WO2016050216A2 - 一种净化机器人多点净化的方法 - Google Patents

一种净化机器人多点净化的方法 Download PDF

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WO2016050216A2
WO2016050216A2 PCT/CN2015/091261 CN2015091261W WO2016050216A2 WO 2016050216 A2 WO2016050216 A2 WO 2016050216A2 CN 2015091261 W CN2015091261 W CN 2015091261W WO 2016050216 A2 WO2016050216 A2 WO 2016050216A2
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Prior art keywords
pollution
pollution source
purification
value
air quality
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PCT/CN2015/091261
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English (en)
French (fr)
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WO2016050216A3 (zh
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汤进举
廖亮亮
朱磊
陈茂勇
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科沃斯机器人有限公司
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Priority to DE112015004497.3T priority Critical patent/DE112015004497T5/de
Priority to US15/515,968 priority patent/US10443874B2/en
Publication of WO2016050216A2 publication Critical patent/WO2016050216A2/zh
Publication of WO2016050216A3 publication Critical patent/WO2016050216A3/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • 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
    • 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
    • F24F2221/00—Details or features not otherwise provided for
    • F24F2221/42—Mobile autonomous air conditioner, e.g. robots
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device

Definitions

  • the invention relates to a method for purifying a multi-point purification robot, belonging to the technical field of small household appliances.
  • the Chinese Patent Publication No. CN1313045 discloses an autonomously movable air purifier capable of performing air purification while moving in a predetermined area, so that the area is relatively quickly and uniformly purified.
  • the air purifier when the air purifier is in operation, it cannot reflect the condition of the air at different points in the home in real time, so that the indoor air is not targeted and cannot be purified for the pollution source.
  • the technical problem to be solved by the present invention is to provide a method for purifying a multi-point purification of a robot according to the deficiencies of the prior art.
  • the air quality in the environment is collected in real time, and the collected data is fed back to the user end.
  • the collected data is fed back to the user end.
  • the collected data on the environment for targeted purification, to achieve the purpose of purification, but also artificial planning purification points.
  • a method for purifying a multi-point purification of a robot includes the following steps:
  • Step S1 establishing a coordinate map of the area to be purified
  • Step S2 the purifying robot walks in the preset walking mode in the area to be purified, detects the air quality, records the position where the pollution value exceeds the preset threshold as a first-level pollution source, and marks the coordinates in the coordinate map;
  • Step S3 After the purifying robot completes the walking in the area to be purified, it moves to the coordinate position of each primary pollution source, performs the first purification treatment, and simultaneously detects the air quality at the position until the air quality of all the primary pollution sources are consistent. Claim.
  • the step S2 further includes: the purification robot stores the pollution value of the first pollution source coordinate while storing the pollution value of the location.
  • the step S3 specifically includes: the purification robot according to the first-level pollution source coordinates and the pollution value thereof, According to the pollution value, the air pollution is processed in order from the largest to the smallest, and the air quality is detected at the same time until the air quality of all the primary pollution sources meets the requirements.
  • step S4 the cleaning robot moves to a first-level pollution source coordinate position again and detects the air quality of the first-level pollution source, and if the pollution value is greater than the threshold value, performs a secondary purification process, and if less than the threshold value, moves to the lower portion.
  • a primary pollution source coordinate until all primary pollution source coordinate positions are detected and processed.
  • a fixed time interval is set, and the step S3 is performed after the fixed time interval.
  • the method further includes: when the cleaning robot moves to a first-level pollution source coordinate position again, if it is detected that the pollution value of a certain point exceeds the threshold value and the point position is different from the first-level pollution source coordinate, it is recorded as a second level.
  • the pollution source is stored and the secondary pollution source coordinates are recorded while the pollution value of the location is stored.
  • the method further includes the step S5: the purifying robot sequentially moves to the coordinate position of the secondary pollution source according to the size of the secondary pollution source and the pollution value thereof, and sequentially performs the air purification treatment according to the pollution value in descending order.
  • the air quality at this location is simultaneously measured until the air quality of all secondary sources meets the requirements.
  • the step S5 further includes a step S6, and the step S6 specifically includes:
  • Step S6.1 The purifying robot moves to the coordinate position of the primary pollution source and the secondary pollution source according to the coordinate of the primary pollution source and the secondary pollution source and the pollution value thereof according to the pollution value, in descending order of the pollution value.
  • Purification treatment purification treatment simultaneously detects the air quality at the location, and determines whether the pollution values of all primary pollution sources and secondary pollution sources are less than the threshold value, if yes, proceed to step S6.2, if otherwise, continue to perform step S6.1 until all one The pollution values of the primary pollution source and the secondary pollution source are both less than the threshold;
  • Step S6.2 the cleaning robot automatically changes the threshold
  • Step S6.3 The purifying robot performs air quality monitoring and purification processing on the purified area according to the changed new threshold value.
  • a fixed time interval is set between the step S5 and the step S6.
  • the coordinate map of the area to be purified in the step S1 is established by a fuzzy memory algorithm.
  • the coordinate map of the area to be cleaned in the step S1 is established by measuring distance data obtained by purifying the distance between the robot and the obstacle, and the distance data is measured by a distance measuring device provided on the purification robot.
  • the preset walking mode in the step S2 is an N-shaped walking mode.
  • step S3 the purifying robot walks in an area where the coordinate position of the primary pollution source is located in a spiral walking mode, and purifies the primary pollution source.
  • the method for purifying multi-point purification of the cleaning robot of the invention by realizing the movement of the purification robot, real-time collection environment
  • the air quality situation, and the collected data is fed back to the user, and the collected data is monitored and purified in a targeted manner for the purpose of efficient purification to prevent the air from flowing in the prior art.
  • the resulting clean and polluted air flow causes air pollution to exceed the standard, making the air more uniform and cleaner, and solving the existing purification in the place where the purified air has not been purified due to air flow.
  • the problem of air flowing over and becoming less clean can also be artificially planned.
  • FIG. 1 is a flow chart showing the steps of a multi-point purification method according to Embodiment 1 of the present invention
  • FIG. 2 is a flow chart showing the steps of a multi-point purification method according to Embodiment 2 of the present invention.
  • a method for purifying a multi-point purification robot includes the following steps:
  • Step S1 establishing a coordinate map of the area to be purified, wherein the purifying robot measures the distance between the purifying robot body and the obstacle by the distance measuring device to obtain the distance data, and establishes a coordinate map of the area to be purified according to the distance data, or the purifying robot calculates through the fuzzy memory algorithm Establish a coordinate map of the area to be cleaned.
  • the fuzzy memory algorithm collects the position offset from the starting point through the code wheel and then returns to the starting point by memorizing the offset, and the entire area can be covered by multiple operations to establish a coordinate map of the area to be cleaned;
  • Step S2 the purifying robot walks in the preset walking mode in the area to be purified, detects the air quality, records the position where the pollution value exceeds the preset threshold as a primary pollution source, and stores the coordinates in the coordinate map while storing the position. Pollution value.
  • the preset walking mode may adopt one or a combination of an N-shaped walking mode, a welt walking mode, or a random walking mode.
  • the air quality collection system including the dust particle sensor, the CO sensor, the formaldehyde sensor, the PM2.5 sensor, etc.
  • the data is transmitted to the control system, and the control system processes the collected value.
  • the collected air quality pollution value is greater than the threshold value, it is determined that there is a pollution source at the location and the coordinates of the pollution source are recorded, and the pollution source is found by the initial detection. It is defined as a primary pollution source; when the robot walks in the area to be purified, the coordinates of the pollution source in the area to be purified are recorded; better, the purification robot can also store specific pollution values, so that the robot can preferentially handle the pollution value first.
  • Source of pollution
  • Step S3 After the cleaning robot completes the walking in the area to be purified, it moves to the coordinate position of each primary pollution source, performs the first purification treatment, and simultaneously detects the air quality at the position until all the primary pollution sources are The air quality meets the requirements. Specifically, if the specific pollution source coordinates and the pollution value of the pollution source have been stored in step S2, the purification robot according to the size of the primary pollution source and the pollution value thereof, according to the pollution value is as large as The moving path of the small order sequentially moves to the first-level pollution source coordinate position for air purification treatment, and the purification process simultaneously detects the air quality at the position until the air quality of all the primary pollution sources meets the requirements.
  • the purifying robot usually adopts a spiral walking mode to purify the first-level pollution source in a region where the first-level pollution source coordinate position is located; or the purification robot directly stays at the pollution source coordinate position to perform air purification processing.
  • the purification robot performs the first purification according to the detected primary pollution source, so that the pollution source region pollution value is less than the threshold value, and the preliminary purification work of the purification region is completed.
  • FIG. 2 is a flow chart of the steps of the multi-point purification method according to the embodiment 2 of the present invention.
  • the method steps of the embodiment are basically the same as those of the embodiment 1. The difference is that the air flow is further eliminated or the pollution source is re-ignited.
  • the purification robot can also monitor the above-mentioned treated pollution sources.
  • This embodiment further includes after S3:
  • Step S4 The cleaning robot moves to a first-level pollution source coordinate position again and detects the air quality at the position. If the pollution value is greater than the threshold value, the secondary purification process is performed. If the pollution value is less than the threshold value, the movement is moved to the next first-level pollution source coordinate until the detection. And all the first-level pollution source coordinate positions are processed.
  • step S4 when the cleaning robot moves to a first-level pollution source coordinate position again, if it is detected that the pollution value of a certain point exceeds the threshold value, it is recorded as a secondary pollution source and the coordinates of the secondary pollution source are recorded. Store the pollution value at that location;
  • Step S5 The purifying robot sequentially moves to the coordinate position of the secondary pollution source according to the secondary pollution source coordinate and the pollution value according to the magnitude of the pollution value, and sequentially performs the air purification treatment according to the pollution value, and the purification treatment simultaneously detects the position. Air quality, until the air quality of all secondary pollution sources meet the requirements, wherein the purification robot uses a spiral walking mode to purify when purifying the secondary pollution source.
  • a fixed time interval may be set between step S3 and step S4. After the fixed time interval, the step S3 is performed to perform step S4, and the time interval may be set as needed.
  • Step S6.1 The purifying robot moves to the coordinate position of the primary pollution source and the secondary pollution source according to the coordinate of the primary pollution source and the secondary pollution source and the pollution value thereof according to the pollution value, in descending order of the pollution value.
  • Purification treatment purification treatment simultaneously detects the air quality at the location, and determines whether the pollution values of all primary pollution sources and secondary pollution sources are less than the threshold value, if yes, proceed to step S6.2, if otherwise, continue to perform step S6.1 until all one The pollution values of the primary pollution source and the secondary pollution source are both less than the threshold;
  • Step S6.2 the cleaning robot automatically changes the threshold
  • Step S6.3 The purifying robot performs air quality monitoring and purification processing on the purified area according to the changed new threshold value.
  • a fixed time interval is set between the step S5 and the step S6, and the time interval can be set as needed.
  • the purification robot in order to further eliminate the influence of air flow or the re-ignition of the pollution source, the purification robot re-detects and purifies the primary pollution source, and monitors the ambient air other than the primary pollution source while detecting and purifying the primary pollution source. Whether it meets the threshold standard, achieves the purpose of secondary purification of the area to be purified, reduces the air quality degradation caused by repeated pollution of the air, and also performs secondary monitoring on the primary purification work. In addition, secondary purification is performed in addition to the purification area.
  • step S6 the purification area is further subjected to deep purification to achieve the purpose of efficient purification, and the fresh air purification and the polluted air flowing due to the continuous flow of air in the prior art are prevented from causing excessive air pollution.
  • the pollution value greater than the threshold is not detected in step S4, the air quality of the area to be purified is qualified.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Air Conditioning Control Device (AREA)
  • Manipulator (AREA)
  • Air-Conditioning For Vehicles (AREA)

Abstract

本发明提供一种净化机器人多点净化的方法，包括如下步骤：步骤S1：建立待净化区域的坐标地图；步骤S2：净化机器人在待净化区域内按预设行走模式行走，检测空气质量，将污染值超出预设阈值的位置记为一级污染源，并在坐标地图中标记其坐标；步骤S3：净化机器人完成在待净化区域内的行走后，移动至每个一级污染源坐标位置，对其进行首次净化处理，同时检测该位置的空气质量，直至所有一级污染源的空气质量均符合要求。发明的净化机器人多点净化的方法，达到有效率地净化的目的，解决了现有一次净化中因空气流动导致已经净化过的地方被还没有被净化的地方空气流过来而变得不够干净的问题。

Description

一种净化机器人多点净化的方法 技术领域
本发明涉及一种净化机器人多点净化的方法，属于小家电技术领域。
背景技术
随着现在空气污染状况的加剧和消费者对居住环境质量认知的提高及重视，各种功能的空气净化器被越来越多的家庭使用。传统的空气净化器只能放置在室内一个固定位置，当使用空气净化器以净化空气时，空气净化器周围的空气顺畅循环，因而空气净化效果显著，然而远离空气净化器之处的空气净化效果相对较差，因此需要相当长的时间才能比较均匀地净化室内空气。
针对这个问题，公告号为CN1313045的中国专利公开了一种可自主移动的空气净化器，能够在预定区域一边移动一边进行空气净化，使得该区域得到较为快速、均匀的净化。然而，这种空气净化器在工作时，不能实时反应家庭中不同点的空气的状况，这样净化室内空气就没有针对性，不能针对污染源进行净化。
发明内容
本发明所要解决的技术问题在于，针对现有技术的不足提供一种净化机器人多点净化的方法，通过净化机器人的移动，实时采集环境中的空气质量情况，并将采集的数据反馈给用户端，并对采集的数据对环境进行有针对性的净化，达到净化的目的，也可人为规划净化点。
本发明所要解决的技术问题是通过如下技术方案实现的：
一种净化机器人多点净化的方法，包括如下步骤：
步骤S1：建立待净化区域的坐标地图；
步骤S2：净化机器人在待净化区域内按预设行走模式行走，检测空气质量，将污染值超出预设阈值的位置记为一级污染源，并在坐标地图中标记其坐标；
步骤S3：净化机器人完成在待净化区域内的行走后，移动至每个一级污染源坐标位置，对其进行首次净化处理，同时检测该位置的空气质量，直至所有一级污染源的空气质量均符合要求。
所述步骤S2进一步包括：净化机器人在记录一级污染源坐标的同时存储该位置的污染值。
所述步骤S3具体包括：净化机器人根据所述一级污染源坐标及其污染值的大小， 按照污染值由大至小顺序依次移动至所述一级污染源坐标位置进行空气净化处理，净化处理同时检测该位置的空气质量，直至所有一级污染源的空气质量均符合要求。
所述步骤S3后还包括：步骤S4：净化机器人再次移动至一个一级污染源坐标位置并检测该位置的空气质量，若污染值大于阈值则进行二次净化处理，若小于阈值，则移动至下一个一级污染源坐标，直至检测并处理完所有一级污染源坐标位置。
更好地，设定一固定时间间隔，所述步骤S3经过该固定时间间隔后执行步骤S4。
在所述步骤S4中，进一步包括：净化机器人再次移动至一个一级污染源坐标位置时，若检测出某一点污染值超出阈值且该点位置不同于所述一级污染源坐标时，记为二级污染源并记录所述二级污染源坐标的同时存储该位置的污染值。
在步骤S4之后还包括步骤S5：净化机器人根据所述二级污染源坐标及其污染值的大小，按照污染值由大至小的顺序依次移动至所述二级污染源坐标位置进行空气净化处理，净化处理同时检测该位置的空气质量，直至所有二级污染源的空气质量均符合要求。
所述步骤S5后进一步包括步骤S6，步骤S6具体包括：
步骤S6.1：净化机器人根据所述一级污染源和二级污染源坐标及其污染值的大小，按照污染值由大至小的顺序依次移动至所述一级污染源和二级污染源坐标位置进行空气净化处理，净化处理同时检测该位置的空气质量，并判断全部一级污染源和二级污染源的污染值是否都小于阈值，若是则执行步骤S6.2，若否则一直执行步骤S6.1直至所有一级污染源和二级污染源的污染值都小于阈值；
步骤S6.2：净化机器人自动变更阈值；
步骤S6.3：净化机器人按变更后的新阈值对待净化区域进行空气质量监测和净化处理。
在所述步骤S5与步骤S6之间设定一固定时间间隔。
所述步骤S1中的待净化区域的坐标地图，是通过模糊记忆算法建立的。
或者，所述步骤S1中的待净化区域的坐标地图，是通过测量净化机器人与障碍物之间的距离得到的距离数据建立的，该距离数据由设置在净化机器人上的测距装置测量得到。
更好地，所述步骤S2中的预设行走模式为N字形行走模式。
为了净化更彻底，在步骤S3中，所述净化机器人是以螺旋行走模式在一级污染源坐标位置所在的区域内行走，并对所述一级污染源进行净化的。
本发明的净化机器人多点净化的方法，通过净化机器人的移动，实时采集环境中 的空气质量情况，并将采集的数据反馈给用户端，并对采集的数据对环境进行有针对性的多次监测和净化，达到有效率地净化的目的，防止现有技术中因空气不断流动而导致的刚净化好又有污染空气流动过来导致空气污染超标的情况出现，让空气更均匀更干净，解决了现有一次净化中因空气流动导致已经净化过的地方被还没有被净化的地方空气流过来而变得不够干净的问题，也可人为规划净化点。
下面结合附图和具体实施例对本发明的技术方案进行详细地说明。
附图说明
图1为本发明实施例1多点净化方法步骤流程图；
图2为本发明实施例2多点净化方法步骤流程图。
具体实施方式
图1为本发明实施例1多点净化方法步骤流程图，如图1所示，一种净化机器人多点净化的方法，包括如下步骤：
步骤S1：建立待净化区域的坐标地图，其中净化机器人通过测距装置测量净化机器人本体与障碍物的距离得到距离数据，根据距离数据建立待净化区域的坐标地图，或者净化机器人通过模糊记忆算法计算建立待净化区域的坐标地图。具体地说，模糊记忆算法是通过码盘采集相对起始点的位置偏移量然后通过记忆该偏移量从新回到起点，多次操作便可覆盖整个区域，建立待净化区域的坐标地图；
步骤S2：净化机器人在待净化区域内按预设行走模式行走，检测空气质量，将污染值超出预设阈值的位置记为一级污染源，并在坐标地图中标记其坐标的同时存储该位置的污染值。其中预设行走模式可采用N字形行走模式、贴边行走模式或随机行走模式的一种或其组合。需要说明的是，在本步骤中，利用空气质量采集***(包括粉尘颗粒传感器，CO传感器，甲醛传感器、PM2.5传感器等气体传感器)对空气中的粉尘颗粒、有害气体等进行实时测量，并将数据传送给控制***，控制***将采集值进行处理运算，当采集到的空气质量的污染值大于阈值时，则判断所处位置存在污染源并记录该污染源的坐标，由于初次检测发现该污染源，其定义为一级污染源；当机器人在待净化区域内行走完毕后，待净化区域中污染源的坐标均已记录；更佳的，净化机器人还可以存储具体的污染值，方便机器人优先处理污染值最大的污染源；
步骤S3：净化机器人完成在待净化区域内的行走后，移动至每个一级污染源坐标位置，对其进行首次净化处理，同时检测该位置的空气质量，直至所有一级污染源的 空气质量均符合要求，具体地说，若步骤S2中已存储有具体的污染源坐标以及污染源的污染值，则净化机器人根据所述一级污染源坐标及其污染值的大小，按照污染值由大至小顺序依次移动的移动路径至所述一级污染源坐标位置进行空气净化处理，净化处理同时检测该位置的空气质量，直至所有一级污染源的空气质量均符合要求。其中，所述净化机器人通常采用螺旋行走模式在一级污染源坐标位置所在的区域，对所述一级污染源进行净化；或者净化机器人直接停留在污染源坐标位置，进行空气净化处理。
在本实施例中，净化机器人根据检测到的一级污染源进行首次净化，使污染源区域污染值小于阈值，完成对待净化区域的初步净化工作。
实施例2
图2为本发明实施例2多点净化方法步骤流程图，如图1所示，本实施例与实施例1的方法步骤基本相同，不同之处在于，为了进一步消除空气流动的影响或者污染源死灰复燃的情况，净化机器人后续还可以对上述处理过的污染源进行监控。本实施例在S3之后还包括：
步骤S4：净化机器人再次移动至一个一级污染源坐标位置并检测该位置的空气质量，若污染值大于阈值则进行二次净化处理，若小于阈值，则移动至下一个一级污染源坐标，直至检测并处理完所有一级污染源坐标位置。
进一步地说，在步骤S4中，当净化机器人再次移动至一个一级污染源坐标位置的过程中，若检测出某一点污染值超出阈值，记为二级污染源并记录所述二级污染源坐标的同时存储该位置的污染值；
步骤S5：净化机器人根据所述二级污染源坐标及其污染值的大小，按照污染值由大至小的顺序依次移动至所述二级污染源坐标位置进行空气净化处理，净化处理同时检测该位置的空气质量，直至所有二级污染源的空气质量均符合要求，其中所述净化机器人在净化二级污染源时，采用螺旋行走模式进行净化。
需要说明的是，在步骤S3和步骤S4之间可设定一固定时间间隔，所述步骤S3经过该固定时间间隔后执行步骤S4，时间间隔可根据需要自行设定。
步骤S6.1：净化机器人根据所述一级污染源和二级污染源坐标及其污染值的大小，按照污染值由大至小的顺序依次移动至所述一级污染源和二级污染源坐标位置进行空气净化处理，净化处理同时检测该位置的空气质量，并判断全部一级污染源和二级污染源的污染值是否都小于阈值，若是则执行步骤S6.2，若否则一直执行步骤S6.1直至所有一级污染源和二级污染源的污染值都小于阈值；
步骤S6.2：净化机器人自动变更阈值；
步骤S6.3：净化机器人按变更后的新阈值对待净化区域进行空气质量监测和净化处理。
需要说明的是，在所述步骤S5与步骤S6之间设定一固定时间间隔，该时间间隔可根据需要自行设定。
在本实施例中，为了进一步消除空气流动的影响或者污染源死灰复燃的情况，净化机器人对一级污染源进行再次检测和净化，并且在检测和净化一级污染源的同时监控除一级污染源外的环境空气是否符合阈值标准，达到了对待净化区域的二次净化的目的，减少了空气因重复污染而造成的空气质量下降，也是对初级净化工作进行二次监测，另外，除了对待净化区域进行二次净化外，在步骤S6中还进一步地对待净化区域进行深度净化，达到有效率地净化的目的，防止现有技术中因空气不断流动而导致的刚净化好又有污染空气流动过来导致空气污染超标的情况出现。需要说明的是，在本实施例中，若在步骤S4中没有检测到大于阈值的污染值，那么待净化区域的空气质量合格。

Claims (13)

  1. 一种净化机器人多点净化的方法，其特征在于，包括如下步骤：
    步骤S1：建立待净化区域的坐标地图；
    步骤S2：净化机器人在待净化区域内按预设行走模式行走，检测空气质量，将污染值超出预设阈值的位置记为一级污染源，并在坐标地图中标记其坐标；
    步骤S3：净化机器人完成在待净化区域内的行走后，移动至每个一级污染源坐标位置，对其进行首次净化处理，同时检测该位置的空气质量，直至所有一级污染源的空气质量均符合要求。
  2. 如权利要求1所述的方法，其特征在于，
    所述步骤S2进一步包括：净化机器人在记录一级污染源坐标的同时存储该位置的污染值。
  3. 如权利要求2所述的方法，其特征在于，所述步骤S3具体包括：净化机器人根据所述一级污染源坐标及其污染值的大小，按照污染值由大至小顺序依次移动至所述一级污染源坐标位置进行空气净化处理，净化处理同时检测该位置的空气质量，直至所有一级污染源的空气质量均符合要求。
  4. 如权利要求1所述的方法，其特征在于，所述步骤S3后还包括：
    步骤S4：净化机器人再次移动至一个一级污染源坐标位置并检测该位置的空气质量，若污染值大于阈值则进行二次净化处理，若小于阈值，则移动至下一个一级污染源坐标，直至检测并处理完所有一级污染源坐标位置。
  5. 如权利要求4所述的方法，其特征在于，设定一固定时间间隔，所述步骤S3经过该固定时间间隔后执行步骤S4。
  6. 如权利要求4所述的方法，其特征在于，在所述步骤S4中，进一步包括：净化机器人再次移动至一个一级污染源坐标位置时，若检测出某一点污染值超出阈值且该点位置不同于所述一级污染源坐标时，记为二级污染源并记录所述二级污染源坐标的同时存储该位置的污染值。
  7. 如权利要求6所述的方法，其特征在于，在步骤S4之后还包括步骤S5：净化机器人根据所述二级污染源坐标及其污染值的大小，按照污染值由大至小的顺序依次移动至所述二级污染源坐标位置进行空气净化处理，净化处理同时检测该位置的空气质量，直至所有二级污染源的空气质量均符合要求。
  8. 如权利要求7所述的方法，其特征在于，所述步骤S5后进一步包括步骤S6，步骤S6具体包括：
    步骤S6.1：净化机器人根据所述一级污染源和二级污染源坐标及其污染值的大小，按照污染值由大至小的顺序依次移动至所述一级污染源和二级污染源坐标位置进行空气净化处理，净化处理同时检测该位置的空气质量，并判断全部一级污染源和二级污染源的污染值是否都小于阈值，若是则执行步骤S6.2，若否则一直执行步骤S6.1直至所有一级污染源和二级污染源的污染值都小于阈值；
    步骤S6.2：净化机器人自动变更阈值；
    步骤S6.3：净化机器人按变更后的新阈值对待净化区域进行空气质量监测和净化处理。
  9. 如权利要求8所述的方法，其特征在于，在所述步骤S5与步骤S6之间设定一固定时间间隔。
  10. 如权利要求1所述的方法，其特征在于，所述步骤S1中的待净化区域的坐标地图，是通过模糊记忆算法建立的。
  11. 如权利要求1所述的方法，其特征在于，所述步骤S1中的待净化区域的坐标地图，是通过测量净化机器人与障碍物之间的距离得到的距离数据建立的，该距离数据由设置在净化机器人上的测距装置测量得到。
  12. 如权利要求1所述的方法，其特征在于，所述步骤S2中的预设行走模式为N字形行走模式。
  13. 如权利要求1所述的方法，其特征在于，在步骤S3中，所述净化机器人是以螺旋行走模式在一级污染源坐标位置所在的区域内行走，并对所述一级污染源进行净化的。
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