Abstract: A system for purifying helium gas, a method, and an application. The system includes a first gas-liquid separation device, a primary helium extraction tower, a second gas-liquid separation device, a secondary helium extraction tower, and a nitrogen removal tower, which are in sequential communication. The first gas-liquid separation device performs first treatment to convert helium-containing natural gas into a first gas and first liquid phases; the primary helium extraction tower performs first distillation on the first gas and first liquid phases to obtain a second gas and second liquid phases; the second gas-liquid separation device performs second treatment to convert the second gas phase to a third gas and third liquid phase; the secondary helium extraction tower performs second distillation on the third gas and third liquid phases to obtain crude helium and a fourth liquid phase form which nitrogen is removed by the nitrogen removal tower.

Abstract: An autonomous mobile device and a method for controlling the same are provided. The method includes: performing first positioning on the autonomous mobile device to acquire a first current pose of the autonomous mobile device in a first coordinate system; performing second positioning on the autonomous mobile device when determining, based on the first current pose and a first preset pose of a charging station in the first coordinate system, that a distance between the autonomous mobile device and the charging station is less than or equal to a first preset distance, to obtain a second current pose of the autonomous mobile device in a second coordinate system, and determining, based on the second current pose and a second preset pose of the charging station in the second coordinate system, a second planned path for directing the autonomous mobile device to a docking position of the charging station.