising path cannot be optimized, and resources are wasted.
(3) The air purification device in the prior art does not utilize a three-dimensional imaging technology to automatically cruise, so that the air concentration of a point to be purified cannot be lower than a standard value, the air purification effect is poor, and the popularization of the air purification device is limited.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent air purification device and a control method thereof.
The invention is realized in this way, and an intelligent air purification control method comprises the following steps:
acquiring environment image information scanned in a cleanable area, generating a three-dimensional image, and estimating a walking path of an obstacle avoidance object;
dividing the obtained cleanable area into a plurality of small areas based on the calculated walking path of the obstacle avoidance object, and respectively defining the small areas as different cleaning points;
and acquiring the air concentrations of different purification points, and planning the shortest optimal path of the purification points with the concentrations exceeding the standard value through a Floyd algorithm.
Further, when the real-time air concentration at the current purification point is lower than the rated value, the air purification device continues to move to the next point to be purified; and when the air concentration of all the points to be purified is lower than the rated value, if the points to be purified with the new air concentration exceeding the standard are obtained, re-planning the route through the Floyd algorithm, and then planning a new shortest optimal path.
Further, the Floyd algorithm includes:
in the directed network D ═ { v, w }, the nodes are labeled v in sequencei(i ═ 1,2, … n), node viAnd vjA distance w betweenijRecording the length of the shortest path as mRecorded in an n-th order matrix D, through the i-th to j-th row elements D of the n-th order matrix DijCalculating the length of the shortest path from the ith node to the jth node;
when k > 1, dij (0)＝wijWhen d is greater thanij (k)＝min{dij (k-1),dis (k-1)+dsj (k-1)}。
Another object of the present invention is to provide an intelligent air purification control system comprising:
the device comprises a to-be-purified area environment image acquisition module, a three-dimensional image generation module and a purification module, wherein the to-be-purified area environment image acquisition module is used for acquiring environment image information scanned by a purified area and generating a three-dimensional image;
the system processor is used for receiving the image information transmitted by the environment image acquisition module of the area to be purified and estimating a walking path of the obstacle avoidance object;
the purification area dividing module is used for dividing the obtained purification area into a plurality of small areas which are respectively defined as different purification points;
the air concentration acquisition module is used for acquiring the air concentrations of different purification points;
and the shortest optimal path planning module is used for planning the shortest optimal path of the route by the purification point with the air concentration exceeding the standard value through a Floyd algorithm.
Further, the air concentration acquisition module comprises a plurality of air concentration detection sensors for acquiring air concentrations of different purification points.
Further, the intelligent air purification control system further comprises:
the current purification point air real-time concentration judgment module receives the air concentrations of different purification points detected by the air concentration acquisition module, judges whether the air concentration of the current point to be purified is lower than a rated value or not, and continues to move to the next point to be purified if the air concentration of the current point to be purified is lower than the rated value; if the rated value is obtained, continuing purification;
and the new air concentration standard exceeding point to be purified acquisition module is used for acquiring the point to be purified with the new air concentration standard exceeding point to be purified, replanning the route through a Floyd algorithm and replanning a new shortest optimal path.
Another object of the present invention is to provide an intelligent air purification apparatus comprising:
the camera is used for rotationally scanning the surrounding environment and transmitting the scanned image of the position of the object;
the touchable display screen displays various setting and function keys;
a light band for illumination when used in a dark environment;
the air inlet is used for sucking gas to be purified;
the purification component is used for purifying air;
the air outlet is used for discharging purified gas;
a rechargeable battery for supplying electric energy;
and the roller is used for moving to different areas to be purified in air purification.
Furthermore, the camera is of an up-down telescopic structure and can freely rotate to scan the surrounding environment;
the purification component is formed by combining two or more purification modes of an adsorbent, low-temperature plasma NTP, a photocatalyst and a catalyst;
the number of the rollers is four, the rollers are uniformly and symmetrically distributed at the bottom of the shell of the air purification device, and the rollers are respectively provided with a safety lock for fixing.
Another object of the present invention is to provide an information data processing terminal implementing the intelligent air purification control method.
Another object of the present invention is to provide a computer-readable storage medium including instructions that, when executed on a computer, cause the computer to execute the intelligent air purification control method.
In summary, the advantages and positive effects of the invention are:
according to the intelligent air purification device provided by the invention, the sensors are used for monitoring the air concentration of different indoor areas, and the intelligent air purification device and the automatic purification system form an intelligent air purification system, so that the air purification efficiency is improved, and the air comfort level is enhanced.
According to the intelligent air purification control method provided by the invention, the shortest optimal path of the path is planned through the Floyd algorithm of the optimal path planning, the cruising path is optimized, and resources are saved.
The invention utilizes the application of the three-dimensional imaging technology in the air purification device, so that the intelligent air purification can automatically cruise, and the air concentration of all points to be purified is lower than the standard value, thereby enhancing the practicability of the air purification device.
Compared with the prior art, the intelligent air purification control device and the control method provided by the invention have the following outstanding characteristics:
the three-dimensional imaging technology of the intelligent air purification control device provided by the invention is characterized in that the camera lens is used for scanning in a use area, imaging is fed back to the control chip, a space movable route is estimated before purification, and collision between the device and a placed object is avoided.
The device surveys according to the route fixed point that can operate before purifying, and each space concentration is responded to in real time through the sensor, can upload the air concentration to the control chip in the regional point position that exceeds the standard value after cruising a week. The Floyd algorithm can reasonably plan the offset angle and the offset distance of each time in the movement process of the device, so that the movement point of each time of the device forms an optimal movement path, and the movement path of the device is shortest.
When the device moves to different fixed points for purification, the sensor needs to monitor the concentration of ambient air in real time, and the sensor can leave when the concentration of the air is lower than a standard value, otherwise, the device needs to be purified all the time. Meanwhile, whether newly added concentration exceeding area points exist or not is noticed in the purification process, once the newly added concentration exceeding area points appear, all the existing concentration exceeding area points need to be re-planned into a route, and purification is carried out according to a new optimal route; if there is no such point, the movement can be continued according to the original route until all the points to be cleaned are cleaned.
Drawings
Fig. 1 is a flowchart of an intelligent air purification control method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an intelligent air purification control system according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of an intelligent air purification control device according to an embodiment of the present invention.
In the figure: 1. a camera; 2. a touchable display screen; 3. a light band; 4. an air inlet; 5. a purification assembly; 6. an air outlet; 7. a rechargeable battery; 8. a roller; 9. an acquisition module for an environment image of a region to be purified; 10. a system processor; 11. a decontaminable area segmentation module; 12. an air concentration acquisition module; 13. a shortest optimal path planning module; 14. the real-time air concentration judgment module at the current purification point; 15. and a new air concentration standard exceeding point to be purified acquisition module.
Fig. 4 is a schematic diagram of an intelligent air purification control method according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of the Floyd algorithm provided in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
This air purification device air purification inefficiency of prior art can not strengthen the air comfort level. In the air purification control method in the prior art, the shortest optimal path of the path is not planned by a Floyd algorithm combined with optimal path planning, so that the cruising path cannot be optimized, and resources are wasted. The air purification device in the prior art does not utilize a three-dimensional imaging technology to automatically cruise, so that the air concentration of a point to be purified cannot be lower than a standard value, the air purification effect is poor, and the popularization of the air purification device is limited.
In view of the problems in the prior art, the present invention provides an intelligent air purification apparatus and a control method thereof, and the present invention is described in detail below with reference to the accompanying drawings.
Fig. 1 is a diagram illustrating an intelligent air purification control method according to an embodiment of the present invention, including:
s101, acquiring environment image information scanned in a cleanable area, generating a three-dimensional image, and estimating a walking path of an obstacle avoidance object.
And S102, dividing the acquired cleanable area into a plurality of small areas based on the calculated walking path of the obstacle avoidance object, and respectively defining the small areas as different cleaning points.
S103, obtaining the air concentration of different purification points, and planning the shortest optimal path of the purification points with the concentration exceeding a standard value through a Floyd algorithm.
As shown in fig. 2, the present invention provides an intelligent air purification control system comprising:
and the to-be-purified area environment image acquisition module 9 is used for acquiring environment image information scanned by a purified area and generating a three-dimensional image.
And the system processor 10 is used for receiving the image information transmitted by the environment image acquisition module of the area to be purified and estimating the walking path of the obstacle avoidance object.
And the cleanable area dividing module 11 is used for dividing the acquired cleanable area into a plurality of small areas which are respectively defined as different cleaning points.
The air concentration obtaining module 12 includes a plurality of air concentration detecting sensors, and is configured to obtain air concentrations at different purification points.
And the shortest optimal path planning module 13 is used for planning the shortest optimal path of the route by using the Floyd algorithm for the purification point with the air concentration exceeding the standard value.
The real-time air concentration judgment module 14 at the current purification point receives the air concentrations of different purification points detected by the air concentration acquisition module, judges whether the air concentration at the current point to be purified is lower than a rated value, and continues to move to the next point to be purified if the air concentration at the current point to be purified is lower than the rated value; if rated, purification continues.
And the new air concentration standard exceeding point-to-be-purified acquiring module 15 is used for acquiring the point-to-be-purified with the new air concentration standard exceeding, re-planning the route through a Floyd algorithm, and then planning a new shortest optimal path.
As shown in fig. 3, the intelligent air purification apparatus provided in the embodiment of the present invention includes:
camera 1, can stretch out and draw back from top to bottom, and its working method is: when the device starts to operate, the camera rises, can rotate to scan the surrounding environment in the operation process of the device, feeds back the image of the scanned object position to the device system processor, and the device can predict an operable route in advance to avoid colliding with a placed object.
The touchable display screen 2 can display various setting and function keys after being started.
A light strip 3, which can be used as illumination when the device is used in a dark environment.
And an air inlet 4 for sucking the gas to be purified.
The purification component 5 is a composite air purification mode formed by combining two or more purification modes of an adsorbent, a low temperature plasma (NTP), a photocatalyst, a catalyst and the like.
And the air outlet 6 is used for discharging purified air.
And a rechargeable battery 7 for supplying electric power to the whole device.
The idler wheels 8 and the four idler wheels are uniformly and symmetrically distributed at the bottom of the device and are respectively provided with a safety lock, so that misoperation of the idler wheels can be prevented when the device is fixed.
The invention is further described below with reference to specific embodiments.
Example 1
As shown in fig. 4, the intelligent air purification control method provided by the embodiment of the present invention includes:
(1) the camera of the camera is used for observing and scanning the environment where the device is located, a three-dimensional image is generated in the device, an object is reasonably avoided, and a path which can be traveled is estimated.
(2) The region is divided into a plurality of small regions according to the cleanable range of the device, and each region is defined as a cleaning point by A, B, C and the like. When the device moves, the sensor in the device senses the air concentration of different points, the points with the concentration exceeding the standard value are fed back to the device, and the point to be purified plans the shortest optimal path through the Floyd algorithm.
(3) The device moves to a point to be purified according to the path, and when the real-time concentration of the air is lower than the rated value, the device can continue to move to the next point; if a new concentration superscript point appears in the purification process, the system plans the route of the point to be purified which exists at the moment again and moves according to the new route.
(4) And returning the device to the parking position and shutting down the device until the air concentration of all the points to be purified is lower than the standard value.
In the embodiment of the present invention, as shown in the schematic diagram of the Floyd algorithm provided in the embodiment of fig. 5, circles in fig. 5 represent points to be cleaned, and are respectively represented by capital english letters A, B, C, D, E; the triangles represent the articles placed in the areas and are respectively represented by numbers; the lower case letters a, b, C represent three of the paths that can be moved from point a to point C, respectively. Taking point a to point C as an example, the shortest moving path is also needed to be realized while avoiding the article in the moving process of the device.
The core idea of the Floyd algorithm is as follows: in the directed network D ═ { v, w }, the nodes are labeled v in sequencei(i ═ 1,2, … n), node viAnd vjA distance w betweenijRecording the length of the shortest path in an n-order matrix D, the elements D from the ith row to the jth column of the matrixijThe length of the shortest path from the ith node to the jth node is indicated. When k > 1, dij (0)＝wijWhen d is greater thanij (k)＝min{dij (k-1),dis (k-1)+dsj (k-1)}. That is, in fig. 5, there are various paths from a to C, which represent the shortest path from a point a to C, and each offset angle and offset distance are obtained through comparison operation, and each motion point in the motion trajectory is the optimal motion point reasonably calculated, so as to finally obtain the optimal path. Similarly, when the device moves to other fixed points, the shortest movement route can be realized by adopting the Floyd algorithm.
Example 2
The air purification device provided by the embodiment of the invention realizes device fixed-point cruise by utilizing the Floyd algorithm to optimize the route.
The three-dimensional imaging technology of the device scans the use area by means of the camera lens, the imaging is fed back to a control system (control chip), the space movable route is estimated before purification, and the collision between the device and placed objects is avoided.
The device surveys according to the operation route fixed point before purifying, and the real-time response of sensor everywhere space concentration is gone up the regional point position that the air concentration surpassed the standard value and is gone into the control system after cruising a week. The control system plans the shortest route optimal route at each fixed point through a Floyd algorithm, the device purifies according to the fixed point sequence, and in the Floyd algorithm operation, nodes are sequentially labeled as v in a directed network D ═ v, w-i(i ═ 1,2, … n), node viAnd vjA distance w betweenijRecording the length of the shortest path in an n-order matrix D, the elements D from the ith row to the jth column of the matrixijThe length of the shortest path from the ith node to the jth node is indicated. When k > 1, dij (0)＝wijWhen d is greater thanij (k)＝min{dij (k-1),dis (k-1)+dsj (k-1)}. The algorithm can reasonably plan the offset angle and the offset distance of each time in the movement process of the device, so that the movement point of the device forms the optimal movement path of the device, and the movement route of the device is shortest.
When the device moves to different fixed points for purification, the sensor needs to monitor the concentration of ambient air in real time, and the sensor can leave when the concentration of the air is lower than a standard value, otherwise, the device needs to be purified all the time.
Meanwhile, in the purification process, whether new concentration exceeding area points exist or not is judged, once the new concentration exceeding area points appear, all the existing concentration exceeding area points are planned into a route again, and then purification is carried out according to a new optimal route; if there is no such point, the movement can be continued according to the original route until all the points to be cleaned are cleaned.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An intelligent air purification control method, characterized in that the intelligent air purification control method comprises:
acquiring environment image information scanned in a cleanable area, generating a three-dimensional image, and estimating a walking path of an obstacle avoidance object;
dividing the obtained cleanable area into a plurality of small areas based on the calculated walking path of the obstacle avoidance object, and respectively defining the small areas as different cleaning points;
and acquiring the air concentrations of different purification points, and planning the shortest optimal path of the purification points with the concentrations exceeding the standard value through a Floyd algorithm.
2. The intelligent air purification control method according to claim 1, wherein when the real-time air concentration at the current purification point is lower than the rated value, the method continues to move to the next point to be purified; and when the air concentration of all the points to be purified is lower than the rated value, if the points to be purified with the new air concentration exceeding the standard are obtained, re-planning the route through the Floyd algorithm, and then planning a new shortest optimal path.
3. The intelligent air purification control method according to claim 1, wherein the Floyd algorithm includes:
in the directed network D ═ { v, w }, the nodes are labeled v in sequencei(i ═ 1,2, … n), node viAnd vjA distance w betweenijRecording the length of the shortest path in an n-order matrix D, passing through the element D from the ith row to the jth column of the n-order matrix DijCalculating the length of the shortest path from the ith node to the jth node;
when k > 1, dij (0)＝wijWhen d is greater thanij (k)＝min{dij (k-1),dis (k-1)+dsj (k-1)}。
4. An intelligent air purification control system for implementing the intelligent air purification control method of claim 1, the intelligent air purification control system comprising:
the device comprises a to-be-purified area environment image acquisition module, a three-dimensional image generation module and a purification module, wherein the to-be-purified area environment image acquisition module is used for acquiring environment image information scanned by a purified area and generating a three-dimensional image;
the system processor is used for receiving the image information transmitted by the environment image acquisition module of the area to be purified and estimating a walking path of the obstacle avoidance object;
the purification area dividing module is used for dividing the obtained purification area into a plurality of small areas which are respectively defined as different purification points;
the air concentration acquisition module is used for acquiring the air concentrations of different purification points;
and the shortest optimal path planning module is used for planning the shortest optimal path of the route by the purification point with the air concentration exceeding the standard value through a Floyd algorithm.
5. The intelligent air purification control system according to claim 4, wherein the air concentration acquisition module comprises a plurality of air concentration detection sensors for acquiring air concentrations at different purification points.
6. The intelligent air purification control system of claim 4, further comprising:
the current purification point air real-time concentration judgment module receives the air concentrations of different purification points detected by the air concentration acquisition module, judges whether the air concentration of the current point to be purified is lower than a rated value or not, and continues to move to the next point to be purified if the air concentration of the current point to be purified is lower than the rated value; if the rated value is obtained, continuing purification;
and the new air concentration standard exceeding point to be purified acquisition module is used for acquiring the point to be purified with the new air concentration standard exceeding point to be purified, replanning the route through a Floyd algorithm and replanning a new shortest optimal path.
7. An intelligent air purification apparatus for implementing the intelligent air purification control method according to claim 1, wherein the intelligent air purification apparatus comprises:
the camera is used for rotationally scanning the surrounding environment and transmitting the scanned image of the position of the object;
the touchable display screen displays various setting and function keys;
a light band for illumination when used in a dark environment;
the air inlet is used for sucking gas to be purified;
the purification component is used for purifying air;
the air outlet is used for discharging purified gas;
a rechargeable battery for supplying electric energy;
and the roller is used for moving to different areas to be purified in air purification.
8. The intelligent air purification device according to claim 7, wherein the camera is of a vertically telescopic structure and can freely rotate to scan the surrounding environment;
the purification component is formed by combining two or more purification modes of an adsorbent, low-temperature plasma NTP, a photocatalyst and a catalyst;
the number of the rollers is four, the rollers are uniformly and symmetrically distributed at the bottom of the shell of the air purification device, and the rollers are respectively provided with a safety lock for fixing.
9. An information data processing terminal for implementing the intelligent air purification control method according to any one of claims 1 to 3.
10. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the intelligent air purification control method of any one of claims 1-3.
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