Control methods, devices, electronic equipment, air purifiers and storage media

Abstract

This application provides a control method, device, electronic device, air purifier, and storage medium. The method acquires the current position and target position of the air purifier, as well as road surface and obstacle information of the environment in which the air purifier is located. Based on the current position, target position, road surface information, and obstacle information, it determines a target path and corresponding control parameters, wherein the air purifier operating time or energy consumption is minimized along the target path. Based on the control parameters corresponding to the target path, the method controls the air purifier to move along the target path, enabling automatic path planning and movement, and allowing for more efficient movement.

Description

Technical Field

[0001] This application relates to the field of air purifier technology, and in particular to a control method, device, electronic device, air purifier and storage medium. Background Technology

[0002] As air quality deteriorates, harmful components in the air pose an increased risk to human health, leading to greater public concern about air pollution. Air purifiers effectively remove indoor air pollution and improve air quality in homes. However, existing air purifiers are typically placed in one location, requiring manual relocation or following a fixed route when needed in other areas. This traditional method of relocation fails to meet user needs. Summary of the Invention

[0003] In view of the problems in the above-mentioned related technologies, this application provides a control method, device, electronic device, air purifier and storage medium that can automatically plan a path and move.

[0004] This application provides a control method, including:

[0005] Obtain the current location of the air purifier, the target location, and the road surface and obstacle information of the environment in which the air purifier is located;

[0006] The target path and corresponding control parameters are determined based on the current location, target location, road surface information and obstacle information, wherein the air purifier corresponding to the target path has the minimum running time or running energy consumption.

[0007] The air purifier is controlled to move along the target path based on the control parameters corresponding to the target path.

[0008] In some embodiments, determining the target path and the corresponding control parameters based on the current location, target location, road surface information, and obstacle information includes:

[0009] Determine whether a running map exists corresponding to the current location, the target location, the road surface information, and the obstacle information;

[0010] In the absence of the aforementioned running map, multiple motion segments are determined based on the current position, target position, road surface information, and obstacle information. These motion segments include: acceleration segments, deceleration segments, and constant speed segments.

[0011] The velocity and acceleration curves corresponding to each motion segment are determined based on the velocity planning algorithm. The velocity curves of each motion segment are continuous with each other, and the acceleration curves of each motion segment are also continuous with each other.

[0012] The running time for each motion segment is determined based on the velocity and acceleration curves of each motion segment.

[0013] The total running time is determined based on the running time corresponding to each movement segment;

[0014] The target path is determined by the motion segment corresponding to the minimum total running time.

[0015] In some embodiments, the control parameters include: velocity curves, acceleration curves, and running times for each motion segment; controlling the air purifier to move along the target path based on the control parameters corresponding to the target path includes:

[0016] The air purifier is controlled to move based on the velocity curve, acceleration curve, and motion time of each motion segment, so that the air purifier moves along the target path.

[0017] In some embodiments, the method further includes:

[0018] A running map is generated based on the current location, target location, road surface information, obstacle information, and the target path;

[0019] Establish the correspondence between the running map and the velocity curves, acceleration curves, and running times of each motion segment corresponding to the target path;

[0020] Store the correspondence.

[0021] In some embodiments, the method further includes:

[0022] In the presence of the aforementioned running map, the velocity curve, acceleration curve, and running time of each motion segment corresponding to the target path are determined based on the running map and the pre-established correspondence.

[0023] The air purifier is controlled to move based on the velocity curve, acceleration curve, and running time of each motion segment, so that the air purifier moves along the target path.

[0024] In some embodiments, the method further includes:

[0025] Get the user's input time of arrival home;

[0026] The start time of the air purifier is determined based on the time of arrival home, wherein the start time is earlier than the time of arrival home.

[0027] The air purifier is controlled to operate based on the start time.

[0028] In some embodiments, the method further includes:

[0029] During the process of controlling the air purifier to move along the target path, obstacle information is collected in real time;

[0030] When it is determined that there is a change in obstacle information, the target path and the control parameters corresponding to the redefined target path are redefined based on the current position during operation, the target position, the road surface information and the changed obstacle information;

[0031] The air purifier is moved based on the newly determined target path and the corresponding control parameters.

[0032] This application provides a control device, including:

[0033] The acquisition module is used to acquire the current location of the air purifier, the target location, and the road surface and obstacle information of the environment in which the air purifier is located;

[0034] The determination module is used to determine the target path and the control parameters corresponding to the target path based on the current position, target position, road information and obstacle information, wherein the air purifier corresponding to the target path has the minimum running time or running energy consumption;

[0035] The control module is used to control the air purifier to move along the target path based on the control parameters corresponding to the target path.

[0036] This application provides an electronic device, including:

[0037] A memory and a processor, wherein the memory stores a computer program that, when executed by the processor, performs any of the methods described above.

[0038] This application provides an air purifier, including the aforementioned electronic device and mobile device. The electronic device is communicatively connected to the mobile device, and the electronic device is used to control the movement of the mobile device.

[0039] This application provides a storage medium storing a computer program that can be executed by one or more processors and can be used to implement any of the control methods described above.

[0040] This application provides a control method, device, electronic device, air purifier, and storage medium. The method acquires the current position and target position of the air purifier, as well as road surface and obstacle information of the environment in which the air purifier is located. Based on the current position, target position, road surface information, and obstacle information, it determines a target path and corresponding control parameters, wherein the air purifier operating time or energy consumption is minimized along the target path. Based on the control parameters corresponding to the target path, the method controls the air purifier to move along the target path, enabling automatic path planning and movement, and allowing for more efficient movement. Attached Figure Description

[0041] The present application will be described in more detail below based on embodiments and with reference to the accompanying drawings.

[0042] Figure 1 This is a schematic diagram of a mobile device provided in this application;

[0043] Figure 2 A schematic diagram illustrating the implementation flow of a control method provided in an embodiment of this application;

[0044] Figure 3 A flowchart illustrating a trajectory planning algorithm provided in an embodiment of this application;

[0045] Figure 4 This is a schematic diagram of the composition structure of the electronic device provided in the embodiments of this application.

[0046] In the accompanying drawings, the same parts are referred to by the same reference numerals, and the drawings are not drawn to scale. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0049] If the application documents contain similar descriptions such as "first, second, third", the following explanation shall be added: In the following description, the terms "first, second, third" are used only to distinguish similar objects and do not represent a specific order of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0051] Based on the problems existing in related technologies, this application provides a control method applied to an electronic device, which may be a mobile terminal, computer, etc. In some embodiments, the electronic device can be a controller for an air purifier. The air purifier includes a controller and a mobile device, the controller being communicatively connected to the mobile device, and the controller controlling the mobile device to move the air purifier body. In some embodiments, the air purifier further includes a data acquisition module, an air purification module, and a human-computer interaction module. The data acquisition module can be disposed on the top of the air purifier body and is used to acquire images of the environment. The controller and air purification mode are disposed within the air purifier body. The air purification module is used to purify the air. The mobile device is disposed at the bottom of the air purifier body and is used to receive control from the controller to move the air purifier.

[0052] In this embodiment, the acquisition module can be a visual sensor, which can be a camera. In this embodiment, the cameras are distributed at 120° intervals on the top of the air purifier to achieve 360° all-around, blind-spot-free acquisition of the external environment and obstacles. The mobile device may include: a drive wheel, a driven wheel, and a drive motor. Figure 1 This application provides a schematic diagram of the structure of a mobile device, such as... Figure 1 As shown, there are two drive wheels and two driven wheels. The drive wheels are moving wheels, and the driven wheels do not move when the air purifier is in motion. They only operate when the air purifier is stopped.

[0053] In some embodiments, the mobile device further includes an industrial control computer, a lidar, a drive motor, and a lithium battery. In some embodiments, the air purifier further includes a communication module for information communication between the mobile air purifying robot and the mobile device; and a power module powered by a 36V lithium battery.

[0054] In this embodiment of the application, the air purifier further includes a remote control module, which can transmit information to the user terminal via a cloud platform or wireless network, allowing the user to remotely control the air purifier from outside.

[0055] In some embodiments, the air purifier further includes a shock-absorbing device disposed on the air purifier body for shock absorption to prevent the air purifier from being damaged.

[0056] The control method provided in this application can achieve its functions by having the processor of an electronic device call program code, wherein the program code can be stored in a computer storage medium.

[0057] This application provides a control method. Figure 2 This is a schematic diagram illustrating the implementation flow of a control method provided in an embodiment of this application, as shown below. Figure 2 As shown, it includes:

[0058] Step S1: Obtain the current location of the air purifier, the target location, and the road surface and obstacle information of the environment in which the air purifier is located.

[0059] In this embodiment, the current location, target location, and road and obstacle information of the air purifier's environment can be obtained through user input. The user can directly input the current location, target location, and road and obstacle information of the air purifier's environment on the air purifier's human-computer interaction module. In some embodiments, the user can input the current location, target location, and road and obstacle information of the air purifier's environment through a mobile terminal, and then send the current location, target location, and road and obstacle information of the air purifier's environment to the air purifier, thereby enabling the electronic device to obtain the current location, target location, and road and obstacle information of the air purifier's environment.

[0060] In some embodiments, the electronic device is equipped with a positioning device, which can be used to obtain the current location of the air purifier. In some embodiments, an image information of the environment in which the air purifier is located can be collected by a data acquisition module, and road surface information and obstacle information can be identified through the image information. In this embodiment, the image information can be input into a pre-trained neural network model to identify road surface information and obstacle information.

[0061] In this embodiment, the road surface information may include: tiled road surface, concrete road surface, slope, whether the road surface is smooth, whether it is a composite road surface, etc. The obstacle information includes: whether there are obstacles, the size and shape of the obstacles, etc.

[0062] Step S2: Determine the target path and the corresponding control parameters based on the current location, target location, road surface information, and obstacle information, wherein the air purifier corresponding to the target path has the minimum operating time or energy consumption.

[0063] In this embodiment of the application, step S2 can be implemented through the following steps:

[0064] Step S21: Determine whether a running map exists corresponding to the current location, the target location, the road surface information, and the obstacle information.

[0065] In this embodiment of the application, the current location, the target location, the road surface information, and the obstacle information can be matched in the database to determine whether a running map corresponding to the current location, the target location, the road surface information, and the obstacle information exists.

[0066] In this embodiment of the application, the database may store the correspondence between the running map and the current location, the target location, the road surface information and the obstacle information. In some embodiments, it may also include the correspondence between the running map and the running path.

[0067] Step S22: In the absence of the running map, multiple motion segments are determined based on the current position, target position, road surface information, and obstacle information. The motion segments include: acceleration segment, deceleration segment, and constant speed segment.

[0068] In this embodiment of the application, if there is no running map, it can be assumed that the air purifier is working under new conditions. The new conditions may include at least one of the following: current location, target location, road surface information, and obstacle information has changed.

[0069] In this embodiment of the application, multiple motion segments can be determined by using a trajectory planning algorithm based on the current position, target position, road surface information, and obstacle information.

[0070] In this embodiment of the application, each position can be defined as a point, and the trajectory from point to point includes several target points that need to be reached in sequence, forming three different motion segments: acceleration, uniform speed, and deceleration.

[0071] In some embodiments, multiple road segments can be divided based on pre-stored segmentation rules, which may include the correspondence between different obstacles and different road conditions and the moving end. For example, a road with few obstacles and a smooth surface is divided into an acceleration segment; a road with many obstacles and a rough surface is divided into a deceleration segment; and a road with a relatively flat surface, simple obstacle area, or a single surface is divided into a constant speed segment.

[0072] In this embodiment of the application, when the running map exists, the velocity curve, acceleration curve and running time of each motion segment corresponding to the target path are determined based on the running map and the pre-established correspondence.

[0073] Step S23: Determine the velocity curve and acceleration curve corresponding to each motion segment based on the velocity planning algorithm, wherein the velocity curves of each motion segment are continuous with each other, and the acceleration curves of each motion segment are continuous with each other.

[0074] In this embodiment of the application, the speed planning algorithm may include: trapezoidal speed planning algorithm, S-shaped speed planning algorithm, or a combination of trapezoidal speed planning algorithm and S-shaped speed planning algorithm.

[0075] In this embodiment, trapezoidal velocity planning is the fastest and simplest velocity planning method. However, due to its continuous but not smooth velocity, controllable but abrupt acceleration, and uncontrollable acceleration, it often causes vibration of the controlled object, resulting in poor control performance. S-shaped velocity planning, on the other hand, has continuous and smooth velocity, controllable and continuous acceleration, and good control performance, thus overcoming the shortcomings of the trapezoidal velocity planning algorithm.

[0076] In this embodiment, during velocity planning, the acceleration and velocity at the starting and ending points are both zero, while the acceleration at several intermediate points is not zero. This embodiment achieves dynamic trajectory planning.

[0077] In the embodiments of this application, the velocity curve and acceleration curve corresponding to each motion segment can be determined.

[0078] Step S24: Determine the running time corresponding to each motion segment based on the velocity curve and acceleration curve of each motion segment.

[0079] In this embodiment of the application, since there can be multiple velocity curves and acceleration curves when the same motion segment is performing velocity planning, the same motion segment can include multiple motion times.

[0080] Step S25: Determine the total running time based on the running time corresponding to each motion segment.

[0081] In this embodiment, the total running time is obtained by adding up the running times corresponding to each motion end.

[0082] Step S26: Determine the target path for the motion segment corresponding to the minimum total running time.

[0083] In this embodiment of the application, the velocity curve and acceleration curve corresponding to the minimum total running time of the target path are the control parameters of each motion segment.

[0084] In this embodiment, the purpose of the target path is to make the air purifier move along the target path, thereby avoiding the need to define all states of the air purifier's movement and reducing the human-computer interaction process.

[0085] In this embodiment of the application, since the air purifier has a mobile function, in order to deal with the changing environment, the above-mentioned method of determining the target path needs to be run at a high frequency of end cycle.

[0086] Step S3: Control the air purifier to move along the target path based on the control parameters corresponding to the target path.

[0087] In this embodiment of the application, the control parameters include: the velocity curve, acceleration curve, and running time of each motion segment.

[0088] In this embodiment, the air purifier is controlled to move based on the velocity curve, acceleration curve, and motion time of each motion segment, so that the air purifier moves along the target path.

[0089] In this embodiment, a velocity curve, an acceleration curve, and a motion time can be sent to the mobile device of the air purifier so that the mobile device of the air purifier moves based on the velocity curve, the acceleration curve, and the motion time.

[0090] This application provides a control method that acquires the current position and target position of an air purifier, as well as road surface and obstacle information of the environment in which the air purifier is located; determines a target path and corresponding control parameters based on the current position, target position, road surface and obstacle information, wherein the air purifier operating time or operating energy consumption is minimized along the target path; and controls the air purifier to move along the target path based on the control parameters corresponding to the target path. This method can automatically plan the path and move the air purifier, and can move in a more efficient manner, such as reducing movement time or operating energy consumption.

[0091] In some embodiments, after step S3, the method further includes:

[0092] Step S4: Generate a running map based on the current location, target location, road surface information, obstacle information, and the target path;

[0093] Step S5: Establish the correspondence between the running map and the velocity curves, acceleration curves, and running times of each motion segment corresponding to the target path;

[0094] Step S6: Store the correspondence.

[0095] In this embodiment of the application, by storing the correspondence, when the current location, target location, road surface information, and obstacle information are obtained again, matching can be performed directly to obtain the target path and the control parameters corresponding to the target path, thereby reducing the computation time.

[0096] In some embodiments, the control method further includes:

[0097] Step S7: Obtain the user's input time of arrival home.

[0098] In this embodiment, the user can input their arrival time via an app on their mobile terminal, and the mobile terminal will send the arrival time to the electronic device, thereby enabling the electronic device to obtain the user's arrival time.

[0099] Step S8: Determine the start time of the air purifier based on the time of arrival home, wherein the start time is earlier than the time of arrival home.

[0100] Step S9: Control the air purifier to operate based on the start time.

[0101] The method provided in this application embodiment can ensure that users can absorb purified air as soon as they return home.

[0102] In some embodiments, while step S3 is being performed, the method further includes:

[0103] Step S10: During the process of controlling the air purifier to move along the target path, obstacle information is collected in real time.

[0104] In this embodiment of the application, obstacle information can be collected in real time through the acquisition module.

[0105] Step S11: When it is determined that the obstacle information has changed, the target path and the control parameters corresponding to the redefined target path are redefined based on the current position during operation, the target position, the road surface information and the changed obstacle information.

[0106] Step S12: Control the air purifier to move based on the redefined target path and the control parameters corresponding to the redefined target path.

[0107] Based on the foregoing embodiments, this application provides another control method. The air purifier includes: a human-computer interaction module, a vision acquisition module, a drive device module (same as the mobile device in the above embodiments), a control center module (same as the electronic device in the above embodiments), and a purification device module. The moving structure of the drive device module mainly includes two drive wheels and two auxiliary wheels symmetrical about the central axis (wherein, the two auxiliary wheels are used to prevent the robot from tilting forward or backward). The drive wheels are motion wheels, and the auxiliary wheels do not move when the robot is moving, but only when the robot is stopped. The air purifier also includes: an industrial control computer, a lidar, a drive motor, a lithium battery, a communication module, a power module, and an infrared sensor. The drive device module includes: a Raspberry 4b driver, wherein the Raspberry 4b driver includes a shock absorber, drive wheels, and lidar. The communication module facilitates communication between the mobile air purifier and the mobile device. The power module is powered by a 36V lithium battery. The vision acquisition module consists of three miniature cameras (spaced 120° apart) mounted on top of the purifier, providing 360° omnidirectional data collection of the external environment and obstacles. The control module processes the work object and its operation. During path planning, it provides several nodes on the trajectory and uses a trajectory to pass through or approximate these nodes. This trajectory can be optimized according to certain principles, such as using acceleration smoothing to obtain the displacement-time function X in Cartesian space or the displacement-time function in joint space. Interpolation between nodes is performed by calculating the pose and joint variable values ​​of points on the trajectory in real time during each sampling period based on the trajectory expression. When planning the robot's motion trajectory, it is necessary to determine whether there are combinations of obstacle constraints along the path. Trajectory interpolation must meet a series of constraints, such as the pose, velocity, and acceleration requirements at key nodes like the initial and stopping points. Correspondingly, continuity throughout the entire time interval and extreme values ​​must be within the allowable performance range. The remote control module refers to the Raspberry 4b control center processing the collected information and transmitting it to the user terminal via a cloud platform or wireless network. The user terminal can remotely control the air purifying robot to reach a designated location and purify the air in advance before the user arrives home, maintaining the purification efficiency and ensuring that the user can absorb purified air as soon as they get home.

[0108] The goal of trajectory planning is to calculate a safe and comfortable trajectory to complete the predetermined movement task. Safety means that the air purifying robot maintains an appropriate distance from obstacles during movement to avoid collisions; comfort means providing users with a comfortable operating experience; and finally, completing the movement task means that the planned trajectory must accomplish the given objective task, and an overly conservative movement method should not result in unacceptable movement time. Figure 3 This is a flowchart illustrating a trajectory planning algorithm provided in an embodiment of this application, as shown below. Figure 3As shown, the trajectory planning algorithm, based on the moving road surface information (tiles, concrete, slopes) and obstacle information, as well as the starting and target positions of the air purifying robot, considers that the specific point-to-point trajectory contains several target points that need to be reached sequentially, forming three different motion segments: acceleration segment, constant speed segment, and deceleration segment. In this embodiment, the entire path can be divided into several segments based on the starting and ending points, generating several speed inflection points. According to the road conditions between each point in the segment, it is divided into acceleration segment, constant speed segment, and deceleration segment. In this embodiment, the road surface information may be a composite road surface, which may include: smooth road surface, rough road surface, uphill and downhill road surface, etc. Different road surface information and obstacle information correspond to different motion ends. For example, on a smooth road surface with few obstacles, the path can be divided into... The system is divided into acceleration and deceleration sections. In areas with many obstacles and rough surfaces, the system is divided into deceleration sections. In areas with relatively flat surfaces, simple obstacle areas, or single surfaces, the system is divided into uniform speed sections. After determining each motion segment, different speeds and accelerations, as well as the running time of each segment, can be obtained to achieve the optimal and fastest running trajectory. Different speeds, accelerations, and running times are issued to the actuator to achieve the best trajectory optimization. An S-shaped-trapezoidal combined planning method is adopted. In this embodiment, the S-shaped-trapezoidal combined planning method is a combination of trapezoidal speed planning and S-shaped speed planning. The speed curves of these three motion segments are planned respectively, so that the acceleration and speed of the air purifying robot are both zero at the starting and ending points, while the acceleration at several intermediate points is not zero, thus realizing dynamic trajectory planning.

[0109] In this embodiment, the motion planning curve (i.e., the target path) can be automatically calculated based on the S-curve of the adaptive point-to-point trajectory planning, using five parameters: the starting position, the ending position, the maximum speed, the maximum acceleration, and the total motion time.

[0110] In this embodiment, if the input parameters are not suitable, the system can calculate suitable operating parameters in the control center by using various pre-stored road condition information and external conditions, and supply them to the control center to match the road conditions.

[0111] In this embodiment, the role of the trajectory is to enable the robot system to plan its movement based on the trajectory points calculated by the computer, thereby avoiding the need for manual definition of all states of the robot's movement and reducing the human-computer interaction process. For mobile air-purifying robots, in order to handle the changing mobile environment, the trajectory planning algorithm needs to run at a high frequency with a short cycle, which also places demands on the computational efficiency of the algorithm.

[0112] When the air purifying robot is activated, the system first assesses the environment. It matches the pre-stored operating map, target location, movement time, speed, and the area where the purification function will be performed along the intended path. If an operating map already exists, a trajectory optimization algorithm is used to directly reach the designated location. If a new environment is entered, a miniature camera collects real-time road surface and obstacle information as parameters. The system modifies the parameters in the established path planning model, outputting the optimal path and new target location to the control center. The system calculates the optimal path and sends it to the drive wheels and lidar, specifying the speed, acceleration, and movement time for each segment. If the robot encounters a moving object or is hit by an obstacle due to unforeseen circumstances, a shock absorption device prevents damage. The control system recalculates a new path, gradually adjusts it, reaches the target location, and generates a new operating map for storage.

[0113] The control method provided in this application embodiment, through a trajectory planning control algorithm and a novel intelligent air purifying robot control system with optimized movable structural design, can enhance the human-computer interaction between the user and the air purifying robot according to user needs. People can also use mobile terminals to achieve remote control and generate optimal path planning at any time according to changes in the external environment, ensuring the optimal path and time, greatly facilitating the user's use and enhancing the user experience.

[0114] Based on the foregoing embodiments, this application provides a control device. The modules and units included in the device can be implemented by a processor in a computer device; of course, they can also be implemented by specific logic circuits. In the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0115] This application provides a control device, which includes:

[0116] The acquisition module is used to acquire the current location of the air purifier, the target location, and the road surface and obstacle information of the environment in which the air purifier is located;

[0117] The determination module is used to determine the target path and the control parameters corresponding to the target path based on the current position, target position, road information and obstacle information, wherein the air purifier corresponding to the target path has the minimum running time or running energy consumption;

[0118] The control module is used to control the air purifier based on the control parameters corresponding to the target path.

[0119] In some embodiments, determining the target path and the corresponding control parameters based on the current location, target location, road surface information, and obstacle information includes:

[0120] Determine whether a running map exists corresponding to the current location, the target location, the road surface information, and the obstacle information;

[0121] In the absence of the aforementioned running map, multiple motion segments are determined based on the current position, target position, road surface information, and obstacle information. These motion segments include: acceleration segments, deceleration segments, and constant speed segments.

[0122] The velocity and acceleration curves corresponding to each motion segment are determined based on the velocity planning algorithm. The velocity curves of each motion segment are continuous with each other, and the acceleration curves of each motion segment are also continuous with each other.

[0123] The running time for each motion segment is determined based on the velocity and acceleration curves of each motion segment.

[0124] The total running time is determined based on the running time corresponding to each movement segment;

[0125] The target path is determined by the motion segment corresponding to the minimum total running time.

[0126] In some embodiments, the control parameters include: velocity curves, acceleration curves, and running times for each motion segment; controlling the air purifier to move along the target path based on the control parameters corresponding to the target path includes:

[0127] The air purifier is controlled to move based on the velocity curve, acceleration curve, and motion time of each motion segment, so that the air purifier moves along the target path.

[0128] In some embodiments, the control device is further configured to:

[0129] A running map is generated based on the current location, target location, road surface information, obstacle information, and the target path;

[0130] Establish the correspondence between the running map and the velocity curves, acceleration curves, and running times of each motion segment corresponding to the target path;

[0131] Store the correspondence.

[0132] In some embodiments, the control device is further configured to:

[0133] In the presence of the running map, the velocity curve, acceleration curve, and running time of each motion segment corresponding to the target path are determined based on the running map and the pre-established correspondence.

[0134] In some embodiments, the control device is further configured to:

[0135] Get the user's input time of arrival home;

[0136] The start time of the air purifier is determined based on the time of arrival home, wherein the start time is earlier than the time of arrival home.

[0137] The air purifier is controlled to operate based on the start time.

[0138] In some embodiments, the control device is further configured to:

[0139] During the process of controlling the air purifier to move along the target path, obstacle information is collected in real time;

[0140] When it is determined that there is a change in obstacle information, the target path and the control parameters corresponding to the redefined target path are redefined based on the current position during operation, the target position, the road surface information and the changed obstacle information;

[0141] The air purifier is moved based on the newly determined target path and the corresponding control parameters.

[0142] It should be noted that, in the embodiments of this application, if the above-described control method is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0143] Accordingly, this application provides a storage medium storing a computer program thereon, characterized in that the computer program, when executed by a processor, implements the steps in the control method provided in the above embodiments.

[0144] This application provides an electronic device; Figure 4 This is a schematic diagram of the composition structure of the electronic device provided in the embodiments of this application, such as... Figure 4 As shown, the electronic device 400 includes: a processor 401, at least one communication bus 402, a user interface 403, at least one external communication interface 404, and a memory 405. The communication bus 402 is configured to enable communication between these components. The user interface 403 may include a display screen, and the external communication interface 404 may include standard wired and wireless interfaces. The processor 401 is configured to execute a program of a control method stored in the memory to implement the steps of the control method provided in the above embodiment.

[0145] This application provides an air purifier, including the aforementioned electronic device and mobile device. The electronic device is communicatively connected to the mobile device, and the electronic device is used to control the movement of the mobile device.

[0146] It should be noted that the descriptions of the storage media, electronic devices, and air purifier embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage media and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0147] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0148] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, object, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, object, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, object, or apparatus that includes that element.

[0149] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0150] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0151] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0152] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0153] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a controller to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0154] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method, characterized in that, include: The system acquires the current location and target location of the air purifier, as well as road surface and obstacle information of the environment in which the air purifier is located, input by the user via a mobile terminal. The road surface information includes: tile road surface, concrete road surface, slope, whether the road surface is smooth, and whether it is a composite road surface. Determine whether a running map exists corresponding to the current position, the target position, the road surface information, and the obstacle information; if the running map does not exist, determine multiple motion segments based on the current position, the target position, the road surface information, and the obstacle information, wherein the motion segments include: acceleration segments, deceleration segments, and constant speed segments; determine the velocity curve and acceleration curve corresponding to each motion segment based on a velocity planning algorithm, wherein the velocity curves of each motion segment are continuous with each other, and the acceleration curves of each motion segment are continuous with each other; determine the running time corresponding to each motion segment based on the velocity curve and acceleration curve of each motion segment. Based on the running time corresponding to each movement segment, the total running time is determined; the movement segment corresponding to the minimum total running time is determined as the target path; wherein, the air purifier with the minimum running time is corresponding to the target path; wherein, the smooth road surface with few obstacles is divided into acceleration segments, the rough road surface with many obstacles is divided into deceleration segments, and the flat road surface with simple obstacles or a single road surface is divided into uniform speed segments; the speed planning algorithm adopts the S-shaped-trapezoidal combined speed planning algorithm, which makes the acceleration and velocity of the air purifying robot zero at the starting point and the ending point, while the acceleration at several intermediate points is not zero; In the absence of the aforementioned running map, a running map is generated based on the current location, target location, road surface information, obstacle information, and the target path; a correspondence is established between the running map and the velocity curves, acceleration curves, and running times of each motion segment corresponding to the target path; and the correspondence is stored. In the presence of the aforementioned running map, the velocity curve, acceleration curve, and running time of each motion segment corresponding to the target path are determined based on the running map and the pre-established correspondence. The air purifier is controlled to move along the target path based on the control parameters corresponding to the target path. During the process of controlling the air purifier to move along the target path, obstacle information is collected in real time; When it is determined that there is a change in obstacle information, the target path and the control parameters corresponding to the redefined target path are redefined based on the current position during operation, the target position, the road surface information and the changed obstacle information; The air purifier is moved based on the newly determined target path and the corresponding control parameters. Obtain the time the user enters to return home via their mobile device; The start time of the air purifier is determined based on the time of arrival home, wherein the start time is earlier than the time of arrival home. The air purifier is controlled to operate based on the start time.

2. The method according to claim 1, characterized in that, The control parameters include: velocity curves, acceleration curves, and running times for each motion segment. Controlling the air purifier to move along the target path based on the control parameters corresponding to the target path includes: The air purifier is controlled to move based on the velocity curve, acceleration curve, and motion time of each motion segment, so that the air purifier moves along the target path.

3. A control device applying the control method as described in claim 1, characterized in that, include: The acquisition module is used to acquire the current location of the air purifier, the target location, and the road surface and obstacle information of the environment in which the air purifier is located; The determination module is used to determine the target path and the corresponding control parameters based on the current location, target location, road surface information and obstacle information, wherein the air purifier corresponding to the target path has the shortest running time; The control module is used to control the air purifier to move along the target path based on the control parameters corresponding to the target path.

4. An electronic device, characterized in that, include: A memory and a processor, wherein the memory stores a computer program that, when executed by the processor, performs the method as described in any one of claims 1 to 2.

5. An air purifier, characterized in that, The device includes the electronic device and mobile device as described in claim 4, wherein the electronic device is communicatively connected to the mobile device and is used to control the mobile device to move.

6. A storage medium, characterized in that, The computer program stored in the storage medium can be executed by one or more processors and can be used to implement the method as described in any one of claims 1 to 2.

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