Method for controlling collection device, collection device, and spatial system

Abstract

The present application provides a collection equipment control method, collection equipment, and a space system. The collection equipment includes: an acquisition device that acquires information about the interior of a space of a target region; a control device that sets a detection path of the collection equipment on the basis of an unreachable region in the interior of the space of the target region; and a detection device that acquires environmental data including environmental data, about the unreachable region, detected when the collection equipment moves along the detection path in the interior of the space of the target region. Through this, it is possible for the collection equipment to detect the environmental data of the unreachable region.

Description

[Technical Field]

[0001] The present application relates to the field of information technology, and in particular to a control method for a collection device, a collection device, and a spatial system. [Background technology]

[0002] When detecting environmental data, the collection device is moved along a predetermined path and, upon reaching a predetermined location, the device performs detection, thereby acquiring environmental data at that location. The environmental data may be, for example, parameters such as air quality, dust concentration, temperature, humidity, etc.

[0003] It should be noted that the above description of the technical background is only provided to make the technical solutions of the present application clear, easy to explain completely, and easy to understand for those skilled in the art, and these solutions are not considered to be known to those skilled in the art just because they are described in the background section of the present application. Summary of the Invention

[0004] The inventors of the present application have discovered that when using a collection device to detect environmental data within a space of a target area, the collection device may be unable to reach some areas, and the unreachable areas may be areas smaller than the size of the collection device, such as some corners, areas above a cabinet, areas behind a television, or areas including obstructions within the space, making it difficult for the collection device to detect environmental data for those areas.

[0005] In order to solve at least the above technical problem or a similar technical problem, embodiments of the present application provide a control method for a collection device, a collection device, and a spatial system that can detect environmental data of an unreachable area by setting a detection path for the collection device based on the unreachable area and calculating environmental data of the unreachable area.

[0006] According to one aspect of the present embodiment, Obtaining spatial information of a target area; setting a detection path for a collection device based on an unreachable area in the target area; and acquiring environmental data detected as the collection device moves along the detection path within the space of the target area, the environmental data including environmental data of the unreachable area.

[0007] According to another aspect of the present embodiment, an acquisition device for acquiring spatial information of a target area; a control device for setting a detection path based on an unreachable area in the space of the target area; and a detection device that acquires environmental data detected as the collection device moves along the detection path within the space of the target area, the environmental data including environmental data of the unreachable area.

[0008] The beneficial effect of the embodiment of the present application is that the detection path of the collection device is set based on the unreachable area, and the environmental data of the unreachable area is calculated, thereby enabling the collection device to detect the environmental data of the unreachable area.

[0009] With reference to the following description and drawings, particular embodiments of the present application are disclosed in detail, demonstrating the manner in which the principles of the present application may be employed. It is to be understood that the scope of the present application is not limited thereby. Many variations, modifications, and equivalents are encompassed within the scope of the appended claims.

[0010] Features described and / or shown in one embodiment may be used in the same or similar manner in one or more other embodiments, may be combined with features in the other embodiments, or may substitute for features in the other embodiments.

[0011] It must be emphasized that the term "comprises" when used in this text refers to the presence of a feature, an entire element, a step or an element, but does not exclude the presence / addition of one or more other features, entire elements, steps or elements. [Brief explanation of the drawings]

[0012] Elements and features described in one drawing or one embodiment of the present application may be combined with elements and features shown in one or more other drawings or embodiments, and in the drawings, like reference numerals may indicate corresponding parts in the several drawings and may indicate corresponding parts used in more than one embodiment.

[0013] The included drawings are provided for a better understanding of the embodiments of the present invention, constitute a part of the specification, illustrate embodiments of the present invention, and together with the written description, explain the principles of the present application. Obviously, the following drawings are only some examples of the present application, and those skilled in the art can derive other drawings based on these drawings without any inventive work. Each drawing is as follows:

[0014] [Figure 1] 1 is a schematic diagram of a control method for a collection device according to a first embodiment of the present invention. [Figure 2] 3 is a schematic diagram illustrating calculation of environmental data in the unreachable area based on environmental data in the surrounding area; FIG. [Figure 3] FIG. 1 is a schematic diagram of detecting environmental data in an unreachable area by a sub-collection device. [Figure 4] FIG. 2 is a schematic diagram of a collection device and sub-collection devices. [Figure 5] FIG. 10 is a schematic diagram showing the state in which the puller wire is retracted. [Figure 6] FIG. 10 is a schematic diagram of the puller wires in a deployed state. [Figure 7] FIG. 1 is a schematic diagram of a Z-shaped detection path. [Figure 8] FIG. 1 is a schematic diagram of a circular detection path. [Figure 9] FIG. 1 is a schematic diagram of detection paths by region. [Figure 10] FIG. 10 is a schematic diagram of how a collection device adjusts a detection path. [Figure 11] FIG. 10 is another schematic diagram of how a collection device adjusts a detection path. [Figure 12] FIG. 10 is a further schematic diagram of how the collection device adjusts the detection path. [Figure 13] FIG. 1 is a schematic diagram of a control system for the collection device. [Figure 14] FIG. 1 is a schematic diagram of a spatial system. [Figure 15] 13 is a schematic diagram of how the spatial system 1302 calculates the coordinates of a wireless signal receiving means. [Figure 16] 1 is a schematic diagram of the distance between multiple wireless transmitting and receiving devices. [Figure 17] FIG. 1 is a schematic diagram of a coordinate system. [Figure 18A] FIG. 10 is a schematic diagram of a collection device according to a second embodiment of the present invention. [Figure 18B] FIG. 10 is a schematic diagram of a collection device according to a second embodiment of the present invention. [Figure 18C] FIG. 10 is a schematic diagram of a collection device according to a second embodiment of the present invention. [Figure 19] FIG. 1 is a schematic diagram of a dust removal system. [Figure 20] FIG. 2 is a schematic diagram of a cleaning channel 2. [Figure 21] 1 is a schematic diagram of a static electricity application channel 3. FIG. [Figure 22] 1 is a schematic diagram of how a control device 40 controls a collection device 1. FIG. [Figure 23] 1 is another schematic diagram of how the controller 40 controls the collection device 1. FIG. [Figure 24] FIG. 10 is a schematic diagram of a method for controlling a control device to move a collection device along a set movement path. [Figure 25] 2 is a schematic diagram of operation 2401. DETAILED DESCRIPTION OF THE INVENTION

[0015] These and other features of the present application will become apparent from the following specification, which refers to the drawings. The specification and drawings specifically disclose certain embodiments of the present application, illustrating some embodiments in which the principles of the present application can be employed. The present application is not limited to the described embodiments; on the contrary, the present application should be understood to include all amendments, modifications, and equivalents falling within the scope of the appended claims. Various embodiments of the present application will be described below in conjunction with the drawings. These embodiments are merely illustrative and do not limit the present application.

[0016] In the embodiments of the present application, terms such as "first" and "second" are used to distinguish different elements from one another, but do not indicate the spatial or chronological order of these elements, and these elements should not be limited by these terms. The term "and / or" includes any and all combinations of one or more of the associated listed terms. Terms such as "include," "comprise," "have," and the like refer to the presence of stated features, elements, elements, or components, but do not exclude the presence / addition of one or more other features, elements, elements, or components.

[0017] In the embodiments of the present application, unless the context clearly indicates otherwise, the singular forms "a," "the," etc., include the plural and are not limited to the meaning of "one," but should be understood broadly as "one kind" or "one type," and the term "the" should be understood to include both the singular and the plural. Also, unless the context clearly indicates otherwise, the term "according to" should be understood as "at least in part according to ...," and the term "based on" should be understood as "based at least in part on ...."

[0018] Example 1 A first embodiment of the present application provides a collection device, a control method for the collection device, and a spatial system.

[0019] FIG. 1 is a schematic diagram of a control method for a collection device according to an embodiment of the present application.

[0020] As shown in Figure 1, the control method of the collection device is as follows: An operation 101 of acquiring spatial information of a target area; an operation 102 of setting a detection path for a collection device based on unreachable areas in the space of the target area; and an operation 103 of acquiring environmental data detected as a collection device moves along the detection path within the space of the target area, the environmental data including environmental data of the unreachable area.

[0021] According to the embodiment of the present application, a detection path of a collecting device is set based on an unreachable area, and environmental data of the unreachable area is calculated, so that the collecting device can detect environmental data of the unreachable area.

[0022] In this example, the collection device can move horizontally, for example, moving on the ground or moving on the surface of an object such as furniture and / or a wall, and can also move vertically, for example, the collection device can have propellers or a flotation part (e.g., a flotation balloon) to control the vertical movement of the collection device.

[0023] In this embodiment, the collection device is turned on in response to a control command (e.g., generated based on the user's voice or gesture) and can move along the detection path set in operation 102. When the collection device moves to one or more predetermined positions on the detection path, it can pause for a while (e.g., one minute or several minutes), detect environmental data at the positions, and then continue moving, thereby allowing detection after the air condition around the collection device has stabilized, and detection accuracy is high, and collecting environmental data after the air condition has stabilized is more accurate; alternatively, the collection device can collect environmental data while moving; for example, when detecting along the detection path, the collection device can detect at a predetermined position, detect at regular intervals, or detect according to a predetermined distance (e.g., a position a predetermined distance away from a target object or target area); and for example, the collection device can immediately move to a predetermined position and detect, or move to a predetermined position at a predetermined time and detect.

[0024] The environmental data detected by the collection device may be air quality (e.g., concentration of particulate matter in the air), air temperature, air humidity, carbon dioxide (CO2) concentration, volatile organic compound (VOC) concentration, formaldehyde concentration, etc.

[0025] In operation 101, the collection device can recognize or scan the spatial layout of the target area using a camera, thereby acquiring spatial information of the target area, or the collection device can acquire spatial information of the target area from a building information model (BIM). Here, the spatial information of the target area may be, for example, at least a part of an area inside a room.

[0026] In operation 101, an unreachable area in the target space can be identified by obtaining information within the space of the target area. The unreachable area may be an area whose size is smaller than the size of the collection device, so that the collection device cannot reach the area. For example, the unreachable area may be any corner in a room, or an area between a physical obstacle such as furniture or electrical appliances in a room and a wall, roof, or ground. Information of the physical obstacle can also be stored.

[0027] In addition, in operation 101, information on environmental devices in the space of the target area, such as type information, position information, size information, etc., can be further acquired. The environmental devices are, for example, at least one of a purifier, an air conditioner, a fresh air system, and a humidifier.

[0028] In operation 102, one or more detection paths can be set for each unreachable area, and each detection path may be parallel to the horizontal direction, parallel to the vertical direction, or at a certain angle with the horizontal direction. The detection path may be straight or curved. When the collection device moves along the detection path, it can gradually approach the unreachable area, and when the collection device reaches a certain position, it can switch the detection path to move away from the unreachable area, thereby avoiding obstruction of the movement of the collection device. When switching the detection path, the collection device can immediately move to a predetermined position and perform detection, or move to a predetermined position at a predetermined time and perform detection.

[0029] In operation 103, the collection device may calculate environmental data within an unreachable area based on environmental data of an area surrounding the unreachable area. In one embodiment, the environmental data within the unreachable area may be calculated based on environmental data of an area surrounding the unreachable area detected by different detection paths. Specifically, for each detection path, a relationship between a position and environmental data surrounding the unreachable area may be identified (e.g., a relationship between the two may be established, and the relationship may be linear or nonlinear), and the environmental data within the unreachable area may be calculated based on the identified relationship between the position and environmental data.

[0030] 2 is a schematic diagram illustrating how to calculate environmental data in the unreachable area based on environmental data in the surrounding area. As shown in FIG. 2, the unreachable area is Ω, r is the radius of the area Ω, and the detection paths set for the area Ω are paths S1, S2, and S3, where the paths S1, S2, and S3 are, for example, straight lines.

[0031] When the distances from the center of the region Ω are nr, ..., 6r, 5r, 4r, 3r, 2r, r, the detected environmental data (e.g., air quality) are trn, ..., tr6, tr5, tr4, tr3, tr2, tr1, respectively.

[0032] For each detection path, an equation y=f(x) is established, where y is the environmental data and x is the distance from the center of the region Ω, so that the environmental data within the region Ω can be calculated based on the equation.

[0033] When there are multiple detection paths, the environmental data in the region Ω can be calculated for each detection path. For example, by calculating the environmental data in the region Ω for each of the paths S1, S2, and S3 in FIG. 2, three pieces of environmental data pr1, pr2, and pr3 are obtained. The average value of the multiple (e.g., three) pieces of environmental data, or the average value of a pair of environmental data with the smallest mean squared error (MSE) among the multiple pieces of environmental data, can be used as the environmental data for the unreachable region Ω.

[0034] For example, if the mean squared errors between any two of the three environmental data pr1, pr2, and pr3 are all lower than a threshold, the average value of pr1, pr2, and pr3 is taken as the environmental data of the unreachable area Ω; otherwise, the average value of the pair of environmental data pr1, pr2, and pr3 with the smallest mean squared errors is taken as the environmental data of the unreachable area Ω.

[0035] Here, the mean square error can be calculated by the following equation 1.

number

[0036] In at least one embodiment, when calculating the environmental data in the region Ω based on the equation, the time difference between different location points can be used as an influencing factor of the environmental data. Specifically, the environmental data at different times at different location points can be input into a time memory network model, and the environmental data with time characteristics can be output.

[0037] For example, there is a time difference between flying from point 1 to point 2, and environmental data detected at different times at different locations are input into the model for training, to obtain a long short-term memory network model (AI), and the long short-term memory network model is stored. The environmental data of the space Ω is calculated based on the equation y=f(x) corresponding to each of the detection paths, and multiple environmental data (e.g., three environmental data pr1, pr2, pr3) are obtained. When the same collecting device moves along different detection paths at different times, the multiple environmental data can embody information associated with the time change of the environmental data. Therefore, the multiple environmental data can be input into the long short-term memory network model to obtain environmental data of the region Ω at a future time (e.g., a specific time in the future).

[0038] By introducing the time feature, it is possible to calculate the environmental data at a specific time within the region Ω, and further to integrate the environmental data at the same time or in the same time period within the space of the target region, thereby avoiding errors due to time factors, and thereby ensuring the accuracy of fitting even when fitting the distribution of environmental data within the space of the entire target region.

[0039] In addition to the above method of calculating environmental data within an unreachable area based on the detection results of a plurality of detection paths, environmental data within an unreachable area can also be detected by a sub-collection device.

[0040] 3 is a schematic diagram of a method for detecting environmental data in an unreachable area by a sub-collection device. As shown in FIG. 3, the method for detecting environmental data in an unreachable area by a sub-collection device includes: an operation 301 in which the collecting device moves along a set detection path and detects, and when the collecting device reaches a predetermined position approaching the physical obstacle, the collecting device releases a sub-collection device to detect environmental data around the physical obstacle; and operation 302, in which, when the sub-collection device has completed detection, the collection device retrieves the sub-collection device, and the collection device continues to move and detect along the set detection path.

[0041] As shown in Figure 3, the method for detecting environmental data in unreachable areas using sub-collection devices is as follows: The method further includes an operation 303 of setting a route for the sub-collection device based on the space or location occupied by the unreachable area.

[0042] For example, when a collection device approaches an obstacle, the location of the collection device can be determined and a sub-detection path for a sub-collection device can be set based on the location of the collection device and the space or location occupied by the unreachable area.

[0043] The sub-collection device moves along a sub-detection route set for the sub-collection device, detects environmental data, and uploads the obtained environmental data to a database.

[0044] In one embodiment, the sub-collection device may be a probe extending from the collection device or another movable object that can be detached from the collection device. The sub-collection device may be connected to the collection device by a puller wire, which ensures a strong connection between the sub-collection device and the collection device. Alternatively, there may be no puller wire between the sub-collection device and the collection device.

[0045] FIG. 4 is a schematic diagram of the collection device and sub-collection device, FIG. 5 is a schematic diagram of the puller wire in a retracted state, and FIG. 6 is a schematic diagram of the puller wire in a deployed state.

[0046] As shown in FIG. 4, the collection device 4 a floating part 41 that provides power to raise the collection device 4, and can be, for example, an oval or circular floating part that stabilizes flight, or a balloon with an interesting shape such as a cloud or animal shape that can increase fun and achieve calming effects; an acquisition device (not shown in FIG. 4) that acquires spatial information of the target area; a drive 43, which can be, for example, a propeller, for driving the collection device in motion; a transmission device (not shown in FIG. 4) for transmitting the data signal to the database; a detector 44 for detecting environmental data and transmitting the environmental data to the transmitter; The collection device 4 may include a control device 45 that controls the drive device 43 to fly along a preset detection path or an updated detection path, including a detection path set based on unreachable areas in space in the target area.

[0047] The collection device 4 further comprises a battery 46 that provides electrical energy to the collection device 4 .

[0048] The collection device 4 may be provided with a sub-detection device 5 that can be detached from the collection device 4 and retrieved to the collection device 4 .

[0049] For example, when the collection device 4 is approaching an unreachable area, the sub-detection device 5 faces the unreachable area, and the launch plate 47 on the collection device 4 launches the sub-detection device 5 into the unreachable area. The one-way rotary damper 48 provided on the collection device 4 does not provide resistance to the pulling wire 49 that is unwound by rotation, and the sub-detection device 5 only has a floating function, and the maximum length of the pulling wire 49 is limited to the farthest distance. At the farthest distance, the sub-detection device 5 is floated in the air by the balloon 51 (shown in FIGS. 5 and 6). The detection module 52 (shown in FIGS. 5 and 6) of the sub-detection device 5 detects environmental data. After the detection by the sub-detection device 5 is completed, the one-way rotary damper 48 is driven to rotate by a motor, causing the pulling wire 49 to pull back the sub-detection device 5, and the sub-detection device 5 is collected by the collection device 4.

[0050] In this embodiment, the environmental data detected by the collection device 4 and the sub-detection device 5 can both be uploaded to a database, and the database fits a distribution map of the environmental data in the space of the target area based on the environmental data at different locations and different times.

[0051] In operation 102 of this embodiment, the detection path set for the collection device includes a Z-shaped detection path, a linear detection path, a circular detection path, or a region-specific detection path.

[0052] Fig. 7 is a schematic diagram of a Z-shaped detection path, Fig. 8 is a schematic diagram of a circular detection path, and Fig. 9 is a schematic diagram of a detection path by region. Here, in Fig. 9, the space of the target region is divided into multiple regions, and the collecting device can move to each region, and in each region, the collecting device can move according to a random detection path.

[0053] The detection path can be set based on information about the target area. For example, if there are no tall obstacles in the target area, a circular detection path can be set preferentially, if there are obstacles such as pillars in the target area, a preset Z-shaped path can be set, if there are a lot of items in the target area, a region-specific detection path can be set preferentially, and if the area of ​​the target area is large, a circular detection path or a Z-shaped detection path can be set preferentially.

[0054] In operation 103 of this embodiment, as the collection device moves along the detection path, the detection path may be adjusted or updated. Figure 10 is a schematic diagram of how the collection device adjusts the detection path. As shown in Figure 10, one way the collection device adjusts the detection path is to: an operation 1001 of recording the location of the collection device as a predetermined location if the collection device deviates from the set detection path; an operation 1002 in which a collection device moves to a next operating position on the set detection path and moves and detects along the set path; and operation 1003 of the collection device moving to and detecting the predetermined location after completing movement along the set detection path.

[0055] In operation 1001, when the collection device moves along the set detection path, it is determined whether the collection device has deviated from the set detection path, for example, it is determined whether the offset distance of the current position of the collection device relative to the detection path exceeds a threshold based on the position information of the collection device, and if it exceeds the threshold, it is determined that the collection device has deviated from the set detection path, and if not, it is determined that the collection device has not deviated from the set detection path, and movement and detection are continued.

[0056] If operation 1001 determines that the established detection path has been deviated from, the current location of the collection device may be recorded as a predetermined location.

[0057] In operation 1002, the collecting device moves from its current position to a next operating position on the set detection path, and moves and detects along the set path, so that the collecting device can return to the set detection path in a timely manner. Here, the operating position refers to a plurality of positions preset on the detection path.

[0058] In operation 1003, after completing movement along the established detection path, the collection device can return to the predetermined position marked in operation 1001 and detect again.

[0059] 11 is a schematic diagram of another method for adjusting the detection path by the collection device. As shown in FIG. 11, another method for adjusting the detection path by the collection device is as follows: An operation 1101 in which the collecting device moves along a set route and detects an environmental device, and acquires the state of the environmental device when the collecting device approaches the environmental device; an operation 1102 of recording the location of the collection device as a predetermined location when the environmental device is turned on; an operation 1103 of moving a collection device to a next operating position on the set path and detecting as it moves along the set path; and operation 1104 of moving and detecting the collection device to the predetermined location after movement along the set path is completed.

[0060] In operation 1101, when the collection device moves along the set detection path, it determines whether it is approaching an environmental device based on the information collected in operation 101, and at a position approaching the environmental device (e.g., a position a predetermined distance away from the environmental device), it determines whether the environmental device is turned on, for example, by detecting wind speed, temperature, humidity, etc., or by receiving electromagnetic signals emitted by the environmental device when it is operating.

[0061] If it determines that the environmental device is not turned on, the collection device moves along the set detection path and performs detection.

[0062] If the environmental device is turned on, then operation 1002 records the current location of the collection device as a predetermined location.

[0063] In operation 1103, the collecting device moves from its current position to a next operating position on the set detection path, and moves and detects along the set path, so that the collecting device can return to the set detection path in a timely manner. Here, the operating position refers to a plurality of positions preset on the detection path.

[0064] In operation 1104, after completing movement along the set detection path, the collection device can return to the predetermined position marked in operation 1102 and detect again, for example, if the environmental device is turned off, and return to the predetermined position marked in operation 1102 and detect again.

[0065] Environmental devices generally affect the airflow direction in the environment, which can easily cause the collecting device to deviate from the set detection path. Therefore, the method shown in Figure 11 can prevent the environmental devices from affecting the movement of the collecting device when they are on.

[0066] 12 is a further schematic diagram of a method for a collection device to adjust a detection path. As shown in FIG. 12, a further method for a collection device to adjust a detection path is as follows: An operation 1201 in which the collecting device moves along a set route and detects an environmental device, and acquires the state of the environmental device when the collecting device approaches the environmental device; an operation 1202 in which, when the environmental device is turned on, the controller of the collection device controls the environmental device to stop operation; and operation 1203 of continuing detection along the set path.

[0067] In operation 1201, when the collection device moves along the set detection path, it determines whether it is approaching an environmental device based on the information collected in operation 101, and at a position approaching the environmental device (for example, a position a predetermined distance away from the environmental device), it determines whether the environmental device is turned on, for example, by detecting wind speed, temperature, humidity, etc., or by receiving electromagnetic signals, etc., emitted by the environmental device when it is operating.

[0068] If it determines that the environmental device is not turned on, the collection device moves along the set detection path and performs detection.

[0069] When it is determined that the environmental device is turned on, the controller of the collection device can control the environmental device to stop operation, thereby preventing airflow from interfering with the movement of the collection device when the environmental device is operating.

[0070] In operation 1203, the collection device may continue to move and detect according to the established path.

[0071] An embodiment of the present application further provides a control system for a collection device.

[0072] 13 is a schematic diagram of a control system for a collection device. As shown in FIG. 13, the control system 1300 for a collection device includes: a collection device 1301 that is mobile and detects environmental data; and a spatial system 1302 for positioning the collection device.

[0073] The control device (not shown in FIG. 13) of the collection device 1301 controls the collection device 1301 to move along a set detection path, and the control device can also control the detection device of the collection device 1301 to detect environmental data.

[0074] 14 is a schematic diagram of a spatial system. As shown in FIG. 14, the spatial system 1302 includes: a radio signal receiving means T0, which may be, for example, a tag, provided in the collecting device for determining the position of the collecting device in space; For example, A1, A2, A3, A4 in FIG. 14 are two or more wireless transmitting / receiving devices, for example, base stations for transmitting and receiving wireless signals, for communicating with the wireless signal receiving means T0; and a calculation module 1401 that determines the location of the wireless signal receiving means T0 based on the distance between the wireless signal receiving means T0 and each of the wireless transmitting / receiving devices (A1 to A4) and the distance between two or more wireless transmitting / receiving devices.

[0075] FIG. 15 is a schematic diagram of how the spatial system 1302 calculates the coordinates of a wireless signal receiving means, FIG. 16 is a schematic diagram of the distance between multiple wireless transmitting and receiving devices, and FIG. 17 is a schematic diagram of the coordinate system.

[0076] As shown in FIG. 15, the method for calculating the coordinates of the wireless signal receiving means T0 is as follows: An operation 1501 of transmitting and receiving wireless signals between a plurality of wireless transmitting and receiving devices (e.g., A1 to A4); An operation 1502 of calculating distances between two of the plurality of wireless transmitting / receiving devices based on transmitted and received wireless signals, where the distances can be calculated based on the arrival times, such that in FIG. 16, the distance between A1 and A2 is d11, the distance between A1 and A3 is d10, the distance between A1 and A4 is d14, the distance between A2 and A3 is d20, the distance between A2 and A4 is d13, and the distance between A3 and A4 is d30; Operation 1503: taking one wireless transmitting / receiving device (e.g., base station A1) as the origin and establishing a coordinate system based on the calculated distance between the wireless transmitting / receiving devices. As shown in FIG. 17A, when there are four wireless transmitting / receiving devices, a coordinate system is established. The coordinate system may be a three-dimensional coordinate system, but only the xy plane is shown in the figure. When there are three wireless transmitting / receiving devices, the established coordinate system may be a planar coordinate system as shown in FIG. 17B, that is, the plane on which A1, A2, and A3 are located is the xy plane. In this case, it is not possible to calculate whether the wireless signal receiving means T0 is above or below the xy plane, so it is necessary to attach a height sensor (e.g., an ultrasonic distance sensor) to the collecting device to identify the coordinate of the wireless signal receiving means T0 in the Z direction (i.e., the direction perpendicular to the xy plane). Operation 1503; Act 1504 of setting the coordinates of each wireless transceiver device in the coordinate system identified in Act 1503; The calculation module 1401 includes an operation 1505 for calculating the coordinates in the coordinate system of the wireless signal receiving means T0 based on the distances d1, d2, d3, d4 (shown in FIG. 14) between the wireless signal receiving means T0 and each wireless transceiver device, whereby the distance between the wireless signal receiving means T0 and each wireless transceiver device can be calculated based on the arrival time.

[0077] In this embodiment, the method of positioning performed by the spatial system 1302 is not limited to that shown in FIG. 15 . For example, the spatial system 1302 may perform positioning based on Ultra Wide Band (UWB) or Bluetooth (registered trademark). Here, UWB technology is a wireless carrier wave communication technology that transmits data using non-sinusoidal narrow pulses at the nanosecond level without using sine waves, thereby occupying a wide spectrum range. In addition, the collecting device 1301 may perform positioning using an inertial navigation device provided in the collecting device 1301, instead of performing positioning based on the spatial system 1302.

[0078] 13, the control system of the collecting device may further include a sub-collection device 1303. The sub-collection device 1303 is provided in the collecting device 1301 and can be separated from the collecting device 1301 and returned to the spatial system 1302. The collecting device 1301 has the same structure and description as the collecting device 4, and the sub-collection device 1303 is the same as the sub-detection device 5. For descriptions of the collecting device 1301 and the sub-collection device 1303, please refer to the descriptions of the collecting device 4 and the sub-detection device 5 in FIGS. 4, 5, and 6.

[0079] The following describes an example of how the collection device detects the following: S1, the collection device leaves the automatic charging and gas filling station (i.e., the starting point) and begins flight. S2, the collection device acquires spatial information of the target area (e.g., floor plan or layout diagram of the target area), and sets different detection paths based on the unreachable area. S3: Following the set detection path, the detection position (i.e., the operation position, the operation spot, etc.) on the detection path is reached. S4: Stay at each detection location for a preset time and detect environmental data (e.g., air quality). S5, after completing the detection, fly along the set detection path to reach the next detection position. S6 and S5 stay at the detection locations for a preset time to detect the air quality in the space. S7: Repeat S5 and S6 until all detection paths have been passed. S8, upload the environmental data to the database and generate an environmental distribution map in the space of the target area. S9, return to the automatic charging and gas filling station for charging and gas filling.

[0080] In Example 1, the preset stay time can be set to, for example, 1 minute, and without performing operation S2, i.e., without acquiring information within the space of the target area, S2 is omitted, and the robot cruises to detect environmental data, uploads the detected environmental data to the server, and then generates an accurate environmental distribution map to prepare for the next environmental cleaning or purification.

[0081] In addition, when the collecting device encounters an operating environmental device on its detection path, the collecting device can control the environmental device to temporarily stop operation by sending a signal to the environmental device using infrared rays, etc., or when the collecting device encounters an operating device on its detection path, the collecting device can avoid the environmental device, and after the environmental device stops operating, the collecting device can move to a detection position near the environmental device to detect it again. Here, environmental devices can include air conditioners, purifiers, humidifiers, cleaning robots, fresh air devices, etc.

[0082] Furthermore, if the amount of power is less than a predetermined value or the power consumption for propeller power is greater than a predetermined value (for example, the balloon serving as a float is out of air), the collection device can interrupt the flight along the detected path and fly to a charging / gas filling station for charging or gas filling. If there are multiple charging / gas filling stations, the collection device calculates the charging / gas filling station closest to the current position and flies to the nearest charging / gas filling station for charging or gas filling.

[0083] The flow of charging the collection device may include the following operations. S11: There are electromagnets at the positive and negative terminals of the charging interface of the automatic charging and gas filling station, and the charging port of the collection device is made of ferrous metal. S12: When the charging station detects that a collection device is approaching, it supplies power to the electromagnets connected to the positive and negative terminals of the charging interface of the automatic charging and gas filling station, thereby charging the electromagnets. S13: After the charger of the collection device contacts the charging interface of the automatic charging and gas filling station, it is tightly adsorbed and charged. S14: After the electricity on the collecting device is fully charged or when it receives a departure command, the electromagnet on the charging interface will be cut off and lose magnetism, and the collecting device will fly away from the automatic charging and gas filling station.

[0084] The flow of gas filling of the collection device can include the following operations. S21. The gas filling interface of the automatic charging and gas filling station has an electromagnet, a circular opening and a sanded surface on the outermost surface, and the gas filling opening of the collection device is made of ferrous metal and a sanded surface on the outermost surface. S22: When the charging station detects that a collection device is approaching, it supplies power to the electromagnet of the gas filling interface of the automatic charging and gas filling station to charge the electromagnet. S23: After the charger of the collection device contacts with the charging interface of the automatic charging and gas filling station, it is tightly adsorbed. S24: Helium gas is discharged from the gas filling port of the automatic charging and gas filling station. The gas filling port of the collection equipment has a check valve, which can only fill gas and cannot discharge it. S25: After the power on the collecting device is fully charged or when it receives a departure command, the electromagnet on the gas filling interface will be de-energized and lose its magnetism, allowing the collecting device to fly away from the automatic charging and gas filling station.

[0085] According to the embodiment of the present application, a detection path of a collecting device is set based on an unreachable area, and environmental data of the unreachable area is calculated, so that the collecting device can detect environmental data of the unreachable area.

[0086] <Example 2> A second embodiment of the present application provides a collection device and a control method for the collection device. (1) The collection device can be used in a dust removal system.

[0087] 18A is a schematic diagram of a collecting device according to Example 2 of the present application. As shown in FIG. 18A, the collecting device 1 includes a levitating part 10, a driving device 20, a detecting device 30, and a control device 40.

[0088] Here, the inside of the levitation unit 10 is filled with gas to provide power for lifting the collection device 1, and static electricity can be generated on the outer surface of the levitation unit 10. For example, the material of the levitation unit 10 is an insulating material such as plastic or rubber. The driving device 20 drives the collection device 1 to move. The detection device 30 detects environmental data, which may be transmitted to the control device 40 or to a communication device (not shown) of the collection device. The control device 40 controls the driving device 20 to drive the collection device 1 to move along the dust removal path. Here, as the collection device 1 moves along the dust removal path, the statically charged levitation unit 10 attracts dust in the environment.

[0089] According to the second embodiment of the present application, the collecting device has a floating part whose surface is electrostatically charged and whose interior can be filled with gas, so that the floating part itself can not only provide the power for lifting the collecting device but also be used to adsorb dust, thereby improving dust collection efficiency, saving energy, and reducing costs.

[0090] In the present embodiment, the control device 40 may further have the functions that the control device 45 in the first embodiment has, and thus the control device 40 can execute the control method described in the first embodiment.

[0091] In this embodiment, as shown in FIG. 18A, the floating part 10 is spherical, but the present application is not limited thereto. For example, the floating part 10 may be elliptical, cloud-shaped, animal-shaped, etc., where the elliptical shape can improve flight stability, and the cloud-shaped or animal-shaped shape has a larger surface area, which helps improve dust adsorption efficiency, and the cute shape can play a role in calming the user.

[0092] 18A, in this embodiment, the driving device 20 includes a battery 21 and a plurality of (e.g., two or more) propellers 22, which are uniformly arranged around the floating part 10 and are arranged on the same plane. The battery 21 is fixed below the floating part 10. The propellers 22 not only make the flight of the collection device 1 more stable, but also accelerate the settling of particulate matter to the ground, reducing the amount of particulate matter inhaled by people and improving the dust removal effect.

[0093] In this embodiment, the detection device 30 may be provided on the floating unit 10, for example, located below the floating unit 10. The detection device 30 may include a first dust sensor that can detect the concentration of dust in the environment based on a thermal image. The detection device 30 may further detect at least one of environmental data such as air temperature, air humidity, carbon dioxide (CO2) concentration, volatile organic compounds (VOC) concentration, formaldehyde concentration, and carbon monoxide (CO) concentration.

[0094] The dust removal system may further include a second detection device, which may include a second dust sensor (not shown), which may be installed at a fixed location in the room. For example, a predetermined number of sensors may be distributed at a positioning base station or other location in the room. The second dust sensor may detect the dust concentration at the fixed location, thereby combining the dust concentration data detected by the second dust sensor with the dust concentration data detected by the first dust sensor, thereby more accurately fitting the dust concentration distribution situation in the target area (e.g., the room). The second detection device may further detect at least one of environmental data such as air temperature, air humidity, carbon dioxide (CO) concentration, volatile organic compound (VOC) concentration, formaldehyde concentration, and carbon monoxide (CO) concentration.

[0095] In this embodiment, the environmental data detected by the detection device 30 and / or the second detection device can be sent to a server to generate distribution information of environmental data in a target area (e.g., a room), where the environmental data distribution information is, for example, an environmental data distribution map. For example, the server can receive the environmental data and location data corresponding to the environmental data, and use a machine learning model to update the environmental data distribution map using the received location data and environmental data, and display the environmental data distribution map of the target area.

[0096] The environmental data distribution information may reflect environmental data at a certain time, or may reflect environmental data over a certain time period, or by incorporating a neural network, the environmental data distribution information may reflect predicted environmental data for a certain time or time period in the future.

[0097] In this embodiment, the control device 40 can control the driving device 20 to drive the collecting device 1 to move along the dust removal path, and can also control the driving device 20 to drive the collecting device 1 to move along the friction charging path and / or the dust recovery path. Here, in the dust recovery path, dust and static electricity adsorbed on the surface of the levitation unit 10 are removed, and in the friction charging path, static electricity is generated and charged on the surface of the levitation unit 10. The dust recovery path, friction charging path, and dust removal path form a complete operating path for the collecting device 1, enabling automated operation. For example, after receiving a command, the collecting device 1 moves along the dust removal path, causing the levitation unit 10 to adsorb dust. Then, the collecting device 1 enters the dust recovery path, removing the dust and static electricity adsorbed on the surface of the levitation unit 10. After that, the collecting device 1 enters the friction charging path, thereby charging the surface of the levitation unit 10 with static electricity again, in preparation for the next dust removal.

[0098] 18B is another schematic diagram of a collecting device according to an embodiment of the present application. As shown in FIG. 18B, the collecting device 1b includes a floating part (not shown), a driving device 20, a detecting device 30, a control device 40, a sponge 50, an atomizing sheet 60, and a retractor 70.

[0099] Here, the description of the floating unit (not shown), driving device 20, detection device 30, and control device 40 is the same as in Fig. 1 and will not be repeated. The sponge 50 may be suspended below the control device 40, and an atomizing sheet 60 is provided below the sponge 50, which can atomize and output the water within the sponge 50. Four towers 70 can tow the sponge 50 and the atomizing sheet 60. This allows the collection device 1b to improve the humidity in the environment.

[0100] 18C is a further schematic diagram of a collection device according to an embodiment of the present application. As shown in FIG. 18C, the collection device 1c includes a floating part (not shown), a driving device 20, a detection device 30, a control device 40, a traction device 70, and an air agitation network 80.

[0101] Here, the explanations of the floating part (not shown), the driving device 20, the detection device 30, the control device 40, and the traction device 70 are the same as those in FIG. 18A or 18B and will not be repeated. The air agitation net 80 may be a lightweight, air-impermeable net, such as polyethylene. The air agitation net 80 is towed by the traction device 70. The air agitation net 80 can accelerate air circulation in the room by promoting air flow.

[0102] Also, FIG. 18C shows a state in which the air agitating net 80 is open, and the air agitating net 80 may be stored when it is not necessary to operate.

[0103] In the following description, the collection device 1 will be described as an example, and the same description applies to the collection device 1b and the collection device 1c as well.

[0104] FIG. 19 is a schematic diagram of a dust removal system to which a collecting device according to a second embodiment is applied. The collecting device 1 is not shown in the dust removal system 100 of FIG. 19. As shown in FIG. 19, the dust removal system 100 includes not only the collecting device 1 (not shown) but also at least one of a cleaning channel 2, a static electricity application channel 3, and a charging station (e.g., a charging / gas filling spot) 4. Here, the cleaning channel 2 may be located in the dust collection path, the static electricity application channel 3 may be located in the friction charging path, and the charging station 4 may be a starting point from which the collecting device 1 takes off or a starting point from which the collecting device 1 takes off again after charging midway.

[0105] FIG. 20 is a schematic diagram of the cleaning channel 2. As shown in FIG. 20, the cleaning channel 2 includes a first housing 21 and a grounded metal structure 22. The grounded metal structure 22 is provided on the top of the first housing 21 and includes a first base 221 and a first suction port 222, both of which are made of, for example, a metal material. The first suction port 222 is connected to the first housing 21 via the first base 221. The first suction port 222 is used to attract the floating part 10 of the collection device 1 to the top of the first housing 21 and to allow the floating part 10 to release static electricity via the grounded metal structure 22. The first base 221 may include a pulley structure and can move along a pulley track 211 on the top of the first housing 21.

[0106] 20, the cleaning channel 2 further includes a dust suction port 23 and a first wheel slide plate 24 provided on at least one side of the first housing 21. When the first wheel slide plate 24 moves, it can move the floating member 10 along with it (for example, two first wheel slide plates 24 hold the floating member 10 from both sides and move the floating member 10 along with it), and negative pressure is generated within the dust suction port 23, which sucks up dust adsorbed on the surface of the floating member 10.

[0107] FIG. 21 is a schematic diagram of the electrostatic application channel 3. As shown in FIG. 21, the electrostatic application channel 3 includes a second housing 31 and an insulating structure 32. The insulating structure 32 is provided on the top of the second housing 31. The insulating structure 32 includes a second base 321 and a second suction port 322, both of which are made of, for example, a plastic material. The second suction port 322 is connected to the second housing 31 via the second base 321 and can attract the levitation unit 10 to the top of the second housing 31. The second base 321 may include a pulley structure and can move along a pulley track 311 on the top of the second housing 31.

[0108] 21, the static electricity application channel 3 may further include a frictional electromotive structure 33 and a second wheel slide plate 34 provided on at least one side of the second housing 31. The frictional electromotive structure 33 may be, for example, a nylon bristle structure. The second wheel slide plate 34 moves the floating member 10 (for example, two second wheel slide plates 34 hold the floating member 10 from both sides and move the floating member 10). The frictional electromotive structure 33 is fixed to the side of the second housing 31, so that the frictional electromotive structure 33 can generate static electricity on the surface of the floating member 10 by friction with the floating member 10.

[0109] 19, the charging stand 4 can charge the battery of the collection device 1 by wireless charging or magnetic attraction. The charging stand 4 may be provided in a base station (e.g., the positioning base station 4 in FIG. 19), and for example, the charging stand 4 may be provided on the ceiling of a room or below the base station. The charging stand 4 may also be provided at a position separated by a predetermined distance from the base station.

[0110] In addition, the charging stand 4 may have the function of filling gas into the levitation unit 10, thereby integrating the functions of both charging and gas filling into the charging stand 4. For example, an electromagnet may be provided at the gas filling port of the charging stand 4, and a magnet may be provided at the gas filling port of the levitation unit 10. When the levitation unit 10 approaches the charging stand, the two magnets attract each other to fix the levitation unit 10 to the charging stand 4, facilitating the filling of gas into the levitation unit 10. A check valve is provided at the gas filling port of the levitation unit 10 to allow gas to enter the levitation unit 10 while preventing gas leakage within the levitation unit 10.

[0111] Also, an independent gas filling station can be provided to realize the function of filling gas into the levitation unit 10. For example, the gas filling station may be provided next to the charging station.

[0112] In this embodiment, the dust removal system 100 may further include a spatial system, which can locate the collection device 1.

[0113] For the description of the spatial system, please refer to the related description of the spatial system 1302 in the first embodiment. For example, the contents of Figures 14, 15, 16 and 17 may be incorporated herein.

[0114] FIG. 22 is a schematic diagram of a method by which the control device 40 controls the collection device 1, and as shown in FIG. 22, the method includes: An operation 2201 of acquiring environmental data in the space of the target area; an operation 2202 of setting a method for adjusting the environmental state and a movement route of the collection device based on the environmental data; and an operation 2203 of controlling the collection device to move along a set movement path and to perform processing corresponding to a set manner of adjusting environmental conditions.

[0115] In operation 2201, the environmental data includes at least one of the concentration of particulate matter in the air (e.g., dust concentration, and / or PM2.5 concentration, and / or PM10 concentration, etc.), air temperature, air humidity, carbon dioxide (CO2) concentration, volatile organic compound (VOC) concentration, formaldehyde concentration, carbon monoxide (CO) concentration, etc. The environmental data may be environmental data detected by the detection device 30 and / or the second detection device, or may be environmental data distribution information transmitted to the collection device by the server, etc.

[0116] In operation 2202, the environmental conditions are adjusted in a manner such as by removing floating particulate matter (e.g., dusting) the environment, and / or by humidifying the environment, and / or by promoting airflow.

[0117] In operation 2202, in one embodiment, the collecting device 1 sets a round-trip cruising route to cruise within the target area, thereby comprehensively improving the environmental data within the target area. For example, by switching the collecting device 1 to an automatic cruising mode, the collecting device 1 flies along the automatic cruising route and executes a method of adjusting the environmental conditions along the automatic cruising route. Here, if the distribution of the environmental data is uniform, the automatic cruising mode can be switched to.

[0118] In another embodiment, in operation 2202, a travel route can be set based on locations corresponding to environmental data that needs to be improved. For example, based on the acquired environmental data, several locations where dust concentration or other environmental data is greater than a threshold value can be listed, or several top locations can be listed by ranking the dust concentration or other environmental data from highest to lowest. Starting from a starting point (e.g., a charging station), the listed location closest to the starting point can be calculated as the first location point on the travel route. Next, the listed location closest to the first location point can be calculated as the second location point. By analogy, each location point on the travel route can be calculated in turn, and these location points constitute each location point on the travel route, thereby setting the travel route. By switching the collection device 1 to capture mode, a travel route can be set based on locations corresponding to environmental data that needs to be improved, and the collection device 1 can then perform intentional environmental adjustment processing on the locations corresponding to the environmental data that needs to be improved. Here, if the distribution of environmental data is uneven (e.g., if the mean square error of the environmental data is greater than a predetermined value), the collection device 1 can switch to the capture mode.

[0119] Also, if all the environmental data are less than the threshold value, the control device 40 may set a default travel path, which may be, for example, a snake-like path.

[0120] 23 is another schematic diagram of a method in which the control device 40 controls the collection device 1. As shown in FIG. 23, the control method includes: An operation 2301 of acquiring spatial information and / or environmental device information of a target area; an operation 2302 of setting a movement path for a collection device based on the spatial information and / or information of the environmental device; and an operation 2303 of controlling the collection device to move according to a set path of travel.

[0121] In operation 2301, spatial information of the target area, such as a floor plan or layout diagram of the target area, is obtained by scanning the target area or from a building information model (BIM). In addition, in operation 2301, information of environmental equipment in the target area, such as type information, position information, size information, etc. of the environmental equipment, can be further obtained. The environmental equipment can include an air conditioner, a purifier, a humidifier, a cleaning robot, a fresh air device, etc.

[0122] In operation 2302, a movement path can be set based on spatial information of the target area. The movement path may be a Z-shaped movement path as shown in Fig. 7, a circular movement path as shown in Fig. 8, or a region-specific movement path as shown in Fig. 9. For example, if there are no tall obstacles in the target area, a circular detection path can be set preferentially; if there are obstacles such as pillars in the target area, a Z-shaped pre-set path can be set; if the layout of items arranged in the target area is concentrated, a region-specific detection path can be set preferentially; and if the area of ​​the target area is large, a circular detection path or a Z-shaped detection path can be set preferentially.

[0123] In operation 2302, the environmental equipment sets a travel route, and for example, if there is environmental equipment on the travel route, the collection equipment may adjust the travel route to bypass the environmental equipment, or if there is environmental equipment on the travel route and the collection equipment flies near the environmental equipment, if it is detected that the environmental equipment is in operation, the collection equipment can adjust the travel route to bypass the environmental equipment, and if it is detected that the environmental equipment has already been turned on while flying along the travel route or after finishing flying, the collection equipment can return to the vicinity of the environmental equipment. This can prevent the collection equipment from deviating from the travel route due to airflow generated when the environmental equipment is operating.

[0124] Furthermore, when the collection device 1 flies along the movement path (for example, operation 2303 or operation 2203), if the collection device 1 flies near the environmental equipment and detects that the environmental equipment is operating, the collection device 1 can transmit an infrared signal or the like to the environmental equipment to stop its operation, thereby preventing the collection equipment from deviating from the movement path due to air currents generated when the environmental equipment is operating.

[0125] 24 is a schematic diagram of a method in which the control device controls the collection device 1 to move along a set movement path, and is used to perform the above-described operation 2303 or operation 2203. As shown in FIG. 24, the control device 40 controls the collection device 1 to move along a set movement path as follows: an operation 2401 of identifying a cleaning channel based on the location of the collection device; 2402, where the collection device is introduced into the cleaning channel to remove dust particles attracted to the collection device; an operation 2403 of placing the collection device into a static electricity application channel to generate static electricity on the surface of the collection device; and an operation 2404 of moving the collection device according to a set path of travel.

[0126] In this embodiment, by performing operations 2401, 2402, and 2403, dust on the surface of the floating part 10 of the collection device 1 can be removed and static electricity can be charged, thereby performing dust removal processing.

[0127] In some embodiments, operations 2401, 2402, and 2403 may be performed before the collection device 1 starts moving along the set movement path, or operations 2401, 2402, and 2403 may be performed while the collection device 1 is moving along the set movement path. For example, if it is determined while the collection device 1 is moving along the set movement path that the amount of dust adsorbed on the surface of the floating part 10 has already reached a threshold, the movement along the original movement path may be temporarily stopped, and operations 2401, 2402, and 2403 may be performed to remove the dust adsorbed on the surface of the floating part 10 and re-charge it with static electricity, and then, in operation 2404, the movement along the original movement path may be continued.

[0128] In operation 2401 , the location of the collection device 1 can be determined based on a spatial system or an inertial navigation device on the collection device 1 .

[0129] In operation 2401, if there is only one cleaning channel 2 within the target area in which the collection device 1 is located, then that cleaning channel 2 is identified as the target cleaning channel.

[0130] In operation 2401, if there are two or more cleaning channels 2 within the target area in which the collection device 1 is located, the control device 40 calculates the distance between each cleaning channel 2 and the collection device 1, and designates the cleaning channel 2 closest to the collection device 1 as the identified cleaning channel.

[0131] FIG. 25 is a schematic diagram of operation 2401. As shown in FIG. 25, operation 2401 is, for example, the following operation: operation 2501, which determines whether there is only one cleaning channel within the target area in which collection device 1 is located, and if so, proceeds to operation 2502, and if not, proceeds to operation 2503; an operation 2502 of designating the one cleaning channel as a target cleaning channel; An operation 2503 of calculating the distance between each cleaning channel and the collection device 1 and designating the cleaning channel closest to the collection device 1 as the designated cleaning channel. For example, the distance from the cleaning channel #1 to the collection device 1 is d1, the distance from the cleaning channel #2 to the collection device 1 is d2, and since d1 < d2, the operation 2503 of designating the cleaning channel #1 as the target cleaning channel can be included.

[0132] In operation 2402, the control device 40 can control to make the collection device 1 enter the target cleaning channel 2.

[0133] In operation 2402, a control signal can be sent by the control device 40 to start the cleaning process in the cleaning channel 2, or when the collection device enters the cleaning channel 2, the cleaning channel 2 can be triggered to start the cleaning process.

[0134] In the cleaning channel 2, the cleaning process can include that the first suction port 222 at the top of the cleaning channel 2 sucks the collection device 1 to the top by wind force, discharges the static electricity carried on the floating part 10 of the collection device 1, the two sides of the collection device 1 abut against the first wheel slide plate 24, the dust suction ports 23 on both sides of the cleaning channel 2 are turned on to suck the dust on the surface of the floating part 10, and when the first suction port 222 at the top adsorbs the collection device 1, it moves forward along the cleaning channel 2 and at the same time moves the collection device 1 and the first wheel slide plate 24 forward.

[0135] When the discharge of static electricity on the collection device 1 is completed and the cleaning of the adsorbed dust is completed, the control device 40 controls the collection device 1 to exit from the cleaning channel 2.

[0136] In operation 2403 , the control device 40 can control the collection device 1 to enter as the static electricity application channel 3 .

[0137] In operation 2403, the control device 40 can send a control signal to the electrostatic application channel 3 to start the cleaning process, or when the collection device enters the electrostatic application channel 3, trigger the electrostatic application channel 3 to start the electrostatic application process.

[0138] In the electrostatic application channel 3, the electrostatic application process can include: the second suction port 322 at the top of the electrostatic application channel 3 attracts the collection device 1 to the top by wind force, and both sides of the collection device 1 abut against the second wheel slide plate 34; and frictional electromotive structures 33 are fixed to both sides of the second housing 31, and when the collection device 1 moves forward along the electrostatic application channel 3, friction occurs between the levitation part 10 and the frictional electromotive structures 33, thereby generating static electricity on the surface of the levitation part 10.

[0139] After the electrostatic charge application process is completed, the control device 40 controls the collection device 1 to exit the electrostatic charge application channel 3 .

[0140] In operation 2404, moving the collection device 1 along the set movement path includes moving the collection device 1 to a predetermined position on the movement path and staying there for a predetermined time, and / or moving the collection device 1 along the movement path for a predetermined time period, and / or moving the collection device a predetermined distance along the movement path. Furthermore, the collection device 1 can start moving along the movement path immediately after receiving the control signal, or can start moving along the movement path at a predetermined time, or can move to a predetermined position at a predetermined time. Furthermore, the specific shape of the movement path may be a Z-shaped path (e.g., FIG. 7), a circular path (e.g., FIG. 8), a random path by region (e.g., FIG. 9), etc.

[0141] The following describes the operation flow of the collection device 1 in one embodiment. The example includes the following operations: A user activates the collection device 1 by voice or gesture (S1); S2 in which the collection device 1 leaves the charging station and flies to detect environmental data within a target area (e.g., indoors), where the flying route in operation S2 may be a default route (e.g., a cruising route) or a route set based on spatial information of the target area and / or information on environmental devices, and the specific setting method can be referred to in FIG. 23 S2; A control device of the collection device 1 generates a corresponding movement path based on the distribution information of the environmental data to improve the environmental data (S3); S4: obtaining the location of the collection device 1 using a spatial system; S5 searches for the cleaning channel 2 closest to the collection device 1; S6, where collection device 1 enters cleaning channel 2; S7, where the collection device 1 enters the static electricity application channel 3; S8, in which the collection device 1 moves along the movement path set in S3 and performs at least one of processes for improving the environmental data, such as dust removal, humidification, and strengthening of air flow; S9: After the processing of the collection device 1 is completed, the collection device 1 enters the cleaning channel 2 to clean the dust on the surface of the floating part 10; S10, the collection device 1 enters a charging mode or a sleep mode.

[0142] If the collection device 1 is interrupted in its movement along its travel path, the collection device 1 can return to operation S2, detect again, and change its travel path in real time based on the new detection results. In this example, when the collection device 1 reaches a predetermined position on its travel path, it can stay there for a predetermined time, which can help perform processes such as dust removal, humidification, and strengthening air flow. The preset stay time can be set to, for example, one minute. Furthermore, without performing operation S2, i.e., without acquiring information about the space in the target area, S2 can be omitted, and the collection device 1 can cruise and detect environmental data. After uploading the detected environmental data to the server, an accurate environmental distribution map can be generated and used for the next environmental cleaning or purification.

[0143] Furthermore, when the collecting device 1 encounters an operating environmental device on its travel path, the collecting device 1 can control the environmental device to temporarily stop operation by sending a signal to the environmental device using infrared rays or the like, or when it encounters an operating device on its travel path, the collecting device 1 can avoid the environmental device, and after the environmental device stops operating, the collecting device 1 can move to a detection position near the environmental device to detect it. Here, environmental devices can include air conditioners, purifiers, humidifiers, cleaning robots, air fresheners, etc.

[0144] Furthermore, if the amount of power is less than a predetermined value or the power consumption for propeller power is greater than a predetermined value (for example, the balloon serving as the floating unit 10 is out of gas), the collection device 1 can interrupt the flight along the travel path and fly to a charging / gas filling station for charging or gas filling. If there are multiple charging / gas filling stations, the collection device 1 calculates the charging / gas filling station closest to the current position and flies to the nearest charging / gas filling station for charging or gas filling.

[0145] The flow of charging collection device 1 may include the following operations. S11: There are electromagnets at the positive and negative terminals of the charging interface of the automatic charging and gas filling station, and the charging port of the collection device is made of ferrous metal. S12: When the charging station detects that the collection device 1 is approaching, it supplies power to the electromagnets connected to the positive and negative terminals of the charging interface of the automatic charging and gas filling station, thereby charging the electromagnets. S13: After the charger of the collection device 1 contacts the charging interface of the automatic charging and gas filling station, it is tightly adsorbed and charged. S14: After the electricity on the collecting device is fully charged or when a departure command is received, the electromagnet on the charging interface is de-energized and loses magnetism, so that the collecting device 1 can fly away from the automatic charging and gas filling station.

[0146] The flow of gas filling of the collection device can include the following operations. S21. The gas filling interface of the automatic charging and gas filling station has an electromagnet, a circular opening and a polished surface on the outermost surface, and the gas filling opening of the collection device 1 is made of ferrous metal and has a polished surface on the outermost surface. S22: When the charging station detects that the collection device 1 is approaching, it supplies power to the electromagnet of the gas filling interface of the automatic charging and gas filling station to charge the electromagnet. S23, the charger of the collection device 1 contacts with the charging interface of the automatic charging and gas filling station and is tightly adsorbed. S24: Helium gas is discharged from the gas filling port of the automatic charging and gas filling station. The gas filling port of the collection device 1 has a check valve, which can only fill gas and cannot discharge it. S25: After the electricity on the collecting device is fully charged or when a departure command is received, the electromagnet on the gas filling interface will be de-energized and lose its magnetism, allowing the collecting device 1 to fly away from the automatic charging and gas filling station.

[0147] Furthermore, the collection device 1C having the air agitation network 80 can have the following operation flow. S31: The collecting device 1C leaves the automatic charging and gas filling station, sends a start-up signal to the air purifier, the air stirring network 80 of the collecting device 1C opens, and the collecting device 1C starts flying. S32, firstly, fly along a preset moving path to reach a first detection space point; S33: Detect the environmental parameters (e.g., dust concentration) of the current spatial point, record the coordinate value of this point and the dust concentration, and upload the data to the server. S34, flying along a preset moving path to reach the next detection space point. S35: Detect the dust concentration at the current spatial position, record the coordinate value of this point and the dust concentration, and upload the data to the server. S36, S34 and S35 are repeated until the location of the air purifier is reached. S37: Repeat S34, S35, and S36 until the entire movement path has been traveled. S38, retract the air agitation net 80, return to the automatic charging and gas filling station, and send a shutdown signal to the air purifier.

[0148] The above is an example of promoting air flow using the air agitation net 80 while performing detection. Naturally, detection is not necessary; in this case, all that is required is to open the environmental equipment (e.g., an air purifier), open the air agitation net 80, and fly the collection device 1C along the set movement path.

[0149] Furthermore, if the collecting device 1C has a levitating part 10, the collecting device 1C can perform the above S5, S6 and S7, thereby serving to adsorb particles such as dust during the flight process.

[0150] Furthermore, the collection device 1B having the sponge 50 and the atomizing sheet 60 can have the following operation flow. S41, the collection device 1B leaves the automatic charging and gas filling station, sends a start-up signal to the humidifier, and the sponge 50 at the starting point first absorbs enough water and starts flying. S42: The atomizing sheet 60 on the collecting device 1B is turned on, and the atomizing sheet 60 first flies to a first intermediate space point according to a preset moving path. S43: Turn off the power of the atomizing sheet 60 on the collection device 1B, and stop for a predetermined time (e.g., one minute), detect the humidity at the current spatial position, record the coordinate value and humidity value of this point, and upload the data to a higher-level computer or server. S44, the atomizing sheet 60 on the collecting device 1B is turned on, and the atomizing sheet 60 flies along the preset moving path to reach the next detection space point. S45: Turn off the power of the atomizing sheet 60 on the collection device 1B, pause for a predetermined time (e.g., one minute), detect the humidity at the current spatial position, record the coordinate value and humidity value of this point, and upload the data to a higher-level computer or server. S46, S44 and S45 are repeated until the position of the humidifier is reached, the power supply of the atomizing sheet 60 on the collection device 1B is turned off, and the sponge 50 receives the mist from the humidifier. S47: Repeat S44, S45, and S46 until the entire movement path has been traveled. In step S48, the atomizing sheet 60 of the collection device 1B is powered off, and the collection device 1B returns to the automatic charging and gas filling station and sends a shutdown signal to the humidifier. Specifically, the reason for keeping the collection device 1B stationary in S43 and S45 is that, in order to improve detection accuracy, if the air is left to stand for a while, the values ​​detected in this way will be closer to the actual situation, and the movement of the collection device 1B will further improve detection accuracy without disturbing the environmental distribution state.

[0151] The above is a flow for performing humidification while detecting, but it is of course possible to perform only humidification without detecting, and in this case, humidification can be performed along the corresponding route.

[0152] Furthermore, if the collecting device 1B has a levitating part 10, the collecting device 1B can perform the above S5, S6 and S7, thereby serving to adsorb particles such as dust during the flight process.

[0153] According to the embodiment of the present application, the collecting device has a floating part whose surface is electrostatically charged and whose interior can be filled with gas, so that the floating part itself can not only provide power for lifting the collecting device but also be used to adsorb dust, thereby improving dust collection efficiency, saving energy, and reducing costs.

[0154] The controllers described with reference to the embodiments of the present invention may be embodied directly in hardware, as software modules executed by a processor, or a combination of both. These hardware modules may be implemented, for example, using a Field Programmable Gate Array (FPGA) to implement these software modules.

[0155] The software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other type of storage medium known in the art. The storage medium may be coupled to the processor, such that the processor can read information from and write information to the storage medium, or the storage medium may be a component of the processor. The processor and the storage medium may be integrated into an ASIC. The software module may be stored in the memory of the mobile terminal or in a memory card insertable into the mobile terminal. For example, if the electronic device uses a large-capacity MEGA-SIM card or a large-capacity flash memory device, the software module may be stored in the MEGA-SIM card or a large-capacity flash memory device.

[0156] The controller described herein may be implemented as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or any suitable combination thereof to perform the functions described herein, such as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors communicatively coupled to a DSP, or any other such configuration.

[0157] An embodiment of the present invention further relates to a storage medium, such as a hard disk, a magnetic disk, an optical disk, a DVD, or a flash memory, for storing the above program.

[0158] Furthermore, the limitations on each step of the present solution are not deemed to limit the order of the steps, provided that they do not affect the implementation of the specific solution. The previous step may be executed first, later, or even simultaneously. As long as the present solution can be implemented, any of these should be considered to fall within the scope of protection of the present application.

[0159] Although the present application has been described in combination with specific embodiments, it is clear to those skilled in the art that these descriptions are merely illustrative and do not limit the scope of the claims of the present application. Those skilled in the art can make various modifications and alterations to the present application based on the ideas and principles of the present application, and these modifications and alterations are also within the scope of the present application.

Claims

1. an acquisition device for acquiring spatial information of a target area; a control device that sets a detection path for the collection device based on unreachable areas in the target area; a detection device that acquires environmental data detected as the collection device moves along the detection path within the space of the target area, the environmental data including environmental data of the unreachable area; Obtaining environmental data is the collecting device moves along a set detection path and performs detection, and when the collecting device reaches a predetermined position close to the unreachable area, releases a sub-collection device to detect environmental data around the unreachable area; When the sub-collection device completes the detection, the collection device retrieves the sub-collection device, and the collection device continues to move and perform detection along the set detection path. Collection equipment.

2. An acquisition device for acquiring spatial information of a target area; a control device that sets a detection path for the collection device based on unreachable areas in the target area; a detection device that acquires environmental data detected as the collection device moves along the detection path within the space of the target area, the environmental data including environmental data of the unreachable area; The control device further If the collection device deviates from the established detection path, recording the location of the collection device as a predetermined location; a collection device moving to a next operating position on the set detection path and moving and detecting along the set detection path; After the movement along the set detection path is completed, the collecting device is controlled so that the collecting device moves to the predetermined position and performs detection. Collection equipment.

3. An acquisition device for acquiring spatial information of a target area; a control device that sets a detection path for the collection device based on unreachable areas in the target area; a detection device that acquires environmental data detected as the collection device moves along the detection path within the space of the target area, the environmental data including environmental data of the unreachable area; The control device further an operation of moving along a set detection path and detecting an environmental device, and acquiring a state of the environmental device when approaching the environmental device; When the environmental device is turned on, a controller of the collection device controls the environmental device to stop operation; and controlling the collection device to continue movement and detection according to the set detection path. Collection equipment.

4. An acquisition device for acquiring spatial information of a target area; a control device that sets a detection path for the collection device based on unreachable areas in the target area; a detection device that acquires environmental data detected as the collection device moves along the detection path within the space of the target area, the environmental data including environmental data of the unreachable area; The control device further an operation of detecting and moving the collecting device along a set route, and acquiring the status of the environmental device when the collecting device approaches the environmental device; recording the location of the collection device as a predetermined location when the environmental device is turned on; a collection device moving to a next operating position on the set path and moving and detecting along the set path; and controlling the collecting device to move to the predetermined position and perform a detection operation after the movement along the set route is completed. Collection equipment.

5. The acquiring of the environmental data includes: and calculating environmental data within the unreachable area based on environmental data of areas surrounding the unreachable area. A collection device according to any one of claims 1 to 4.

6. and calculating environmental data within the unreachable area based on environmental data of areas surrounding the unreachable area detected by different detection paths. The collection device of claim 5 .

7. calculating environmental data within the unreachable area based on environmental data of areas surrounding the unreachable area detected by different detection paths, for each of the detected paths, determining a relationship between a location around the unreachable area and environmental data; and calculating environmental data within the unreachable area based on the relationship between the identified position and environmental data. The collection device of claim 6.

8. for environmental data of the area around the unreachable area detected according to different detection paths, an average value of the plurality of environmental data or an average value of a pair of environmental data among the plurality of environmental data that has the smallest mean square error (MSE) is set as the environmental data of the unreachable area, The collection device of claim 7.

9. Obtaining information in space of the target area is The method includes acquiring information about the space of the target area by recognizing or scanning the spatial layout of the target area with a camera, or acquiring information about the space of the target area from a building information model (BIM), A collection device according to any one of claims 1 to 4.

10. Obtaining environmental data is further comprising setting a route for the sub-collection device based on the space or location occupied by the unreachable area; The sub-collection device moves along a route set for the sub-collection device, detects environmental data, and uploads the obtained environmental data to a database. The collection device of claim 1 .

11. The sub-collection device is connected to the collection device by a puller wire. The collection device of claim 10.

12. The detection device detects: Detecting at a predetermined location, and / or detecting at a predetermined time, and / or detecting at a predetermined distance, A collection device according to any one of claims 1 to 4.

13. When switching detection paths, the collection device: Move into position immediately and detect, or The detection is performed by moving to a predetermined position at a predetermined time. A collection device according to any one of claims 1 to 4.

14. The set detection path includes a Z-shaped detection path, a linear detection path, a circular detection path, or a detection path for each region. A collection device according to any one of claims 1 to 4.

15. The environmental equipment includes at least one of a purifier, an air conditioner, a fresh air system, and a humidifier.

5. A collection device according to claim 3 or 4.

16. The acquired environmental data is used to generate an environmental data distribution state diagram. A collection device according to any one of claims 1 to 4.

17. The collection device includes: a drive unit for driving the collecting device to move; a transmission device for transmitting the data signal to the database; The control device controls the drive device to move the collection device along a preset detection path or an updated detection path. A collection device according to any one of claims 1 to 4.

18. The collecting device further includes a floating portion that is filled with gas to provide power for lifting the collecting device and that can generate static electricity on its outer surface; the control device further controls the drive device to drive the collection device to move along a dust removal path; The floating part, which is electrostatically charged, attracts dust in the environment while the collecting device moves along the dust removal path.

18. The collection device of claim 17.

19. The control device further controlling the drive device to drive the collection device to move along a tribocharging path and / or a dust collection path.

20. The collection device of claim 18.

20. the collection device movement path includes at least one of a cleaning channel, a static charge application channel, and a charging stand; The cleaning channel includes a first housing and a grounded metal structure provided on the top of the first housing, the grounded metal structure including a first base and a first suction port connected to the first housing via the first base, for attracting the floating part to the top of the first housing and for the floating part to release static electricity through the grounded metal structure; a dust suction port and a first wheel slide plate are provided on a side of the first housing, and when the first wheel slide plate moves along with the floating part, a negative pressure is generated in the dust suction port to remove dust adsorbed on the surface of the floating part; the electrostatic application channel includes a second housing and an insulating structure provided on the top of the second housing, the insulating structure including a second base and a second suction port connected to the second housing via the second base and attracting the levitation unit to the top of the second housing; a frictional electromotive structure and a second wheel slide plate are provided on a side of the second housing; when the second wheel slide plate moves the levitation unit, the frictional electromotive structure rubs against the levitation unit, thereby generating static electricity in the levitation unit; The charging stand charges the battery of the collection device by wireless charging or magnetic attraction.

20. The collection device of claim 18.

21. The detection device includes: a first dust sensor provided in the floating part, and / or and a second dust sensor provided at a fixed position in the room.

20. The collection device of claim 18.

22. The drive device includes a battery and a plurality of propellers, the plurality of propellers are arranged to uniformly surround the floating part, the plurality of propellers are arranged on the same plane, and the battery is fixed below the floating part.

20. The collection device of claim 18.

23. The floating part is spherical, elliptical, cloud-shaped or animal-shaped.

20. The collection device of claim 18.

24. The control device further Controlling the acquisition device to set a method for adjusting the environmental state and a movement path of the acquisition device based on the acquired environmental data in the space of the target area; and controlling the collecting device so that the collecting device moves along a set movement path and performs processing corresponding to a set method for adjusting the environmental condition.

20. The collection device of claim 18.

25. Controlling the collection device to move according to a set movement path includes: identifying a cleaning channel based on the location of the collection device; inserting the collecting device into the cleaning channel to remove dust adsorbed on the collecting device; placing the collection device in a static electricity application channel to generate static electricity on the surface of the collection device; and moving the collecting device along a dust removal path in a set moving path.

25. The collection device of claim 24.

26. The environmental data includes the concentration of particulate matter in the air, the temperature of the air, the humidity of the air, and the amount of carbon dioxide (CO ２ ), a concentration of volatile organic compounds (VOCs), a concentration of formaldehyde, and a concentration of carbon monoxide (CO), 25. The collection device of claim 24.

27. Setting a travel route is Setting a cruising path for the collection device to collect dust all over the surface; and / or and setting a travel route based on a location corresponding to the environmental data that needs to be improved.

25. The collection device of claim 24.

28. Identifying the cleaning channel When there are two or more cleaning channels, the method includes calculating the distance between each cleaning channel and the collection device, and determining the cleaning channel closest to the collection device as the identified cleaning channel.

26. The collection device of claim 25.

29. Removing dust adsorbed to the collecting device in the cleaning channel includes: placing the collection device into the cleaning channel; causing the cleaning channel to undergo a cleaning process; and controlling the collection device to exit the cleaning channel.

26. The collection device of claim 25.

30. generating static electricity on the surface of the collection device; placing the collection device into a static charge application channel; subjecting the static electricity application channel to a static electricity application treatment; and controlling the collection device to cause the electrostatic charge application channel to exit.

26. The collection device of claim 25.

31. The movement of the collection device along the path of travel may include: the collection device moves to a predetermined location on the travel path and stays there for a predetermined time; and / or the collection device moves along the travel path for a predetermined period of time; and / or the collection device moving a predetermined distance along the path of travel.

25. The collection device of claim 24.

32. A spatial system for positioning a collection device according to any one of claims 1 to 4, a wireless signal receiving means provided in the collecting device for determining the position of the collecting device in space; two or more wireless transceiver devices in communication with said wireless signal receiving means; a calculation module for determining the location of the wireless signal receiving means based on the distance between the wireless signal receiving means and each of the wireless transceiver devices and the distance between the two or more wireless transceiver devices. Spatial system.

33. The method for determining the location of the wireless signal receiving means by the calculation module includes: transmitting and receiving radio signals between the two or more radio transceiver devices; calculating a distance between each pair of the two or more wireless transceiver devices; establishing a coordinate system with one of the wireless transceiver devices as an origin based on the calculated distances between the wireless transceiver devices; setting coordinates of each of the wireless transceiver devices in the coordinate system; the calculation module calculates coordinates in a coordinate system of the wireless signal receiving means based on distances between the wireless signal receiving means and each of the wireless transceiver devices.

33. The spatial system of claim 32.

34. Obtaining spatial information of a target area; setting a detection path for a collection device based on an unreachable area in the target area; acquiring environmental data detected as the collection device moves along the detection path within the space of the target area, the environmental data including environmental data of the unreachable area; Obtaining environmental data is the collecting device moves along a set detection path and performs detection, and when the collecting device reaches a predetermined position close to the unreachable area, releases a sub-collection device to detect environmental data around the unreachable area; When the sub-collection device completes the detection, the collection device retrieves the sub-collection device, and the collection device continues to move and perform detection along the set detection path. How to control the collection equipment.

35. Obtaining spatial information of a target area; setting a detection path for a collection device based on an unreachable area in the target area; acquiring environmental data detected as the collection device moves along the detection path within the space of the target area, the environmental data including environmental data of the unreachable area; If the collection device deviates from the established detection path, recording the location of the collection device as a predetermined location; a collection device moving to a next operating position on the set detection path and moving and detecting along the set detection path; After the movement along the set detection path is completed, the collecting device is controlled so that the collecting device moves to the predetermined position and performs detection. How to control the collection equipment.

36. Obtaining spatial information of a target area; setting a detection path for a collection device based on an unreachable area in the target area; acquiring environmental data detected as the collection device moves along the detection path within the space of the target area, the environmental data including environmental data of the unreachable area; an operation of moving along a set detection path and detecting an environmental device, and acquiring a state of the environmental device when approaching the environmental device; When the environmental device is turned on, a controller of the collection device controls the environmental device to stop operation; and controlling the collection device to continue movement and detection according to the set detection path. How to control the collection equipment.

37. Obtaining spatial information of a target area; setting a detection path for a collection device based on an unreachable area in the target area; acquiring environmental data detected as the collection device moves along the detection path within the space of the target area, the environmental data including environmental data of the unreachable area; an operation of detecting and moving the collecting device along a set route, and acquiring the status of the environmental device when the collecting device approaches the environmental device; recording the location of the collection device as a predetermined location when the environmental device is turned on; a collection device moving to a next operating position on the set path and moving and detecting along the set path; and controlling the collecting device to move to the predetermined position and perform a detection operation after the movement along the set route is completed. How to control the collection equipment.

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