Air regional purification method, system and equipment and storage medium

Abstract

The invention relates to the technical field of environment monitoring, and provides an air regional purification method, system and equipment and a storage medium. The method comprises the following steps: acquiring a space concentration cloud picture for a to-be-purified space, wherein the space concentration cloud picture comprises position information corresponding to each region in the to-be-purified space and the concentration of a to-be-cleaned substance; according to the space concentration cloud picture, a to-be-purified area is determined, and the to-be-purified area is the area with the highest concentration of the corresponding to-be-removed substance in the to-be-purified space; according to the position information corresponding to the to-be-purified area, movement information of mobile air purification equipment is calculated so as to control the mobile air purification equipment to conduct air purification on the to-be-purified area; the movement information is information which is described to enable an air suction port of the movable air purification equipment to be aligned with the to-be-purified area, and the position of the movable air purification equipment needs to be changed. Air purification can be carried out at a fixed point in an area with the highest concentration of to-be-removed substances.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental monitoring, and particularly to an air sub-region purification method, system, device and storage medium. Background Art

[0002] In areas such as docks, the storage and stacking of materials are mostly in enclosed space structures, such as air-supported membrane warehouses. The application of air-supported membrane warehouses in the port and terminal fields is becoming more and more widespread, especially in ports and terminals with bulk cargo yards such as coal and ore. The air-supported membrane warehouse can achieve full enclosure of the bulk cargo yard, effectively reduce water pollution caused by rain and snow weather in the yard and material loss caused by wind, sun and rain, and ensure the safety and stability of raw materials during storage.

[0003] However, for enclosed material storage spaces such as air-supported membrane warehouses, due to frequent operations such as material transportation, stacking, and retrieval, there is dust generation during operations in the material storage space. Or there are some polluting substances in the air, which all need to be processed in a timely manner. In the prior art, generally, dust reduction treatment or air purification treatment is carried out in the entire space. By this method, a complete set of air treatment equipment needs to be installed, which is expensive but has a low utilization rate, and the air purification treatment is not targeted, resulting in waste of resources and low efficiency. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an air sub-region purification method, system, device and storage medium to solve the above technical problems.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: An air sub-region purification method includes: obtaining a spatial concentration cloud map of a space to be purified, where the spatial concentration cloud map includes position information corresponding to each region in the space to be purified and the concentration of substances to be removed; determining a region to be purified according to the spatial concentration cloud map, where the region to be purified is the region in the space to be purified with the highest concentration of substances to be removed; calculating movement information of a mobile air purification device according to the position information corresponding to the region to be purified to control the mobile air purification device to purify the air in the region to be purified; the movement information is information describing the position transformation that the mobile air purification device needs to perform to align the air inlet of the mobile air purification device with the region to be purified.

[0006] The beneficial effects of the present invention are as follows: By means of the spatial concentration cloud map, the space to be purified is divided into multiple small regions, and each region corresponds to the detected concentration of the substance to be removed. According to the spatial concentration cloud map, the region with the highest concentration of the substance to be removed is determined, and the air purification device is moved to purify the air in the region with the highest concentration of the substance to be removed. By this method, it is possible to perform targeted air purification on the region with the highest concentration of the substance to be removed, with high purification efficiency, and there is no need to install equipment in the space to be purified, which can effectively reduce costs, increase space utilization rate, and is also convenient for later application to other sites for air purification treatment.

[0007] Based on the above technical solutions, the present invention can be further improved as follows.

[0008] Further, calculating the movement information of the mobile air purification device according to the position information corresponding to the area to be purified includes: obtaining the channel position information and the initial position information of the suction port. The channel position information represents the position information of the channel allowing the mobile air purification device to travel, and the initial position information of the suction port represents the position information corresponding to the initial position of the suction port of the mobile air purification device; calculating the parking position information of the mobile air purification device according to the channel position information and the position information corresponding to the area to be purified; calculating the lifting height of the suction port according to the position information corresponding to the area to be purified and the initial position information of the suction port; calculating the rotation angle of the suction port according to the position information corresponding to the area to be purified, the parking position information of the mobile air purification device, and the lifting height of the suction port; and obtaining the movement information of the mobile air purification device according to the parking position information of the mobile air purification device, the lifting height of the suction port, and the rotation angle of the suction port.

[0009] Further, calculating the parking position information of the mobile air purification device according to the channel position information and the position information corresponding to the area to be purified includes: projecting the area to be purified onto the horizontal plane where the channel is located according to the position information corresponding to the area to be purified to obtain the projection area and the position information corresponding to the projection area; and calculating the position information corresponding to the position on the channel closest to the projection area as the parking position information of the mobile air purification device according to the position information corresponding to the projection area and the channel position information.

[0010] Further, calculating the lifting height of the suction port according to the position information corresponding to the area to be purified and the initial position information of the suction port includes: calculating the height difference between the area to be purified and the initial position of the suction port as the lifting height of the suction port according to the position information corresponding to the area to be purified and the initial position information of the suction port.

[0011] Further, calculating the rotation angle of the air suction port according to the position information corresponding to the area to be purified, the parking position information of the mobile air purification device, and the lifting height of the air suction port includes: calculating a first horizontal distance between the area to be purified and the parking position of the mobile air purification device according to the position information corresponding to the area to be purified and the parking position information of the mobile air purification device; calculating the rotation angle of the air suction port according to the first horizontal distance and the lifting height of the air suction port.

[0012] Further, the mobile air purification device includes a purifier and a mobile mechanism. The air suction port is arranged on the purifier, the purifier is installed on the mobile mechanism, the mobile mechanism is used to drive the purifier to move, a lifting mechanism and a rotating mechanism are further installed on the mobile mechanism, the lifting mechanism is used to drive the air suction port to lift, and the rotating mechanism is used to drive the air suction port to rotate.

[0013] Further, obtaining the spatial concentration cloud map of the space to be purified includes: obtaining a three-dimensional model of the space to be purified, the three-dimensional model being used to describe the positions and forms of the boundaries constituting the space to be purified; dividing the space to be purified into multiple regions according to the three-dimensional model, and obtaining the position information corresponding to each region to obtain a new three-dimensional model; controlling a drone equipped with a concentration sensor to detect substances to be removed in each region to obtain the concentrations of substances to be removed corresponding to each region; generating the spatial concentration cloud map according to the new three-dimensional model and the concentrations of substances to be removed corresponding to each region.

[0014] To solve the above technical problems, the present invention also proposes an air sub-region purification system, including: A data acquisition module, configured to acquire a spatial concentration cloud map of the space to be purified, the spatial concentration cloud map including the position information and the concentration of substances to be removed corresponding to each region in the space to be purified; A region identification module, configured to determine the area to be purified according to the spatial concentration cloud map, the area to be purified being the region in the space to be purified with the highest concentration of substances to be removed; A movement control module, configured to calculate movement information of the mobile air purification device according to the position information corresponding to the area to be purified, so as to control the mobile air purification device to purify the air in the area to be purified; the movement information is information describing the position transformation that the mobile air purification device needs to perform to align the air suction port with the area to be purified.

[0015] To solve the above technical problems, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements an air sub-region purification method as described above.

[0016] To solve the above technical problems, the present invention also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute an air sub-region purification method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flowchart of an air sub-region purification method of the present invention; Figure 2 is a schematic structural diagram of a mobile air purification device for an air sub-region purification method of the present invention; Figure 3 is a front view of a lifting mechanism and a rotating mechanism for an air sub-region purification method of the present invention; Figure 4 is a side view of a lifting mechanism and a rotating mechanism for an air sub-region purification method of the present invention; Figure 5 is a schematic diagram of an air sub-region purification system of the present invention.

[0018] In the drawings, the list of components represented by each reference numeral is as follows: 1. Lifting mechanism; 2. Rotating mechanism; 3. Tractor head; 4. Flatbed truck; 5. Wheels; 6. Dust collector; 7. Telescopic air duct; 8. Dust exhaust hood; 9. Support frame; 10. Second motor; 11. Second rope reel; 12. Second steel wire rope; 13. Lifting frame; 14. Pulley; 15. Rotating base; 16. Second sleeve; 17. First sleeve; 18. First rope reel; 19. First steel wire rope; 20. Limit plate. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0020] Embodiment 1 As Figure 1 shown, this embodiment provides an air sub-region purification method, including: S101. Obtain a spatial concentration cloud map for the space to be purified, where the spatial concentration cloud map includes position information corresponding to each region in the space to be purified and the concentration of substances to be removed.

[0021] Optionally, in an embodiment, the obtaining of the spatial concentration cloud map for the space to be purified includes: obtaining a three-dimensional model for the space to be purified, where the three-dimensional model is used to describe the positions and forms of the boundaries constituting the space to be purified; according to the three-dimensional model, dividing the space to be purified into multiple regions, and obtaining the position information corresponding to each region to obtain a new three-dimensional model; controlling a drone loaded with a concentration sensor to detect substances to be removed in each region, and obtaining the concentrations of substances to be removed corresponding to each region; generating the spatial concentration cloud map according to the new three-dimensional model and the concentrations of substances to be removed corresponding to each region.

[0022] Taking the air film bin as an example, using the GPS of the drone to scan and locate the inner boundary of the finally built air film to generate a three-dimensional model of the air film. And it is necessary to scan the outer boundary of the stockpile in the air film bin to form a three-dimensional model of the stockpile. The three-dimensional model of the stockpile refers to the three-dimensional model of the stockpile after the stacking is completed, and the flight route of the drone should avoid the stockpile. Combining the three-dimensional model of the air film and the three-dimensional model of the stockpile, a three-dimensional model of the space to be purified is obtained.

[0023] According to the size of the air film bin, the three-dimensional model of the space to be purified is divided into regions. The smaller the unit volume of the divided region, the more detailed the generated cloud map. Taking the position of the center point of each region as the position representative of this region, the three-dimensional coordinates of the center point of this region are the position information corresponding to this region. For the position representatives of each region, other points in the region can also be set according to actual use to represent this region. The obtained new three-dimensional model, in addition to constituting the boundaries of the space to be purified, also describes the positions of the regions obtained after the space to be purified is divided.

[0024] Carry a dust or harmful gas sensor on the drone, and set the flight route of the drone according to the design or the experience of the operator. During dust operations, the drone collects the concentrations of substances to be removed in each region in real time according to the flight route and uploads the data. The substances to be removed are dust or harmful gases, etc. Assign the dust or harmful gas concentrations of each region to the new three-dimensional model, and represent the concentration level by the depth of color to form a spatial concentration cloud map. One or more drones can be set. The set number of drones is determined according to the operation area, duration, etc. to ensure the timeliness of data collection.

[0025] S102. Determine the area to be purified according to the spatial concentration cloud map. The area to be purified is the area in the space to be purified with the highest concentration of substances to be removed.

[0026] According to the concentration of the substance to be removed corresponding to each region in the spatial concentration cloud map, determine the highest concentration of the substance to be removed, and determine the region corresponding to the highest concentration of the substance to be removed. This region is the region to be purified, and the position information corresponding to this region is the position information corresponding to the region to be purified.

[0027] S103. According to the position information corresponding to the region to be purified, calculate the movement information of the mobile air purification device to control the mobile air purification device to purify the air in the region to be purified; the movement information is the information describing the position transformation that the mobile air purification device needs to perform to align the suction port of the mobile air purification device with the region to be purified.

[0028] Optionally, in the embodiment, the calculating the movement information of the mobile air purification device according to the position information corresponding to the region to be purified includes: obtaining the channel position information and the initial position information of the suction port. The channel position information represents the position information of the channel that allows the mobile air purification device to travel, and the initial position information of the suction port represents the position information corresponding to the initial position of the suction port of the mobile air purification device; calculating the parking position information of the mobile air purification device according to the channel position information and the position information corresponding to the region to be purified; calculating the lifting height of the suction port according to the position information corresponding to the region to be purified and the initial position information of the suction port; calculating the rotation angle of the suction port according to the position information corresponding to the region to be purified, the parking position information of the mobile air purification device, and the lifting height of the suction port; and obtaining the movement information of the mobile air purification device according to the parking position information of the mobile air purification device, the lifting height of the suction port, and the rotation angle of the suction port.

[0029] The channel is a preset channel, such as the channel between each stockpile, and can be used for the mobile air purification device to travel. The initial position of the suction port refers to the position of the suction port when the mobile air purification device is in a non-working state. In this embodiment, the initial position of the suction port is set such that the suction port is lowered to the lowest point and the suction port is vertically upward. The initial position of the suction port can also be specifically set according to the usage situation. The coordinate system can be set according to the actual use. Taking the air film bin as an example, the horizontal plane where the ground of the air film bin is located can be used as the XOY plane, a corner of the air film bin can be used as the origin, and the vertical direction can be used as the Z axis to establish a coordinate system. The movement information of the mobile air purification device includes the parking position information of the mobile air purification device, the lifting height of the suction port, and the rotation angle of the suction port.

[0030] Optionally, in an embodiment, calculating the parking position information of the mobile air purification device according to the channel position information and the position information corresponding to the area to be purified includes: projecting the area to be purified onto the horizontal plane where the channel is located according to the position information corresponding to the area to be purified to obtain a projection area and the position information corresponding to the projection area; calculating the position information corresponding to the position on the channel closest to the projection area as the parking position information of the mobile air purification device according to the position information corresponding to the projection area and the channel position information.

[0031] For example, if the position information corresponding to the area to be purified is (1, 2, 1), and the horizontal plane where the channel is located is the XOY plane of the air film bin floor, then the position information corresponding to the obtained projection area is (1, 2, 0). Calculate the position on the channel closest to the projection area, which is the parking position of the mobile air purification device, and the position information corresponding to this position is the parking position information of the mobile air purification device.

[0032] Optionally, in an embodiment, calculating the lifting height of the suction port according to the position information corresponding to the area to be purified and the initial position information of the suction port includes: calculating the height difference between the area to be purified and the initial position of the suction port as the lifting height of the suction port according to the position information corresponding to the area to be purified and the initial position information of the suction port.

[0033] For example, if the position information corresponding to the area to be purified is (1, 2, 1), and the initial position information of the suction port is (0, 2, 0.5), then the height difference can be calculated as 0.5, that is, the lifting height of the suction port is 0.5 meters.

[0034] Optionally, in an embodiment, calculating the rotation angle of the suction port according to the position information corresponding to the area to be purified, the parking position information of the mobile air purification device, and the lifting height of the suction port includes: calculating the first horizontal distance between the area to be purified and the parking position of the mobile air purification device according to the position information corresponding to the area to be purified and the parking position information of the mobile air purification device; calculating the rotation angle of the suction port according to the first horizontal distance and the lifting height of the suction port.

[0035] The first horizontal distance characterizes the distance on a horizontal plane. For example, if the position information corresponding to the area to be purified is (1, 2, 1), and the parking position information of the mobile air purification device is (1, 1, 0), then the first horizontal distance can be calculated as 1 meter. According to the first horizontal distance and the lifting height of the suction port, the rotation angle of the suction port is calculated through the included angle formula. For example, if the first horizontal distance is 1 meter and the lifting height of the suction port is 0.5 meter, the rotation angle of the suction port can be calculated to be approximately 26.6 degrees.

[0036] Optionally, in the embodiment, the mobile air purification device includes a purifier and a moving mechanism. The suction port is arranged on the purifier, and the purifier is installed on the moving mechanism. The moving mechanism is used to drive the purifier to move. A lifting mechanism 1 and a rotating mechanism 2 are also installed on the moving mechanism. The lifting mechanism 1 is used to drive the suction port to lift, and the rotating mechanism 2 is used to drive the suction port to rotate.

[0037] Under the combined action of the moving mechanism, the lifting mechanism 1 and the rotating mechanism 2, the suction port of the purifier can be aligned with the area where the concentration of the substance to be removed is the highest, realizing the precise positioning of air purification and improving the air treatment efficiency.

[0038] Specifically, as Figure 2 shown, the moving mechanism includes a towing head 3, a flatbed cart 4 and wheels 5. The towing head 3 is connected to the flatbed cart 4 and is used to tow the flatbed cart 4 to move forward. Wheels 5 are connected to the bottoms of both the towing head 3 and the flatbed cart 4. A controller is also installed inside the towing head 3 and is used to control the overall movement of the moving mechanism.

[0039] The purifier includes a dust collector 6 and a telescopic air duct 7. The dust collector 6 is installed on the flatbed cart 4. The dust collector 6 is connected to one end of the telescopic air duct 7, and the other end of the telescopic air duct 7 is the suction port. A dust exhaust hood 8 is connected to the suction port. According to the use requirements, the dust collector 6 can be replaced with other air purification devices to achieve the purification of other harmful gases. A position sensor is also installed at the suction port to monitor the position of the suction port, so as to finely adjust the height and angle of the suction port during the dust removal process, making the suction port more precisely aligned with the area to be purified.

[0040] As Figure 3 and Figure 4As shown in the figure, the rotating mechanism 2 includes a rotating base 15, a first sleeve 17, a second sleeve 16, a support frame 9, a first wire rope reel 18 and a first motor. The rotating base 15 includes two steel plates. One ends of the two steel plates are respectively fixedly connected to the flatbed cart 4, and the other ends of the two steel plates are close to each other and are respectively fixedly connected to the side wall of the first sleeve 17. The second sleeve 16 is inserted into the first sleeve 17, and both ends of the second sleeve 16 extend out of the first sleeve 17. Both the first sleeve 17 and the second sleeve 16 can be made of steel pipes. The first sleeve 17 and the second sleeve 16 can rotate relative to each other, and sliding balls are arranged between the first sleeve 17 and the second sleeve 16 to increase the flexibility of rotation. One end of the support frame 9 is fixedly connected to the second sleeve 16. Thus, the support frame 9 can rotate relative to the rotating base 15. The other end of the support frame 9 is connected to a first steel wire rope 19. The first steel wire rope 19 is wound around the first wire rope reel 18, and the other end of the first steel wire rope 19 is fixed to the first wire rope reel 18. The first wire rope reel 18 is installed on the flatbed cart 4 through a bracket, and the first motor is installed on the flatbed cart 4. The central axis of the first wire rope reel 18 is connected to the output end of the first motor. By driving the first wire rope reel 18 to rotate through the first motor, the retraction and release of the first steel wire rope 19 are controlled. A limiting plate 20 is connected to the steel plate close to the first steel wire rope 19. The limiting plate 20 is vertically arranged and is close to the support frame 9 so that the support frame 9 can only tilt to one side.

[0041] The lifting mechanism 1 includes a second motor 10, a second steel wire rope 12, a second wire rope reel 11 and a pulley 14. The second motor 10 is connected to the support frame 9. One end of the central axis of the second wire rope reel 11 is connected to the side wall of the support frame 9, and the other end is connected to the output end of the second motor 10. One end of the second steel wire rope 12 is connected to the second wire rope reel 11, and the second steel wire rope 12 is wound around the second wire rope reel 11. A pulley 14 is installed at the end of the support frame 9 far from the rotating base 15, and a lifting frame 13 is slidably connected to the support frame 9. The other end of the second steel wire rope 12 bypasses the pulley 14 and is connected to the lifting frame 13.

[0042] Travel instructions can be generated according to the obtained movement information of the mobile air purification device. According to the travel instructions, the overall device is controlled to travel to the parking position of the mobile air purification device through the control system in the towing head 3. The staff can also design a travel route according to the movement information and then send the obtained travel instructions to the towing head 3 to control the overall device to travel to the parking position of the mobile air purification device. According to the calculated lifting height of the suction port, the operation of the second motor 10 is controlled, and then the suction port is adjusted to the target height. Then, according to the calculated rotation angle of the suction port, the operation of the first motor is controlled, and then the suction port is aligned with the area to be purified.

[0043] In this method, the space to be purified is divided into multiple small regions in the form of a spatial concentration cloud map, and each region corresponds to the concentration of the substance to be removed detected. According to the spatial concentration cloud map, the region with the highest concentration of the substance to be removed is determined, and the mobile air purification device is moved to purify the air in the region with the highest concentration of the substance to be removed. By this method, it is possible to perform targeted air purification on the region with the highest concentration of the substance to be removed, with high purification efficiency. Moreover, there is no need to install equipment in the space to be purified, which can effectively reduce costs, increase space utilization rate, and is also convenient for later application to other sites for air purification treatment.

[0044] This method is applicable to storage warehouses such as factories and docks, which have the characteristics of high fluidity of stored materials, large storage area, and non-fixed dust generation points. Moreover, after having sufficient experience, the dust measurement data at the initial stage of material stacking of different scales can be analyzed and sorted out. By analyzing the influence of factors such as location, stacking method, and operation vehicles on the dust concentration, the maximum dust region can be pre-judged. Thus, before the operation, the mobile air purification device is moved to the corresponding operation position, and the height and angle of the suction port are adjusted for air purification pretreatment to reduce the initial concentration.

[0045] Embodiment 2 As Figure 5 shown, this embodiment provides an air purification system for different regions, including: A data acquisition module for acquiring a spatial concentration cloud map of the space to be purified, where the spatial concentration cloud map includes the position information corresponding to each region in the space to be purified and the concentration of the substance to be removed; A region identification module for determining the region to be purified according to the spatial concentration cloud map, where the region to be purified is the region in the space to be purified corresponding to the highest concentration of the substance to be removed; A movement control module for calculating the movement information of the mobile air purification device according to the position information corresponding to the region to be purified, so as to control the mobile air purification device to purify the air in the region to be purified; the movement information is the information describing the position transformation that the mobile air purification device needs to perform to align the suction port of the mobile air purification device with the region to be purified. <�

[0046] Optionally, in the embodiment, the movement control module includes: [[ID=2]] An information acquisition unit for acquiring the channel position information and the initial position information of the suction port, where the channel position information represents the position information of the channel allowing the mobile air purification device to travel, and the initial position information of the suction port represents the position information corresponding to the initial position of the suction port of the mobile air purification device; A parking position calculation unit, configured to calculate the parking position information of the mobile air purification device according to the channel position information and the position information corresponding to the area to be purified; A lifting height calculation unit, configured to calculate the lifting height of the suction port according to the position information corresponding to the area to be purified and the initial position information of the suction port; A rotation angle calculation unit, configured to calculate the rotation angle of the suction port according to the position information corresponding to the area to be purified, the parking position information of the mobile air purification device, and the lifting height of the suction port; A movement information generation unit, configured to obtain the movement information of the mobile air purification device according to the parking position information of the mobile air purification device, the lifting height of the suction port, and the rotation angle of the suction port.

[0047] Optionally, in an embodiment, the parking position calculation unit includes: A projection area calculation sub-unit, configured to project the area to be purified onto the horizontal plane where the channel is located according to the position information corresponding to the area to be purified, to obtain a projection area and the position information corresponding to the projection area; A parking position calculation sub-unit, configured to calculate the position information corresponding to the position on the channel that is closest to the projection area as the parking position information of the mobile air purification device according to the position information corresponding to the projection area and the channel position information.

[0048] Optionally, in an embodiment, the lifting height calculation unit includes: A lifting height calculation sub-unit, configured to calculate the height difference between the area to be purified and the initial position of the suction port as the lifting height of the suction port according to the position information corresponding to the area to be purified and the initial position information of the suction port.

[0049] Optionally, in an embodiment, the rotation angle calculation unit includes: A distance calculation sub-unit, configured to calculate a first horizontal distance between the area to be purified and the parking position of the mobile air purification device according to the position information corresponding to the area to be purified and the parking position information of the mobile air purification device; a rotation angle calculation sub-unit, configured to calculate the rotation angle of the suction port according to the first horizontal distance and the lifting height of the suction port.

[0050] Optionally, in an embodiment, the mobile air purification device includes a purifier and a moving mechanism. The air suction port is disposed on the purifier, and the purifier is mounted on the moving mechanism. The moving mechanism is configured to drive the purifier to move. A lifting mechanism 1 and a rotating mechanism 2 are further mounted on the moving mechanism. The lifting mechanism 1 is configured to drive the air suction port to move up and down, and the rotating mechanism 2 is configured to drive the air suction port to rotate.

[0051] Optionally, in an embodiment, the data acquisition module includes: A model acquisition unit, configured to acquire a three-dimensional model of the space to be purified, where the three-dimensional model is used to describe the positions and shapes of the boundaries constituting the space to be purified; A region division unit, configured to divide the space to be purified into multiple regions according to the three-dimensional model, and acquire the position information corresponding to each region, so as to obtain a new three-dimensional model; A concentration acquisition unit, configured to control a drone equipped with a concentration sensor to detect substances to be removed in each region, so as to obtain the concentration of substances to be removed corresponding to each region; A cloud map generation unit, configured to generate a space concentration cloud map according to the new three-dimensional model and the concentration of substances to be removed corresponding to each region.

[0052] Embodiment III This embodiment provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements an air sub-region purification method as described in Embodiment I.

[0053] Embodiment IV This embodiment provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute an air sub-region purification method as described in Embodiment I.

[0054] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without conflict, those skilled in the art may combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0055] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An air sub-region purification method, characterized in that, Including: Obtaining a spatial concentration cloud map for a space to be purified, where the spatial concentration cloud map includes position information corresponding to each area within the space to be purified and the concentration of substances to be removed; Determining a purification area according to the spatial concentration cloud map, where the purification area is the area within the space to be purified with the highest concentration of substances to be removed; Calculating movement information of a mobile air purification device according to the position information corresponding to the purification area to control the mobile air purification device to purify the air in the purification area; the movement information is information describing the position transformation that the mobile air purification device needs to perform to align the air inlet of the mobile air purification device with the purification area.

2. The air sub-region purification method according to claim 1, characterized in that, The calculating the movement information of the mobile air purification device according to the position information corresponding to the purification area includes: Obtaining channel position information and initial position information of the air inlet, where the channel position information represents the position information of the channel allowing the mobile air purification device to travel, and the initial position information of the air inlet represents the position information corresponding to the initial position of the air inlet of the mobile air purification device; Calculating parking position information of the mobile air purification device according to the channel position information and the position information corresponding to the purification area; Calculating the lifting height of the air inlet according to the position information corresponding to the purification area and the initial position information of the air inlet; Calculating the rotation angle of the air inlet according to the position information corresponding to the purification area, the parking position information of the mobile air purification device, and the lifting height of the air inlet; Obtaining the movement information of the mobile air purification device according to the parking position information of the mobile air purification device, the lifting height of the air inlet, and the rotation angle of the air inlet.

3. The air sub-region purification method according to claim 2, characterized in that, The calculating the parking position information of the mobile air purification device according to the channel position information and the position information corresponding to the purification area includes: projecting the purification area onto the horizontal plane where the channel is located according to the position information corresponding to the purification area to obtain a projected area and the position information corresponding to the projected area; Calculating the position information corresponding to the position on the channel closest to the projected area as the parking position information of the mobile air purification device according to the position information corresponding to the projected area and the channel position information.

4. The air sub-region purification method according to claim 2, wherein The calculating the lifting height of the air inlet according to the position information corresponding to the purification area and the initial position information of the air inlet includes: calculating the height difference between the purification area and the initial position of the air inlet as the lifting height of the air inlet according to the position information corresponding to the purification area and the initial position information of the air inlet.

5. The air sub-region purification method according to claim 2, wherein The calculating the rotation angle of the air inlet according to the position information corresponding to the purification area, the parking position information of the mobile air purification device, and the lifting height of the air inlet includes: Calculate a first horizontal distance between the area to be purified and the parking position of the mobile air purification device according to the position information corresponding to the area to be purified and the parking position information of the mobile air purification device; Calculate the rotation angle of the suction port according to the first horizontal distance and the lifting height of the suction port.

6. The air sub-region purification method according to claim 1, characterized in that, The mobile air purification device includes a purifier and a moving mechanism. The suction port is arranged on the purifier, the purifier is installed on the moving mechanism, the moving mechanism is used to drive the purifier to move, and a lifting mechanism and a rotating mechanism are also installed on the moving mechanism. The lifting mechanism is used to drive the suction port to lift, and the rotating mechanism is used to drive the suction port to rotate.

7. The air sub-region purification method according to claim 1, wherein The obtaining of the spatial concentration cloud map for the space to be purified includes: Obtain a three-dimensional model for the space to be purified, where the three-dimensional model is used to describe the positions and shapes of the boundaries that make up the space to be purified; Divide the space to be purified into multiple areas according to the three-dimensional model, and obtain the position information corresponding to each area to obtain a new three-dimensional model; Control a drone equipped with a concentration sensor to detect substances to be removed in each area, and obtain the concentration of substances to be removed corresponding to each area; Generate the spatial concentration cloud map according to the new three-dimensional model and the concentration of substances to be removed corresponding to each area.

8. An air sub-region purification system, characterized in that, Include: A data acquisition module for obtaining a spatial concentration cloud map for the space to be purified, where the spatial concentration cloud map includes the position information and the concentration of substances to be removed corresponding to each area in the space to be purified; An area identification module for determining the area to be purified according to the spatial concentration cloud map, where the area to be purified is the area in the space to be purified with the highest concentration of substances to be removed; A movement control module for calculating the movement information of the mobile air purification device according to the position information corresponding to the area to be purified, so as to control the mobile air purification device to purify the air in the area to be purified; the movement information is information describing the position transformation that the mobile air purification device needs to perform to align the suction port of the mobile air purification device with the area to be purified.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements an air sub-region purification method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause a computer to execute an air sub-region purification method according to any one of claims 1 to 7.

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