Indoor air quality automatic detection system and detection method

Abstract

The present invention relates to an automatic indoor air quality detection system and detection method. The main mobile device has autonomous navigation and obstacle avoidance capabilities, and is equipped with multiple sensor modules for monitoring air quality parameters. The system can automatically move to different positions for detection, adjust the indoor environment through the automatic door and window module, and realize intelligent air quality monitoring and management. The automatic door and window module is innovatively designed, and is driven by a gear structure or a lever structure to ensure the smooth opening and closing of doors and windows, and realize efficient operation. The module has a 180-degree flip function and is suitable for doors and windows with different opening directions, while the detachable connector and suction cup options enhance the applicability. The method part uses an environmental camera and a depth sensor to scan the room layout, and realizes all-round detection through intelligent path planning. A detailed air quality report is generated through data analysis and presented in a mobile application. The system also provides intelligent suggestions and reminders to ensure the health and comfort of users.

Description

Technical Field

[0001] The present invention belongs to the field of air quality detection technology, and in particular creates an intelligent mobile robot system that integrates indoor air quality detection, automatic door and window operation, and intelligent suggestions to achieve comprehensive environmental monitoring and management and improve indoor air quality and comfort. Background Art

[0002] With the acceleration of urbanization and the increasing prominence of environmental pollution, the monitoring and management of indoor air quality has gradually attracted public attention. Studies have shown that people spend most of their time indoors, and indoor air quality directly affects people's health and quality of life. Therefore, accurate and efficient detection of indoor air quality has become an urgent need.

[0003] Traditional indoor air quality detection methods usually require manual sampling, carrying large equipment or fixed sensors installed in specific locations. These methods are not only inefficient, but also difficult to achieve real-time and continuous monitoring. In addition, traditional detection equipment often cannot make real-time adjustments to the indoor environment, such as opening and closing windows to promote ventilation or controlling indoor equipment to improve air quality.

[0004] In recent years, with the development of mobile robot technology and Internet of Things technology, some new indoor air quality detection methods and equipment have begun to appear. For example, the authorization announcement number CN 114924037 B is called an air quality detection device for smart home. These devices can automatically move to different locations for detection, realizing real-time and continuous monitoring. However, most of these existing devices still have some problems, such as the inability to automatically open and close doors and windows to adjust the indoor environment, relatively simple data analysis functions, and weak linkage capabilities with other indoor devices.

[0005] In order to solve the above problems, a new type of automatic indoor air quality detection system has been developed. The system combines mobile robot technology, intelligent navigation technology and Internet of Things technology. It can automatically move to different locations for detection, automatically open and close doors and windows to adjust the indoor environment, and can be linked with other indoor equipment to achieve truly intelligent indoor air quality monitoring and management.

[0006] In order to achieve the above objectives, the present invention proposes a novel design scheme, which will be described in detail in the following sections. Summary of the invention

[0007] The present invention aims to solve the above-mentioned problems and to create a solution that can intelligently monitor and manage indoor air quality to improve the comfort and health of living and working environments.

[0008] The invention objective of the present invention is achieved through the following technical scheme: an automatic opening and closing door and window module,

[0009] It includes a bearing seat, a rotating shaft tightly rotatably and lockably installed in the bearing seat, a force-bearing support seat whose middle part in the length direction is fixedly connected to one end of the rotating shaft, an arc-shaped actuator that is movable and passes through one side of the force-bearing support seat, and a driving component that is fixedly installed on the force-bearing support seat and is used to drive the arc-shaped actuator to move along its own arc-shaped moving trajectory;

[0010] The arc-shaped actuator is provided with a track groove, in which a positioning slider is installed; the positioning slider is fastened to the driving assembly;

[0011] It also includes a connecting piece installed on the arc-shaped actuator, which can be temporarily connected to the door and window handle or glass; the door and window are opened or closed by using the driving component.

[0012] Preferably, the drive assembly is an arc-shaped actuator with a tooth design combined with a motor with a meshing gear. The drive assembly is a tooth design combined with a motor with a meshing gear, which has higher transmission efficiency and stability, making the module more reliable.

[0013] Preferably, the driving assembly is a lever structure, which includes a lever fixing frame, a lever arm, and a power and transmission assembly. Using the lever structure as the driving assembly can provide greater force for the module, which is particularly beneficial in certain door and window situations that require great force to open or close.

[0014] Preferably, the connector is designed to be detachable and replaceable with a suction cup, which can be directly adsorbed to the glass by negative pressure. The connector is detachable and replaceable with a suction cup, providing greater flexibility, especially when dealing with different types of doors and windows.

[0015] As a preferred embodiment, the force bearing support seat can be turned 180 degrees, allowing the operation of windows opening to the left and right. The force bearing support seat can be turned 180 degrees, so that the module can adapt to various opening directions of doors and windows, increasing the scope of use.

[0016] Preferably, a clearance opening for the arc-shaped actuator to pass through is provided in the rotating shaft, and a flip mechanism is installed on the rotating shaft. The design of the rotating shaft and the flip mechanism increase the operability of the module, so that the module can be more easily adapted to specific scenarios, such as a specific opening method of a window.

[0017] The present invention also provides a method for automatically detecting indoor air quality.

[0018] Including, step 1, startup and self-test;

[0019] Step 2: Room layout scanning and intelligent path planning;

[0020] Step 3: Automatic doors and windows operation;

[0021] Step 4: Air quality testing;

[0022] Step 5: Ventilation efficiency test;

[0023] Step 6: Data collection and analysis;

[0024] Step 7: Report generation and push;

[0025] Step 8: Smart suggestions and reminders.

[0026] Preferably, the structure of the automatic door and window operating part in step 3 includes a bearing seat, a rotating shaft, a force-bearing support seat fixedly connected to one end of the rotating shaft in the middle of the length direction, an arc-shaped actuator that is movable and passes through one side of the force-bearing support seat, and a driving component fixed on the force-bearing support seat for driving the arc-shaped actuator to move along its own arc-shaped moving trajectory. The design of the arc-shaped actuator and the driving component ensures the accuracy and stability of the module during automatic operation.

[0027] Preferably, in step 2, the room is scanned 360° using an environment camera and a depth sensor, and a 3D model of the room is created. The 360° scanning using the environment camera and the depth sensor ensures accurate measurement of the room and effective path planning.

[0028] As a preference, air quality testing covers parameters such as PM2.5, PM10, VOCs, formaldehyde, CO2, nitrogen oxides and ozone. Testing multiple air quality parameters provides a comprehensive assessment method to ensure accurate monitoring of various potential pollutants.

[0029] As a preferred option, the system provides suggestions and solutions for improving air quality based on the test results. Intelligent suggestions and solutions based on the test results provide users with real-time and specific improvement methods to ensure the safety and health of the indoor environment.

[0030] The present invention also provides an indoor air quality automatic detection and control system, which combines the automatic door and window opening and closing modules based on gear structures and lever structures, and the indoor air quality automatic detection method, to achieve comprehensive monitoring and intelligent control of indoor air quality. The indoor air quality automatic detection and control system integrates the aforementioned modules and methods, providing users with an integrated, fully automatic air quality detection and control solution, greatly improving the quality of the living or working environment.

[0031] In summary, the present invention has the following advantages compared with the prior art:

[0032] 1. Automation and intelligence: The entire system combines mobile robot technology, intelligent navigation technology and Internet of Things technology to automate and intelligentize processes such as indoor air quality detection and door and window operation, reducing manual intervention and improving convenience.

[0033] 2. Comprehensive air quality detection: The use of multiple sensors to detect parameters, such as PM2.5, VOCs, etc., ensures accurate monitoring of multiple pollutants, thereby providing a comprehensive assessment of indoor air quality.

[0034] 3. Flexible adaptability: The automatic opening and closing door and window module can adapt to doors and windows of different types and opening directions, providing greater flexibility and adaptability, and is suitable for a variety of room layouts and structures.

[0035] 4. Ventilation efficiency evaluation: During the ventilation efficiency detection step, the system takes into account the impact of ventilation on indoor air quality, provides users with an evaluation of the ventilation improvement effect, and further improves the practicality of the detection.

[0036] 5. Intelligent suggestions and reminders: Based on the test results, the system can provide suggestions and solutions to improve air quality and protect the health of users. At the same time, it can send emergency reminders when excessive pollutants are detected, improving safety and health protection.

[0037] 6. Environmental perception and path planning: The room is scanned by cameras and depth sensors to achieve environmental perception and intelligent path planning, enabling mobile devices to move and operate accurately in the room, improving detection efficiency.

[0038] 7. Comprehensive system solution: The indoor air quality automatic detection and control system combines the automatic door and window opening and closing modules with intelligent detection methods to provide users with a comprehensive solution to ensure the comfort and health of the indoor environment.

[0039] Overall, this invention combines multiple technologies to create an intelligent, automated indoor air quality detection and management system, thereby improving the comfort and health of the indoor environment. The system can automatically move to different locations for detection, adjust the indoor environment through the automatic opening and closing of doors and windows modules, and realize intelligent air quality monitoring and management. The automatic opening and closing of doors and windows modules is innovatively designed, using gear structures or lever structures to drive, ensuring smooth opening and closing of doors and windows for efficient operation. The module has a 180-degree flip function, which is suitable for doors and windows with different opening directions, while the detachable connectors and suction cup options enhance the applicability. The method part uses environmental cameras and depth sensors to scan the room layout, and realizes all-round detection through intelligent path planning. The sensor module detects parameters such as PM2.5, PM10, VOCs, formaldehyde, CO2, nitrogen oxides and ozone, and sends data to the central control console in real time. Detailed air quality reports are generated through data analysis and presented in mobile applications. The system also provides intelligent suggestions and reminders to ensure user health and comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a state diagram of the subject's mobile device entering the room;

[0041] Figure 2 It is a flowchart of the automatic air quality detection method;

[0042] Figure 3 An action diagram for executing closing windows and doors;

[0043] Figure 4 It is an automatic door and window opening module, in which the protective cover is partially removed for easy internal observation;

[0044] Figure 5 It is a partial structural diagram of the automatic opening and closing door and window module;

[0045] Figure 6 It is a schematic diagram of a lever structure in which the power part is a lever structure;

[0046] Figure 7 It is a structural schematic diagram of the flipping mechanism;

[0047] Figure 8 yes Figure 3 A partial enlarged view of the middle A;

[0048] Fig. 9 is a schematic diagram of the structure of the bracket;

[0049] Fig.10 yes Figure 5 A partial enlarged view of point B in the middle.

[0050] Markings in the figure:

[0051] Lock tongue elastic structure 001, bracket 002, main mobile device 100, automatic door and window opening and closing module 200, lifting platform mechanism 210, protective cover 211, bearing seat 220, rotating shaft 230, avoidance opening 231, flipping mechanism 232, force support seat 240, telescopic adjustment component 250, adapter block 260, flexible abutment block 270, arc actuator 280, track groove 281, positioning slider 282, connecting piece 290, driving assembly 300, lever fixing frame 410, lever arm 420, power and transmission 430. DETAILED DESCRIPTION

[0052] The present invention will be further described below with reference to the embodiments shown in all the accompanying drawings:

[0053] Example 1

[0054] An automatic indoor air quality detection system and method. The system combines mobile robot technology, intelligent navigation technology and Internet of Things technology, can automatically move to different locations for detection, automatically open and close doors and windows to adjust the indoor environment (for example, automatically close windows when bad air is detected from outside), and can be linked with other indoor devices to achieve truly intelligent indoor air quality monitoring and management.

[0055] The main mobile device 100 is the core of the whole system, with autonomous navigation and obstacle avoidance capabilities. It integrates multiple modules, including sensor module, navigation and obstacle avoidance module, communication module, battery and power management module. The main mobile device 100 can be wheeled or tracked, and can adapt to different terrains to ensure flexibility in different rooms. It has a compact design to facilitate access to different doorways and rooms.

[0056] Sensor Module

[0057] The sensor module is used to detect air quality, including PM2.5, PM10, VOCs, formaldehyde, CO2, nitrogen oxides and ozone. Each detection item is an independent module, which is convenient for maintenance and replacement.

[0058] Central console and mobile app

[0059] The central control console sets the detection path and task priority of the main mobile device 100 through the scheduling module. The data receiving module obtains the data sent back by the sensor module in real time, performs data analysis and determines whether the air quality meets the standard. The analyzed data can be transmitted to the cloud through the cloud synchronization module and can be viewed and generated by the mobile application.

[0060] Figure 1 A state diagram showing a subject mobile device 100 in a room; Figure 2 This is a flow chart of the operation of the automatic air quality detection system. Figure 3 The state diagram of the main mobile device 100 executing the action of closing the window is shown.

[0061] Automatic door and window opening module 200

[0062] Regarding automatic opening and closing of doors and windows, it is conceivable that multi-axis robots can be used for this work, but multi-axis robots need to have long arms that extend outward, which will make the multi-axis robots larger in size and the price of the chain will be expensive, so multi-axis robots are not the best choice. In this embodiment, a highly customizable module is provided, for example, its power part can be customized into a lever mechanism to increase the input force or moving distance, so that the system can operate doors and windows more efficiently.

[0063] The components of this module are detailed below:

[0064] The lifting platform mechanism 210 is fixedly connected to the main mobile device 100 and can move in the vertical direction;

[0065] The bearing seat 220 is located on the lifting platform and provides a stable base for the rotating shaft;

[0066] A rotatable and lockable rotating shaft 230 is installed in the bearing seat 220;

[0067] A force bearing support seat 240 connected to the rotating shaft 230, and other components can be stored inside the support seat;

[0068] The telescopic adjustment components 250 are respectively installed at both ends of the force-bearing support seat 240;

[0069] The adapter block 260 connected to the telescopic adjustment assembly 250 extends to a side away from the rotating shaft 230 and can be selectively equipped with a flexible abutment block 270, which enables it to form a temporary and stable connection with the window frame;

[0070] The arc-shaped actuator 280 can move on one side of the force-bearing support seat 240;

[0071] The connecting member 290 is located at one end of the arc-shaped actuator 280, and its structure can be a strike lock structure or other known technologies;

[0072] The driving assembly 300 drives the arc-shaped actuator 280 to move along its moving trajectory.

[0073] When the system starts to operate, the main mobile device 100 will first move to the front of the window and adjust to the appropriate position according to the instructions of the central control console. This "appropriate" mainly ensures that the connecting piece or the abutment block can contact the window frame and that the connecting piece can form a connection with the handle or glass. Then, the drive assembly 300 is started and the connecting piece 290 is connected to the window handle. In the process of the window starting to close or open, the force support seat 240 plays a major role, bearing the main force and ensuring the stability of the main mobile device 100. After the operation is completed, the device moves slightly to disconnect from the handle.

[0074] This design ensures the module's stability, efficiency, and compatibility with many types of windows.

[0075] In order to achieve the purpose of dust prevention, we have designed an overall covering for the lifting platform mechanism 210. Specifically, we installed a protective cover 211 that can be telescopic up and down. The lower end of this protective cover is fixed to the bottom of the lifting platform mechanism 210, and the upper end is hingedly connected to the top telescopic structure of the lifting platform mechanism 210 through the bracket 002. After this design, as the lifting platform mechanism 210 moves up and down, the protective cover 211 will also rise or fall accordingly, so as to always remain in a position synchronized with the lifting platform mechanism. This structure can effectively prevent dust from entering the interior of the lifting platform mechanism and achieve a dust-proof effect.

[0076] Figure 4 The protective cover 211 is partially cut away to show the overall structure of the automatic opening and closing door and window module 200 .

[0077] Referring to all the drawings, the following is a design scheme of an automatic door and window opening module with a gear structure as the power part, including: the arc-shaped actuator 280 adopts a tooth design and is combined with a motor with meshing gears to make the drive more precise. Figure 8 The track groove 281 on the arc-shaped actuator 280 is shown. A positioning slider 282 is installed in the groove, and the slider is fastened to the drive assembly 300 to ensure the accurate positioning of the arc-shaped actuator 280.

[0078] On the other hand, to increase the versatility of the module, the connector 290 is designed to be detachable so that it can be replaced by a suction cup, which can be directly adsorbed onto the glass by negative pressure to achieve temporary fixation. In order to facilitate connection, the connector 290 can be specifically designed as a lock tongue elastic structure 001 that automatically connects after collision.

[0079] For large outward opening windows, there are usually two types: left opening and right opening. In order to ensure that the single automatic opening and closing door and window module 200 is compatible with both types, the design of the force support seat 240 allows it to be flipped 180 degrees, so that it can operate windows that open to the left or right. More specifically, Figure 5 As shown in the coordinate system in the figure, the arc-shaped actuator 280 is placed at the center of the force-bearing support seat 240, which means that after turning 180 degrees, its height position remains unchanged, eliminating the need for re-adjustment. Accordingly, the rotating shaft 230 is provided with an escape opening 231 for the arc-shaped actuator 280 to pass through.

[0080] To accomplish this overturning, a turning mechanism 232 is installed on the rotating shaft 230. This mechanism is fastened together with the bearing block 220, and its power execution part can be driven by a motor, or it can be as Figure 5 The ratchet mechanism is combined with the cylinder. This design ensures that the ratchet can rotate 90 degrees every time the cylinder moves. The one-way drive feature of the ratchet ensures that it can be locked after flipping, enhancing the stability of the structure.

[0081] Further optimization design:

[0082] 1. The lifting platform mechanism 210 adopts a scissor structure and is driven by a cylinder;

[0083] 2. The bearing seat 220 is preferably in the form of a double-headed fixed bearing to obtain a more stable effect;

[0084] 3. The rotating shaft 230 is preferably a thick-walled seamless pipe with a diameter between 80 mm and 150 mm.

[0085] The following is a design scheme for an automatic opening and closing door and window module whose power part is based on a lever structure, including:

[0086] 1. Lever fixing frame 410: designed as the main supporting structure, connected to the bearing seat 220, and providing a support point for other lever components.

[0087] 2. Lever arm 420: Made of high-strength lightweight materials, such as aluminum alloy or carbon fiber, to reduce its own weight and enhance its bending strength. Hinge point: Located at a critical position on the lever arm, such as the midpoint or 1 / 3 point, for support and power transmission of the lever arm.

[0088] 3. Power and transmission 430: Located at the base of the lever arm, it is mainly responsible for providing power to the lever arm. Action details and power input: Provided by cylinders or servos to ensure precise and adjustable action.

[0089] 4. Damper: Attached to the lever arm, it can absorb and reduce sudden impacts, making the opening and closing of doors and windows smoother.

[0090] 5. Extended function of position sensor: By installing an encoder, the position of the lever arm can be accurately known, thereby controlling the opening angle of doors and windows.

[0091] 6. Force feedback: By installing strain gauges, the force applied to the lever arm can be monitored, and the output force can be adjusted to avoid applying excessive force to the doors and windows.

[0092] 7. Safety protection: When an obstruction or abnormality is detected, the system can immediately stop running or reverse movement to protect doors and windows from damage.

[0093] 8. Output lever: Responsible for the actual connection with the arc actuator 280, converting the received power into the opening or closing action of the door or window.

[0094] Working principle:

[0095] When the driving lever moves, the movement is amplified by the lever (according to the lever principle), so that the output lever has a greater movement distance or applied force.

[0096] Beneficial effects:

[0097] By using the lever principle, even with a small input force or moving distance, efficient operation of doors and windows can be achieved. The structure is simple, the cost is low, and it is easy to maintain. By providing elasticity and feedback, the safety and accuracy of the operation can be ensured.

[0098] This design not only improves power efficiency, but also ensures smooth and safe opening and closing of doors and windows, making it very suitable for integration into automatic indoor air quality detection systems.

[0099] Comparison table of three window opening mechanisms:

[0100] Compare Projects Mechanical arm door and window switch mechanism Lever structure solution Automatic opening and closing door and window module solution Opening speed 5 seconds to fully open 3 seconds to fully open 4 seconds to fully open Closing speed 5 seconds to completely close 3.5 seconds to fully close 4.5 seconds to fully close Power efficiency 70% 95% 88% power consumption 50mA 35mA 40mA Maintenance frequency Once every 6 months Once every 12 months Once every 8 months Installation complexity medium Simple medium cost standard Slightly above standard Slightly below standard Noise Level 60dB 50dB 55dB Adjustable angle range 0°- 70° 0°- 70° 0°- 70° Durability Lasts for 2 years Can last for more than 3 years Lasts for 2.5 years Safety performance Unhindered reverse protection With reverse resistance and force feedback protection With reverse protection compatibility Specific window and door models only Various door and window models Suitable for most door and window models

[0101] Through the above data comparison table, we can intuitively see the performance of the three solutions in multiple key areas. Although the lever structure solution has advantages in most areas, the automatic door and window module solution also shows better performance in some aspects, such as opening and closing speed, power consumption, etc. This helps users to have a more comprehensive understanding of the advantages and disadvantages of the three solutions, so as to make a more wise choice.

[0102] Automatic detection method of indoor air quality:

[0103] Step 1: Startup and self-test

[0104] • The user starts the device through the mobile app. The device first performs a self-check, including the sensor module, mobile module, communication module, and automatic door and window opening and closing module.

[0105] Step 2: Room layout scanning and intelligent path planning

[0106] • Use the environment camera and depth sensor to scan the room 360° and create a 3D model of the room.

[0107] • The system plans the best detection path based on the 3D model, taking into account the location of doors and windows, possible obstacles, etc.

[0108] Step 3: Automatic Door and Window Operation

[0109] • When the device approaches a door or window, the automatic door and window opening and closing module is activated.

[0110] • Use curved actuators and connectors (or optional suction cups) to make temporary connections to door or window handles or glass.

[0111] • Use drive components to open or close doors and windows to ensure the closedness of the test environment.

[0112] Step 4: Air quality test

[0113] • The mobile device starts moving along the planned path.

[0114] • The sensor module starts detecting various air quality parameters like PM2.5, PM10, VOCs, Formaldehyde, CO2, Nitrogen Oxides and Ozone.

[0115] Step 5: Ventilation efficiency test

[0116] • After completing the initial air quality test, the unit opens all doors and windows.

[0117] • Move and test again, and calculate the air quality improvement rate after ventilation to assess the ventilation efficiency of the room.

[0118] Step 6: Data Collection and Analysis

[0119] • All test data are sent to the central control console for analysis in real time.

[0120] • Compare air quality data at different times and locations to assess the overall air quality of the room and possible sources of contamination.

[0121] Step 7: Report generation and delivery

[0122] • Based on the collected data, the system automatically generates a detailed air quality report.

[0123] • Pushed to users in real time via mobile apps and saved in the central console for subsequent queries.

[0124] Step 8: Smart suggestions and reminders

[0125] • Based on the test results, the system provides suggestions for improving air quality, such as increasing ventilation, using an air purifier, etc.

[0126] • If certain pollutants are detected to be above the limit, the system will send an urgent alert and provide a solution.

[0127] This embodiment not only includes the air quality detection steps given previously, but also introduces the functions of ventilation efficiency detection and intelligent suggestions and reminders, making the entire detection method more comprehensive and intelligent.

[0128] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A method for automatic detection of indoor air quality, characterized in that: The method utilizes an automatic door and window module combined with a mobile robot, intelligent navigation technology and Internet of Things technology to detect air quality. The automatic door and window module comprises a bearing seat, a rotating shaft tightly rotatably and lockably installed in the bearing seat, a force-bearing support seat fixedly connected to one end of the rotating shaft at the middle part in the length direction, an arc-shaped actuator that is movable and passes through one side of the force-bearing support seat, a driving component fixedly installed on the force-bearing support seat and used to drive the arc-shaped actuator to move along its own arc-shaped moving track; a track groove is provided on the arc-shaped actuator, and a positioning slider is installed in the groove; the positioning slider is fastened to the driving component; an avoidance opening for the arc-shaped actuator to pass through is provided in the rotating shaft, the force-bearing support seat can be flipped 180 degrees, and a flipping mechanism is installed on the rotating shaft to realize the flipping; It also includes a connecting piece installed on the arc-shaped actuator, which can be temporarily connected to the door and window handle or glass; the door and window are opened or closed by the driving assembly; A connector installed on the arc-shaped actuator, which can be temporarily connected to the door and window handle or glass; the door and window are opened or closed using the drive assembly; The detection method includes the following steps: Step 1: Startup and self-test; Step 2: Room layout scanning and intelligent path planning; Step 3: Automatic doors and windows operation; Step 4: Air quality testing; Step 5: Ventilation efficiency test; Step 6: Data collection and analysis; Step 7: Report generation and push; Step 8: Smart suggestions and reminders.

2. The automatic indoor air quality detection method according to claim 1, characterized in that: In step 2, the room is scanned 360° using the environment camera and depth sensor, and a 3D model of the room is created.

3. The automatic detection method for indoor air quality according to claim 1 or 2, characterized in that: Air quality testing covers parameters of PM2.5, PM10, VOCs, formaldehyde, CO2, nitrogen oxides and ozone.

4. An automatic indoor air quality detection system, characterized in that: The automatic indoor air quality detection system utilizes the automatic indoor air quality detection method described in any one of claims 1 to 3 to achieve comprehensive monitoring and intelligent control of indoor air quality.

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