Air purifier and control method thereof

Abstract

The invention relates to the technical field of household appliances, and discloses an air purifier and a control method thereof. The air purifier comprises an air purifying body with an air purifying function; the robot base at least has a ground cleaning function; the robot base comprises driving wheels and is suitable for carrying the air purification body to move or independently move; the connecting mechanism is arranged on the air purification body and / or the robot base; the form of the connecting mechanism can be changed, and the air purification body and the robot base can be combined or separated. The air purification body can be reliably fixed to the robot base through the connecting mechanism, the air purification body can move along with the robot base, and therefore movable air purification of the air purification body is achieved, air purification can be conveniently conducted on multiple indoor areas, and the air purification area is increased; and the robot base at least has the ground cleaning function, the function of an air purifier is added, and the multifunctional requirement of a user is met.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliances, and particularly relates to an air purifier and a control method thereof. Background Art

[0002] As an important device for improving indoor air quality, the air purifier has become an essential household appliance in people's lives and has received extensive attention. People have found that the air purifier is not convenient to move and generally can only be placed at a fixed position indoors. Therefore, it can only purify the air in a local area of the room and cannot purify the air in multiple areas, which affects the user experience. Moreover, the functions of the air purifier are relatively single and cannot meet the multi-functional needs of users. Summary of the Invention

[0003] In view of this, the present invention provides an air purifier and a control method thereof to solve the problems that the air purifier can only purify the air in a local area of the room and has relatively single functions.

[0004] In a first aspect, the present invention provides an air purifier, comprising: An air purification body having an air purification function; A robot base having at least a floor cleaning function; the robot base includes drive wheels and is adapted to carry the air purification body to move or move alone; A connection mechanism whose form can be changed, having a locked combined state for reliably connecting the air purification body and the robot base, and an unlocked separation state for enabling the robot base to separate from the air purification body; the connection mechanism includes: A robotic arm whose top end is fixed to the air purification body and whose bottom end can be detachably clamped to the robot base; the robotic arm includes: A fixed arm located at the top end of the robotic arm and connected to the air purification body; An execution arm located at the bottom end of the robotic arm, and a support portion adapted to support on a working surface is provided at an end of the execution arm away from the fixed arm; and when the robotic arm supports on the working surface, the robotic arm can form an extended state to lift the air purification body to a height away from the robot base.

[0005] Beneficial effect: The connection mechanism can reliably fix the air purification body to the robot base, and the air purification body can move with the robot base, thereby realizing the mobile air purification of the air purification body, facilitating air purification of multiple indoor areas, increasing the air purification area and purification range; and the robot base has at least a floor cleaning function, increasing the function of the air purifier, and meeting the multi-functional needs of users. The top of the mechanical arm is fixed to the air purification body, and the bottom of the mechanical arm can be detachably clamped to the robot base. By adjusting the shape of the mechanical arm, the connection or separation of the mechanical arm and the robot base can be realized, and the combination or separation of the robot base and the air purification body can be conveniently realized. The mechanical arm includes multiple sections, the first section connected to the air purification body is a fixed arm, and the last section is an execution arm. A support part is set on the execution arm. The mechanical arm can be supported on the working surface by the support part, and the mechanical arm is changed to form an extended state, so as to lift the air purification body, facilitate the air purification body to be separated from the robot base, and facilitate the robot base to move alone for floor cleaning. Compared with the combined state, the floor cleaning efficiency is higher and more energy-saving.

[0006] In the combined state, the robot base serves as the support and mobile base of the air purifier body, supporting the air purifier body. The air purifier body does not need to be equipped with a separate drive wheel, and the robot base can directly carry the air purifier body when moving. In the separated state, the robotic arm serves as the support arm of the air purifier body, supporting the air purifier body at a certain height away from the ground, so that the robot base can directly drive under the air purifier body when returning, and the deformation of the robotic arm can be controlled to achieve combination, simplifying the control steps and improving reliability; and the air purification effect is better after the air purifier body is lifted to a certain height; in addition, after being supported by the robotic arm, the separation of the air purifier body from the robot base is more stable, avoiding damage to the components in the air purifier body due to collision.

[0007] In an optional embodiment, a first connecting structure is provided at the bottom end of the robot arm, and a second connecting structure is provided on the side wall of the robot base, and the first connecting structure is suitable for being snapped or magnetically attracted to the second connecting structure.

[0008] Beneficial effects: The robotic arm is matched and connected with the second connecting structure of the side wall of the robot base through the first connecting structure at its bottom end, which is convenient for hugging the robot base from all sides and is not easy to interfere with the air purification body or the robot base, and will not affect the movement of the robot base. Moreover, the connection method is simple and the operation is convenient, which facilitates reliable hugging or loosening.

[0009] In an optional embodiment, the first connection structure includes a card block, and the second connection structure includes a card slot, and the robot arm can be connected to the card slot of the robot base through the card block; Alternatively, the first connection structure includes a first magnet, and the second connection structure includes a second magnet. The first magnet can be magnetically connected to the second magnet to enable the robotic arm to hold the robot base tightly.

[0010] Advantageous effects: The robotic arm on the air purification body is connected to the robot base in a clamping manner, with a reliable connection and not prone to loosening. If the robotic arm and the robot base are connected by magnetic attraction, the connection or separation is more rapid and convenient.

[0011] In an alternative embodiment, the robotic arm further includes: Connecting arms, at least one of the connecting arms is disposed between the fixed arm and the execution arm, and each connecting arm is respectively hinged to the adjacent connecting arm, the adjacent fixed arm, and the adjacent execution arm.

[0012] Advantageous effects: At least one connecting arm is disposed between the fixed arm and the execution arm, and each two adjacent segments of the robotic arm are connected by hinges, which facilitates the bending of the robotic arm to achieve separation or connection with the robot base, facilitates adjustment of the bending angle of the robotic arm, facilitates adjustment of the connection force between the robotic arm and the robot base, and the flexibility of the robotic arm form adjustment is higher.

[0013] In an alternative embodiment, the air purifier further includes a filter cleaning device, and the filter cleaning device includes: A first docking pipe, which is installed on the robot base in a liftable manner; the air purification body includes a filter screen and a second docking pipe disposed in the inner cavity of the air purification body and close to the filter screen; the first docking pipe can be lifted to the second docking pipe to be docked and communicated with it.

[0014] Advantageous effects: The first docking pipe installed on the robot base in a liftable manner can rise to the bottom end of the second docking pipe in the inner cavity of the air purification body. When the first docking pipe continues to rise, the docking and communication with the second docking pipe are completed, which is convenient to provide a suction negative pressure to the second docking pipe through the first docking pipe.

[0015] In an alternative embodiment, the filter cleaning device further includes: A brush hair assembly, which is installed at the filter screen and is suitable for performing contact physical cleaning on the filter screen; A dust suction head, which is connected and installed on the second docking pipe and is suitable for sucking the dust on the filter screen.

[0016] Beneficial effect: The filter cleaning device wipes and cleans the filter through the bristle assembly, and the dust collector head is used to suck the dust on the filter. The cleaning effect of the bristles working together with the dust collector head is better than the combined effect of the bristles cleaning alone and the dust collector head cleaning alone. The reason is that if the bristles are used alone, more dust will be generated during the cleaning process. After the bristles stop cleaning, most of the dust will be re-coated on the filter under the adsorption effect of gravity and the friction static electricity generated during the cleaning process of the bristles. If the dust is only sucked by the dust collector head, the adhesion force between some dust and the filter is greater than the suction force, especially if the dust is not cleaned for a long time, it is not easy to suck out of the filter. If the bristles and the dust collector head work together, the wiping force of the bristles is enough to make the dust on the filter leave the filter, and then be sucked away by the dust collector head in time, so that the cleaning efficiency and cleaning effect can be effectively improved, and no dust will be generated, and the user experience is better.

[0017] In an optional embodiment, the robot base includes: Cleaning structures; The dust collecting assembly is connected to the first butt joint and is suitable for being connected to the second butt joint through the first butt joint.

[0018] Beneficial effects: The cleaning structure is used to collect and clean dirt on the ground, and the dust collection component can be used as a dust collection component for floor cleaning and a dust collection component for filter cleaning device at the same time, which reduces the number of dust collection components and does not increase the volume of the air purification device; one machine has multiple uses and effectively utilizes the dust collection component.

[0019] In a second aspect, the present invention further provides a control method for an air purifier, which is applicable to any of the air purifiers described above; the control method comprises: The control connection mechanism is connected to the robot base, so that the air purification body and the robot base are combined; Control the robot base to move, turn on the air purifier body, and perform mobile purification; Control the connection mechanism to separate from the robot base, and control the connection mechanism to support and lift the purification body, so that the robot base is separated from the purification body; Control the robot base to move and clean the floor.

[0020] Beneficial effects: The air purifier body and the robot base can be combined and separated by controlling the connection mechanism, thereby realizing mobile air purification. The air purifier can be used to purify the air in multiple areas of the room without manual transportation. At the same time, the robot base is suitable for cleaning the floor, realizing the multifunctionality of the air purifier, which is convenient for meeting the multifunctional needs of users.

[0021] In a third aspect, the present invention further provides a control method for an air purifier, which is applicable to the air purifier described in any one of the above; the air purifier further includes an air quality sensor, an obstacle sensor, and a floor cleanliness sensor; the air purifier has a mobile purification mode and a stationary purification mode; the control method includes: Obtain air quality measurement data and / or obstacle sensor information and / or floor cleanliness status; If the air quality exceeds the standard, turn on the air purification body to perform stationary purification or control the movement of the robot base for mobile purification; If the floor cleanliness sensor feedback indicates that floor cleaning is required, turn on the floor cleaning function of the robot base while purifying the air; or, adjust the form of the connection mechanism to separate the air purification body from the robot base, and control the movement of the robot base to clean the floor; In the mobile purification mode, if the obstacle sensor feedback indicates encountering an obstacle, re-plan the movement path.

[0022] Beneficial effects: The switch of the air purification body is controlled according to the air quality, and the stationary purification mode or the mobile purification mode can be selected according to the air quality situation; and when the floor needs to be cleaned, the floor can be cleaned in time. When air purification and floor cleaning need to be carried out simultaneously, the floor cleaning function of the robot base is directly turned on in the mobile purification mode. When only floor cleaning is required, the air purification body is separated from the robot base, and the robot base moves alone to clean the floor. Since there is no need to carry the air purification body, the floor cleaning efficiency is higher and the energy consumption is also saved.

[0023] In a fourth aspect, the present invention further provides a control method for an air purifier, which is applicable to the air purifier described in any one of the above; the control method includes: Obtain the continuous working duration of the air purification body and compare it with a preset duration; if the continuous working duration is greater than or equal to the preset duration: When the air purification body and the robot base are in a combined state, control the first docking pipe of the filter cleaning device to rise to the second docking pipe to complete docking, and start the dust suction component and / or the brush component of the robot base; When the air purification body and the robot base are in a separated state, first control the robot base to return below the air purification body, adjust the form of the connection mechanism to combine the air purification body with the robot base, and then control the first docking pipe of the filter cleaning device to rise to the second docking pipe to complete docking, and start the dust suction component and / or the brush component of the robot base.

[0024] Beneficial effects: The continuous working duration of the air purification body is greater than or equal to a preset duration, indicating that the filter screen of the air purification body needs to be cleaned. When the air purification body and the robot base are in the combined state, the first docking pipe of the filter screen cleaning device is controlled to rise to the second docking pipe to complete docking, and the dust suction component and / or the brush component of the robot base are started to immediately clean the filter screen; when the air purification body and the robot base are in the separated state, it is necessary to first control the robot base to return below the air purification body, adjust the form of the connection mechanism to combine the air purification body and the robot base, and then clean the filter screen, so as to ensure the stable and reliable operation of the air purifier. Brief Description of the Drawings

[0025] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the related art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a perspective view of an air purifier according to an embodiment of the present invention, showing the combined state of the air purification body and the robot base; Figure 2 It is a front view of an air purifier according to an embodiment of the present invention, showing the separated state of the air purification body and the robot base; Figure 3 is Figure 2 the structural diagram of the air purification body in Figure 4 It is a schematic diagram of the connection structure between a connection mechanism and an air purification body according to an embodiment of the present invention; Figure 5 is Figure 4 the front view sectional structural diagram of Figure 6 It is a perspective structural diagram of a robot base according to an embodiment of the present invention; Figure 7 It is a schematic flow chart of a control method for an air purifier according to an embodiment of the present invention.

[0027] Explanation of the reference numerals: 1. Air purification body; 11. Filter screen; 2. Robot base; 21. Driving wheel; 22. Docking port; 23. Dust collection box; 24. Radar; 3. Connection mechanism; 31. Execution arm; 32. Fixed arm; 33. Connecting arm; 34. Motor. Detailed implementation mode

[0028] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] In the description of the present invention, it should be noted that unless otherwise specified, the meaning of "a plurality of" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0030] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] The following combines Figures 1 to 7 , and describes the embodiments of the present invention.

[0032] According to the embodiments of the present invention, on the one hand, as Figures 1 - 6 , an air purifier is provided, including: An air purification body 1, having an air purification function; A robot base 2, having at least a floor cleaning function; the robot base 2 includes drive wheels 21, which are adapted to carry the air purification body 1 to move or move alone; A connecting mechanism 3, arranged on the air purification body 1 and / or the robot base 2; the form of the connecting mechanism 3 can be changed, so that the connecting mechanism 3 has a locked combined state in which the air purification body 1 is reliably connected to the robot base 2, and an unlocked separation state in which the robot base 2 can be separated from the air purification body 1.

[0033] The connecting mechanism 3 can reliably fix the air purification body 1 to the robot base 2, enabling the air purification body 1 to move with the robot base 2, thus realizing the mobile air purification of the air purification body 1, facilitating the air purification of multiple areas in the room, increasing the air purification area; moreover, the robot base 2 at least has a floor cleaning function, increasing the functions of the air purifier and meeting the multi-functional needs of users.

[0034] In this embodiment, the connecting mechanism 3 is arranged on the air purification body 1, and the connecting mechanism 3 can realize the fastening connection or separation from the robot base 2 through morphological transformation. In some other embodiments, the connecting mechanism 3 can also be arranged on the robot base 2 and can be fastened to or separated from the air purification body 1 by means of clamping; of course, the connecting mechanism 3 can also include two parts and be respectively arranged on the air purification body 1 and the robot base 2, and the connection between the air purification body 1 and the robot base 2 is realized through the connection between the two parts, or a part on the air purification body 1 is fastened to the robot base 2, and another part on the robot base 2 is fastened to the air purification body 1.

[0035] It should be noted that in the combined state, the air purification body 1 can be placed on the upper surface of the robot base 2, and the robot base 2 serves as a support; or the air purification body 1 can also be supported above or on the periphery of the robot base 2 by relying on the connecting mechanism 3.

[0036] In this embodiment, the air purification body 1 adopts a compact design and internally includes an efficient filtration system, a fan, etc. The filter net 11 is arranged on the periphery of the air purification body 1, and the filter net 11 adopts a detachable design for easy maintenance. An air outlet is arranged at the top of the air purification body 1, and the bottom is connected to the robot base 2 by magnetic attraction or a buckle to ensure firm connection and easy separation.

[0037] Specifically, the connecting mechanism 3 includes: A robotic arm, the top of which is fixed to the air purification body 1, and the bottom of which can be detachably clamped to the robot base 2.

[0038] The top of the robotic arm is fixed to the air purification body 1, and the bottom of the robotic arm is detachably connected to the robot base 2. By adjusting the shape of the robotic arm, the connection or separation between the robotic arm and the robot base 2 can be realized, facilitating the combination or separation of the robot base 2 and the air purification body 1.

[0039] In some embodiments, as Figure 4 and Figure 5 shown, the robotic arm includes: A fixed arm 32, located at the top of the robotic arm, is connected to the air purification body 1; The execution arm 31 is located at the bottom end of the robot arm, and a support portion suitable for supporting on a work surface is provided at the end of the execution arm 31 away from the fixed arm 32; and when the robot arm is supported on the work surface, the robot arm can form an extended state to lift the air purification body 1 to a height away from the robot base 2.

[0040] The robot arm includes multiple sections. The first section connected to the air purification body 1 is a fixed arm 32, and the last section is an execution arm 31. A support portion is provided on the execution arm 31. The robot arm can be supported on the working surface by the support portion. The shape of the robot arm changes to form an extended state, so as to lift the air purification body 1 and separate the air purification body 1 from the robot base 2, so that the robot base 2 can move alone to clean the floor. Compared with the combined state, the floor cleaning efficiency is higher and more energy-saving. In the combined state, the robot base 2 serves as a support and mobile base for the air purification body 1, supporting the air purification body 1. The air purification body 1 does not need to be provided with a separate driving wheel. When the robot base 2 moves, it can directly carry the air purification body 1 to move, simplifying the structure. In the separated state, the robotic arm serves as the supporting arm of the air purifier body 1, supporting the air purifier body 1 at a certain height away from the ground, so that the robot base 2 can directly drive to the bottom of the air purifier body 1 when returning. At this time, the deformation of the robotic arm can be controlled to achieve integration, which simplifies the control steps and has higher reliability. Moreover, after the air purifier body 1 is lifted to a certain height, the air purification effect will be better during static purification. In addition, after being supported by the robotic arm, the air purifier body 1 and the robot base 2 are separated more smoothly, avoiding damage to the devices in the air purifier body 1 due to collision.

[0041] In some other embodiments, one end of the robot arm can also be fixed on the robot base 2, and then the air purifier body 1 can be tightly embraced by the bending arm of the robot arm, so that the robot base 2 can carry the air purifier body 1 to move.

[0042] In some embodiments, a first connection structure is disposed at the bottom end of the robot arm, and a second connection structure is disposed on the side wall of the robot base 2 . The first connection structure is suitable for being snapped or magnetically attracted to the second connection structure.

[0043] The robotic arm is matched and connected with the second connecting structure of the side wall of the robot base 2 through the first connecting structure at its bottom end, which is convenient for hugging the robot base 2 from all sides and is not easy to interfere with the air purification body 1 or the robot base 2, and will not affect the movement of the robot base 2. Moreover, the connection method is simple and the operation is convenient, which facilitates reliable hugging or loosening.

[0044] Specifically, in some embodiments, the first connection structure includes a card block, and the second connection structure includes a card slot. The robot arm can be connected to the card slot of the robot base 2 through the card block to achieve a reliable connection.

[0045] The robotic arm on the air purification body 1 is connected to the robot base 2 in a clamping manner, with a reliable connection and not easily loosening.

[0046] In some embodiments, the first connection structure includes a first magnet, the second connection structure includes a second magnet, and the first magnet can be magnetically connected to the second magnet to cause the robotic arm to hold the robot base 2 tightly. If the robotic arm and the robot base 2 are connected in a magnetic attraction manner, the connection or separation is more rapid and convenient.

[0047] Specifically, the support portion includes a chuck. In the combined state, the chuck is used to clamp the robot base 2, and in the separated state, the chuck supports on the working surface (the ground), improving the support stability.

[0048] In some embodiments, the robotic arm further includes: A connecting arm 33. At least one connecting arm 33 is disposed between the fixed arm 32 and the execution arm 31, and each connecting arm 33 is respectively hinged to an adjacent connecting arm 33, an adjacent fixed arm 32, and an adjacent execution arm 31. A motor 34 is disposed at the node to drive the connecting arm 33 or the execution arm 31 to rotate, realizing the adjustment and transformation of the shape of the robotic arm.

[0049] At least one connecting arm 33 is disposed between the fixed arm 32 and the execution arm 31, and each two adjacent segments of the robotic arm are connected in a hinged manner, which is convenient for the robotic arm to adjust its shape and bending angle to achieve separation or connection with the robot base 2. Moreover, adjusting the bending angle of the robotic arm can also adjust the connection force between the robotic arm and the robot base 2. The hinged manner between each segment makes the shape adjustment of the robotic arm more flexible.

[0050] As Figure 1 shown, the shape of the robotic arm when the air purification body 1 and the robot base 2 are combined is given. The robotic arm adjusts the angle of the robotic arm by rotating each joint, and finally becomes vertical, lifting the air purification body 1 to a certain height, so that the air purification body 1 is completely separated from the robot base 2, forming Figure 2 the separated state shown. Thus, the robot base 2 can move to other positions by itself to perform floor cleaning work. After the work is completed, the robot base 2 returns below the air purification body 1, the robotic arm starts to adjust its own angle, the air purification body 1 descends until it is completely placed on the robot base 2, and the robotic arm further contracts and deforms, finally holding the robot base 2 tightly, and the two are clamped together.

[0051] In some embodiments, the air purifier further includes a filter cleaning device (not shown in the figure), and the filter cleaning device includes: The first butt joint pipe is liftably installed on the robot base 2; the air purification body 1 includes a filter 11 and a second butt joint pipe arranged in the inner cavity of the air purification body 1 and close to the filter 11; the first butt joint pipe can be lifted to the second butt joint pipe to connect with it.

[0052] The first butt joint tube installed in a liftable manner on the robot base 2 can rise to the bottom end of the second butt joint tube in the inner cavity of the air purification body 1. The first butt joint tube continues to rise to complete the docking connection with the second butt joint tube, so as to provide suction negative pressure to the second butt joint tube through the first butt joint tube.

[0053] It should be noted that the first butt joint tube adopts a telescopic tube, the bottom end of the first butt joint tube is installed and docked on the docking port 22 of the robot base 2, and the lifting mechanism is connected to the first butt joint tube in a transmission manner to drive the first butt joint tube to be telescopic and lifted. The lifting mechanism can adopt a telescopic rod, a gear lifting mechanism, a screw lifting mechanism or other lifting mechanisms in the related technology. In addition, the first butt joint tube and the lifting mechanism can also be arranged in the inner cavity of the robot base 2, and a through hole is provided on the robot base 2, and the first butt joint tube can pass through the through hole to be connected with the second butt joint tube.

[0054] In some embodiments, the filter cleaning device further comprises: The bristle assembly is installed at the filter screen 11 and is suitable for contact-type physical cleaning of the filter screen 11; The dust collector head is connected and installed on the second butt joint and is suitable for sucking the dust on the filter screen 11 .

[0055] The filter cleaning device wipes and cleans the filter 11 through a bristle assembly, and the dust collector head is used to suck the dust on the filter 11. The cleaning effect of the bristles of the bristle assembly working in coordination with the dust collector head is better than the combined effect of the bristles cleaning alone and the dust collector head cleaning alone; the reason is that if only the bristles are used, more dust will be generated during the cleaning process. After the bristles stop cleaning, most of the dust will be re-adhered to the filter 11 under the adsorption effect of gravity and friction static electricity generated during the cleaning process of the bristles. If only the dust collector head is used to suck dust, the adhesion force between some dust and the filter 11 is greater than the suction force, especially when the dust is not cleaned for a long time, it is not easy to suck out of the filter 11. If the bristles and the dust collector head work in coordination, the wiping force of the bristles is sufficient to make the dust on the filter 11 separate from the filter 11, and then be sucked away by the dust collector head in time, so that the cleaning efficiency and cleaning effect can be effectively improved, and no dust will be generated, and the user experience is good.

[0056] Among them, in some embodiments, the bristle assembly includes bristles. The bristles and the suction head can be integrally designed. The bristles can be arranged on the suction head. Multiple bristles can be provided, and the multiple bristles and the multiple suction holes can be alternately distributed at intervals on the suction head. The suction head is installed on the second docking pipe. While simplifying the structure, the way that both the bristles and the suction holes are arranged on the suction head can improve the cleaning effect, and the same driving mechanism can be used for driving.

[0057] In some other embodiments, the bristle assembly includes bristles and a driving member. The driving member drives the bristles to reciprocate in a set direction to clean the filter net 11.

[0058] In some embodiments, the robot base 2 includes: A cleaning structure; A dust suction assembly, connected to the first docking pipe and adapted to communicate with the second docking through the first docking pipe.

[0059] The cleaning structure is used to collect and clean the dirt on the ground. The dust suction assembly can be used as both the dust suction component for floor cleaning and the dust suction component of the filter net cleaning device, reducing the number of dust suction components and not increasing the volume of the air purification device; it has multiple functions in one machine and effectively utilizes the dust suction assembly.

[0060] In this embodiment, the robot base 2 includes: A driving module, composed of a driving motor and driving wheels 21, capable of enabling the robot to move freely indoors; A lifting mechanism. When the robot base 2 is stationary, the lifting mechanism can lift the robot base 2 to enable the filter net cleaning device to enter the inner cavity of the air purification body 1 to clean the filter net 11; A filter net cleaning device, including bristles and a vacuum cleaner, capable of effectively cleaning the dust and impurities on the surface of the filter net 11; A floor cleaning module, including a vacuum cleaner and a mop, capable of performing dust suction and mopping operations on the floor; A sensor assembly, including an air quality sensor, an obstacle sensor, a ground sensor, etc., for real-time sensing of environmental information and feedback to the control module.

[0061] As Figure 6 shown, the robot base 2 includes a main body, a dust collection box 23 installed on the main body, and a docking port 22 on the top surface of the main body. A radar 24 is also provided on the upper part of the side wall of the main body.

[0062] According to an embodiment of the present invention, on the other hand, as Figure 7 shown, there is also provided a control method for an air purifier, applicable to the above-mentioned air purifier; the control method includes: Controlling the connection mechanism 3 to be connected to the robot base 2 to combine the air purification body 1 and the robot base 2; Control the movement of the robot base 2, turn on the air purification body 1, and perform mobile purification; Control the connection mechanism 3 to disengage from the robot base 2, and control the connection mechanism 3 to support and lift the purification body, so that the robot base 2 is disengaged from the purification body; Control the movement of the robot base 2 to perform floor cleaning.

[0063] By controlling the connection mechanism 3, the combination and separation of the air purification body 1 and the robot base 2 are realized, and mobile air purification is achieved. Without manual handling of the air purifier, air purification can be carried out in multiple indoor areas; at the same time, the robot base 2 is suitable for cleaning the floor, realizing the multi-function of the air purifier and facilitating the satisfaction of the multi-functional needs of users.

[0064] It should be noted that when the air purification body 1 is separated from the robot base 2 and then returns, the position of the robot base 2 can be determined by a vision sensor and / or an infrared sensor. After judging that the combination condition (reaching directly below) is met, the manipulator can be controlled to deform, the air purification body 1 slowly descends, the robot base re-supports the weight of the air purification body 1, and then the robot base 2 is tightened by the manipulator to realize the reliable connection and fixation of the two.

[0065] According to an embodiment of the present invention, on the other hand, a control method for an air purifier is also provided, which is applicable to the air purifier of any one of the above; the air purifier further includes an air quality sensor, an obstacle sensor, and a floor cleanliness sensor; the air purifier has a mobile purification mode and a stationary purification mode; the control method includes: Obtain air quality measurement data, obstacle sensor information, and floor cleanliness status; If the air quality exceeds the standard, turn on the air purification body 1 to perform stationary purification or control the movement of the robot base 2 to perform mobile purification; If the floor cleanliness sensor feedback requires floor cleaning, turn on the floor cleaning function of the robot base 2 while purifying the air; or, adjust the shape of the connection mechanism 3 to separate the air purification body 1 from the robot base 2, and control the movement of the robot base 2 to clean the floor; In the mobile purification mode, if the obstacle sensor feedback encounters an obstacle, re-plan the movement path.

[0066] The switch of the air purification body 1 is controlled according to the air quality, and the static purification mode or the mobile purification mode can be selected according to the air quality situation; moreover, when the ground needs to be cleaned, the ground can be cleaned in time. When air purification and ground cleaning need to be carried out simultaneously, the ground cleaning function of the robot base 2 is directly turned on in the mobile purification mode. When only the ground needs to be cleaned, the air purification body 1 is controlled to be separated from the robot base 2, and the robot base 2 moves independently to clean the ground. Since there is no need to carry the air purification body 1, the ground cleaning efficiency is higher and the energy consumption is also saved.

[0067] In some embodiments, the air quality measurement data or the obstacle sensor information or the ground cleanliness status can also be obtained only as needed; then, the form of the connecting mechanism 3 is adjusted as needed to realize the combination or separation of the air purification body 1 and the robot base 2, and perform mobile purification, static purification of air or ground cleaning.

[0068] It should be noted that the air quality sensor mainly detects particulate matter, gases and comprehensive parameters in the air. Among them, the particulate matter sensor can be an optical sensor, which detects the concentration of particulate matter such as PM2.5 and PM10 through the principle of light scattering, and has the characteristics of high precision and fast response. The particulate matter sensor can also be an infrared sensor and a laser sensor. The laser sensor uses laser scattering technology to monitor PM2.5 and PM10 in real time.

[0069] The gas sensor can be an optical gas sensor, which is based on the principle of spectral absorption and can detect the concentration of gases such as oxygen, carbon dioxide, and formaldehyde.

[0070] The selection of the sensor needs to be combined with the actual needs, and the home environment focuses on the detection of PM2.5 and formaldehyde.

[0071] The obstacle sensor can include an infrared sensor, which detects ground obstacles or material differences by emitting and receiving infrared rays. For example, it can identify the transition area between a carpet and a hard floor, and adjust the cleaning mode accordingly. It can also include a vision sensor, which is equipped with a camera and an image processing algorithm, and can identify ground stains, residues or garbage distribution, and judge the cleaning needs through real-time picture analysis. For the identification of ground materials, the ground materials (such as tiles, wooden floors, carpets) can be identified through capacitance, resistance or optical principles, and the suction force or the brush head rotation speed can be automatically adjusted to optimize the cleaning effect. The obstacle sensor can also include an ultrasonic sensor, which uses ultrasonic reflection to judge the distance between the ground and the obstacle, assists in constructing a cleaning path and avoids repeated cleaning of the cleaned area. The obstacle sensor can also include a physical contact sensor, which is set at the edge of the robot base 2 and triggers a signal through collision to forcibly adjust the traveling direction to prevent jamming. In addition, it can also include an anti-fall sensor, which detects the ground height difference (such as the edge of a staircase) and prevents the robot from falling through infrared or ultrasonic waves.

[0072] The floor cleaning sensor includes a gyroscope and an accelerometer. By monitoring the movement trajectory and posture of the robot, it ensures that there is no omission in the cleaning coverage and indirectly reflects the floor cleaning status. It may also include an acoustic wave sensor, which detects the dust concentration on the floor through acoustic waves and dynamically adjusts the cleaning intensity.

[0073] The robot base 2 can also adopt a multi-sensor fusion scheme. For example, it combines lidar to construct a map, an infrared sensor for obstacle avoidance, and a vision sensor for stain recognition to achieve a more accurate judgment of the cleaning status.

[0074] According to an embodiment of the present invention, on the other hand, a control method for an air purifier is also provided, which is applicable to the air purifier in any of the above items. The control method includes: Obtain the continuous working duration of the air purification body 1 and compare it with a preset duration. If the continuous working duration is greater than or equal to the preset duration: When the air purification body 1 and the robot base 2 are in the combined state, control the first docking pipe of the filter cleaning device to rise to the second docking pipe to complete the docking, and start the dust suction component and / or the brush component of the robot base 2. When the air purification body 1 and the robot base 2 are in the separated state, first control the robot base 2 to return below the air purification body 1, adjust the form of the connection mechanism 3 to make the air purification body 1 and the robot base 2 combined, and then control the first docking pipe of the filter cleaning device to rise to the second docking pipe to complete the docking, and start the dust suction component and / or the brush component of the robot base 2.

[0075] That the continuous working duration of the air purification body 1 is greater than or equal to the preset duration indicates that the filter net 11 of the air purification body 1 needs to be cleaned. When the air purification body 1 and the robot base 2 are in the combined state, control the first docking pipe of the filter cleaning device to rise to the second docking pipe to complete the docking, and start the dust suction component and / or the brush component of the robot base 2 to immediately clean the filter net 11. When the air purification body 1 and the robot base 2 are in the separated state, it is necessary to first control the robot base 2 to return below the air purification body 1, adjust the form of the connection mechanism 3 to make the air purification body 1 and the robot base 2 combined, and then clean the filter net 11, so as to ensure the stable and reliable operation of the air purifier.

[0076] A control method for an air purifier according to an embodiment of the present invention includes the following process.

[0077] Sensor data collection: An air quality sensor monitors the indoor air quality in real time, an obstacle sensor detects obstacles in the moving path, and a floor cleanliness sensor detects the floor condition; when a region with poor air quality is detected, it will stop in that region for a longer time to continuously purify the air; when encountering an obstacle during movement, it will bypass and then return to the planned path to continue moving forward; it will pass by the clean floor areas and clean the dirty areas back and forth multiple times. The above can rely on the vision system to incorporate the home floor conditions into the training plan.

[0078] Path planning: According to the sensor data, the control module plans the moving path of the robot to ensure that it can cover the largest area and avoid obstacles. After the device has been used for a period of time, it can complete the memory of all indoor paths and the optimal path planning. Subsequently, the robot base 2 can work according to its own memorized path.

[0079] Filter cleaning trigger: When the robot base 2 is stationary (when purifying air, the polluted air outside the filter is pumped into the filter to achieve filtration, and the self-cleaning of the filter is to suck away the pollutants on the filter surface and the air flows outwards, which are exactly the opposite. If the filter cleaning is started while the air purifier is working, it will cause mutual interference and it is difficult to achieve the expected cleaning effect), the control module activates the lifting mechanism to lift the first docking pipe of the filter cleaning device into the inner cavity of the air purification body 1 to clean the filter net 11. The user can set the cleaning cycle of the filter net 11 according to seasonal and environmental factors.

[0080] Floor cleaning mode switching: When the robot base 2 is separated from the air purification body 1, the control module switches to the floor cleaning mode, and the drive module and the floor cleaning module work together to perform vacuuming and mopping operations on the floor. During the process, the robot base 2 activates the navigation mode and goes to other positions by itself.

[0081] Linkage with smart home: Through the Wi-Fi or Bluetooth module, the air purifier can be linked with other smart home devices (such as air conditioners, smart door locks, etc.) to further improve the user experience.

[0082] Through the above design, the intelligent mobile air purifier of the present invention can not only achieve efficient and intelligent air purification, but also realize floor cleaning through the detachable base, meeting the user's needs for multifunctional smart home devices. At the same time, the addition of the automatic filter cleaning function significantly reduces the user's maintenance cost and improves the comprehensive competitiveness of the product.

[0083] Through the design of the robot base 2 and the intelligent control method of the present invention, the problems of single function, low purification efficiency, and difficult filter cleaning of existing air purifiers are successfully solved, and it has broad market prospects and practical application value.

[0084] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by this application.

Claims

1. An air purifier, characterized in that: include: The air purification body (1) has an air purification function; The robot base (2) has at least a floor cleaning function; the robot base (2) comprises a driving wheel (21) suitable for carrying the air purification body (1) to move or moving alone; The connection mechanism (3) is changeable in form and has a locked state in which the air purification body (1) is reliably connected to the robot base (2), and an unlocked state in which the robot base (2) can be separated from the air purification body (1); the connection mechanism (3) comprises: A mechanical arm, the top end of which is fixed to the air purification body (1), and the bottom end of which is detachably clamped to the robot base (2); the mechanical arm comprises: A fixed arm (32), located at the top of the mechanical arm and connected to the air purification body (1); An execution arm (31) is located at the bottom end of the mechanical arm, and an end of the execution arm (31) away from the fixed arm (32) is provided with a support portion suitable for supporting on a working surface; and when the mechanical arm is supported on the working surface, the mechanical arm can be in an extended state to lift the air purification body (1) to a height away from the robot base (2).

2. The air purifier according to claim 1, characterized in that: The bottom end of the robot arm is provided with a first connection structure, and the side wall of the robot base (2) is provided with a second connection structure, wherein the first connection structure is suitable for being snap-fitted or magnetically attracted to the second connection structure.

3. The air purifier according to claim 2, characterized in that: The first connection structure comprises a clamping block, and the second connection structure comprises a clamping slot, and the robot arm can be clamped in the clamping slot of the robot base (2) through the clamping block; Alternatively, the first connection structure comprises a first magnet, the second connection structure comprises a second magnet, and the first magnet can be magnetically connected to the second magnet so that the robot arm tightly embraces the robot base (2).

4. The air purifier according to claim 1, characterized in that: The robotic arm also includes: A connecting arm (33), wherein at least one of the connecting arms (33) is arranged between the fixed arm (32) and the actuator arm (31), and each of the connecting arms (33) is respectively hinged to an adjacent connecting arm (33), an adjacent fixed arm (32), and an adjacent actuator arm (31).

5. The air purifier according to any one of claims 1 to 4, characterized in that: Also included is a filter screen cleaning device, the filter screen cleaning device comprising: A first butt joint pipe is liftably mounted on the robot base (2); the air purification body (1) comprises a filter screen (11) and a second butt joint pipe arranged in the inner cavity of the air purification body (1) and close to the filter screen (11); the first butt joint pipe can be lifted to the second butt joint pipe to be butt-jointed and connected thereto.

6. The air purifier according to claim 5, characterized in that: The filter cleaning device also includes: A bristle assembly, mounted on the filter screen (11), suitable for performing contact-type physical cleaning on the filter screen (11); A dust collector head is connected and installed on the second butt joint and is suitable for sucking dust on the filter screen (11).

7. The air purifier according to claim 6, characterized in that: The robot base (2) comprises: Cleaning structures; The dust collecting assembly is connected to the first butt joint and is suitable for being connected to the second butt joint through the first butt joint.

8. A control method for an air purifier, characterized in that: Applicable to the air purifier according to any one of claims 1 to 7; the control method comprises: The control connection mechanism (3) is connected to the robot base (2) so that the air purification body (1) and the robot base (2) are integrated; Controlling the robot base (2) to move, turning on the air purification body (1), and performing mobile purification; Controlling the connection mechanism (3) to separate from the robot base (2), and controlling the connection mechanism (3) to support and lift the purification body, so that the robot base (2) separates from the purification body; Control the robot base (2) to move and clean the floor.

9. A control method for an air purifier, characterized in that: An air purifier applicable to any one of claims 1 to 7; the air purifier further comprising an air quality sensor, an obstacle sensor and a floor cleanliness sensor; the air purifier has a mobile purification mode and a stationary purification mode; the control method comprises: Obtain air quality measurement data and / or obstacle sensor information and / or ground cleanliness status; If the air quality exceeds the standard, the air purification body (1) is turned on to perform static purification or the robot base (2) is controlled to move to perform mobile purification; If the floor cleanliness sensor feedback indicates that the floor needs to be cleaned, the floor cleaning function of the robot base (2) is activated while the air is being purified; or, the shape of the connecting mechanism (3) is adjusted to separate the air purification body (1) from the robot base (2), and the robot base (2) is controlled to move to clean the floor; In mobile purification mode, if the obstacle sensor reports that an obstacle has been encountered, the moving path will be replanned.

10. A control method for an air purifier, characterized in that: Applicable to the air purifier according to any one of claims 5 to 7; the control method comprises: Obtain the continuous working time of the air purification body (1) and compare it with the preset time; if the continuous working time is greater than or equal to the preset time: When the air purification body (1) and the robot base (2) are in a combined state, the first butt joint of the filter cleaning device is controlled to rise to the second butt joint to complete the docking, and the dust collection component and / or the brush component of the robot base (2) are started; When the air purifier body (1) and the robot base (2) are in a separated state, the robot base (2) is first controlled to return to the bottom of the air purifier body (1), the shape of the connecting mechanism (3) is adjusted so that the air purifier body (1) and the robot base (2) are combined, and then the first connecting pipe of the filter cleaning device is controlled to rise to the second connecting pipe to complete the docking, and the dust collection component and / or the brush component of the robot base (2) are started.

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