WO2025213877A1 - 吸尘器及其防毛发缠绕的控制方法、装置及存储介质 - Google Patents

吸尘器及其防毛发缠绕的控制方法、装置及存储介质

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Publication number
WO2025213877A1
WO2025213877A1 PCT/CN2024/143547 CN2024143547W WO2025213877A1 WO 2025213877 A1 WO2025213877 A1 WO 2025213877A1 CN 2024143547 W CN2024143547 W CN 2024143547W WO 2025213877 A1 WO2025213877 A1 WO 2025213877A1
Authority
WO
WIPO (PCT)
Prior art keywords
vacuum cleaner
control
environmental information
entanglement
control parameters
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/143547
Other languages
English (en)
French (fr)
Inventor
黄永华
刘昱东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ubtech Robotics Corp
Original Assignee
Ubtech Robotics Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ubtech Robotics Corp filed Critical Ubtech Robotics Corp
Publication of WO2025213877A1 publication Critical patent/WO2025213877A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0405—Driving means for the brushes or agitators
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • A47L9/2863—Control elements activated by pivoting movement of the upright vacuum cleaner handle

Definitions

  • the present application relates to the field of vacuum cleaners, and in particular to a vacuum cleaner and a control method, device, and storage medium thereof for preventing hair entanglement.
  • vacuum cleaners with autonomous navigation capabilities i.e., smart vacuum cleaners
  • Their autonomous navigation and cleaning capabilities have significantly reduced the burden of household chores.
  • smart vacuum cleaners can effectively remove pet hair and various fine debris, maintaining a clean home environment.
  • vacuum cleaners often face the problem of hair becoming entangled in the brush during cleaning. This entanglement not only reduces vacuum cleaner performance but also makes cleaning and maintenance more difficult for users. Furthermore, as the vacuum cleaner accumulates more hair, its suction power and cleaning efficiency are affected, further compromising cleaning results.
  • the embodiments of the present application provide a vacuum cleaner and its anti-hair entanglement control method, device and storage medium to reduce the hair entanglement level of vacuum cleaners in the prior art and improve the performance and cleaning effect of the vacuum cleaner.
  • a first aspect of an embodiment of the present application provides a method for controlling hair entanglement prevention of a vacuum cleaner, the method comprising:
  • a control parameter corresponding to when the degree of entanglement is minimized under the environmental information the control parameter including at least one of a fan speed, a travel motor speed, and a roller brush speed;
  • At least one of the fan speed, the travel motor speed and the roller brush speed of the vacuum cleaner is controlled according to the control parameters.
  • determining, according to a preset control logic, a control parameter corresponding to a minimum entanglement degree under the environmental information includes:
  • An iterative optimization is performed using a preset optimization algorithm to determine the control parameters corresponding to the minimum predicted entanglement degree.
  • the method before using the pre-trained vacuum cleaner control network model to calculate the predicted entanglement degree of the vacuum cleaner, the method further includes:
  • sample data including sample entanglement degrees obtained by the vacuum cleaner in working scenarios with different sample environmental information and using sample control parameters of different fan speeds, different travel motor speeds, and different roller brush speeds;
  • the parameters of the vacuum cleaner control network model are adjusted according to the deviation between the sample entanglement degree and the predicted entanglement degree until the deviation meets the preset requirements, thereby obtaining a trained vacuum cleaner control network model.
  • determining, according to a preset control logic, a control parameter corresponding to a minimum entanglement degree under the environmental information includes:
  • the gear position corresponding to the minimum predicted winding degree is determined, and the control parameter is determined according to the gear position.
  • obtaining environmental information in a working scene of the vacuum cleaner includes:
  • Controlling at least one of the fan speed, the travel motor speed, and the roller brush speed of the vacuum cleaner according to the control parameter includes:
  • At least one of the fan speed, the travel motor speed and the roller brush speed of the vacuum cleaner at the navigation path point at the predetermined distance is controlled.
  • the environmental information includes ground material information
  • the ground material information of the ground is determined by receiving an ultrasonic reflection signal after an ultrasonic wave is reflected on the ground, or receiving an infrared reflection signal after an infrared signal is reflected on the ground.
  • the environmental information further includes at least one of the hair length and ground humidity
  • At least one of hair length and ground humidity in the environmental information is obtained by parsing the ground image.
  • a second aspect of an embodiment of the present application provides a control device for preventing hair entanglement of a vacuum cleaner, the device comprising:
  • An environmental information acquisition unit configured to acquire environmental information of a working scene of the vacuum cleaner
  • control parameter determination unit configured to determine, based on a preset control logic, a control parameter corresponding to a minimum entanglement degree under the environmental information, the control parameter comprising at least one of a fan speed, a travel motor speed, and a roller brush speed;
  • a control unit is used to control at least one of the fan speed, travel motor speed and roller brush speed of the vacuum cleaner according to the control parameters.
  • control parameter determination unit includes:
  • a calculation subunit configured to calculate a predicted entanglement degree of the vacuum cleaner using a pre-trained vacuum cleaner control network model according to current control parameters of the vacuum cleaner and the environmental information;
  • the optimization subunit is used to perform iterative optimization using a preset optimization algorithm to determine the control parameters corresponding to the minimum predicted entanglement degree.
  • the apparatus further includes:
  • sample data acquisition unit configured to acquire sample data, the sample data including sample entanglement degrees obtained by the vacuum cleaner in working scenarios with different sample environmental information and using sample control parameters of different fan speeds, different travel motor speeds, and different roller brush speeds;
  • a calculation output unit configured to calculate sample environment information and sample control parameters in the sample data through a vacuum cleaner control network model, and output a predicted entanglement degree
  • a parameter adjustment unit is used to adjust the parameters of the vacuum cleaner control network model according to the deviation between the sample entanglement degree and the predicted entanglement degree until the deviation meets the preset requirements, thereby obtaining a trained vacuum cleaner control network model.
  • control parameter determination unit includes:
  • a corresponding relationship determination subunit is used to determine the control parameters corresponding to different control gears
  • An entanglement degree prediction subunit configured to calculate the predicted entanglement degree outputted by the environmental information and the control parameters corresponding to different gear positions using a pre-trained vacuum cleaner control network model;
  • the gear determination subunit is used to determine the gear corresponding to the minimum predicted winding degree, and determine the control parameter according to the gear.
  • the environment information acquisition unit includes:
  • a position determination subunit configured to determine, based on the navigation path of the vacuum cleaner, environmental information of a navigation path point at a predetermined distance from the current position of the vacuum cleaner;
  • the control unit is used to control at least one of the fan speed, travel motor speed and roller brush speed of the vacuum cleaner at the navigation path point at the predetermined distance according to the control parameters.
  • the environmental information includes ground material information
  • the environmental information acquisition unit is used to determine the ground material information of the ground by receiving an ultrasonic reflection signal after an ultrasonic wave is reflected on the ground, or receiving an infrared reflection signal after an infrared signal is reflected on the ground.
  • the environmental information further includes at least one of the hair length and ground humidity
  • the environmental information acquisition unit includes:
  • An image acquisition subunit configured to acquire ground images through an image sensor
  • the image analysis subunit is used to analyze the ground image to obtain at least one of the hair length and ground humidity in the environmental information.
  • a third aspect of an embodiment of the present application provides a vacuum cleaner, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method described in any one of the first aspects are implemented.
  • a fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of the first aspects are implemented.
  • the beneficial effects of the embodiments of the present application compared with the prior art are as follows: the embodiments of the present application obtain environmental information of the working scene where the vacuum cleaner is located, and based on a pre-set control logic, determine the control parameters corresponding to the minimum degree of entanglement under the environmental information, and based on the determined control parameters, control at least one of the fan speed, roller brush speed and travel motor speed of the vacuum cleaner, so that the vacuum cleaner can adaptively adjust the control parameters according to the environmental information and be in a state of minimum entanglement, which is beneficial to improving the performance of the vacuum cleaner and improving the cleaning effect.
  • FIG1 is a schematic structural diagram of a vacuum cleaner provided in an embodiment of the present application.
  • FIG2 is a schematic diagram of a flow chart of an implementation method for preventing hair entanglement in a vacuum cleaner according to an embodiment of the present application
  • FIG3 is a schematic diagram of an implementation flow of determining control parameters provided by an embodiment of the present application.
  • FIG4 is a schematic diagram of an implementation flow of training parameters of a vacuum cleaner control network model provided by an embodiment of the present application.
  • FIG5 is a schematic diagram of a hair entanglement prevention control device for a vacuum cleaner provided in an embodiment of the present application
  • FIG6 is a schematic diagram of a vacuum cleaner provided in an embodiment of the present application.
  • a vacuum cleaner is a household appliance used to clean dust, dirt, hair, and other debris from floors, carpets, and other surfaces.
  • the brush picks up debris and pushes it toward the nozzle, where an electric pump generates suction to draw the debris into the machine.
  • vacuum cleaners can now be controlled by a motor to automatically clean along a set path, significantly reducing the burden of household chores.
  • vacuum cleaners often face the problem of hair becoming entangled in the brush during cleaning. This entanglement not only reduces vacuum cleaner performance but also makes cleaning and maintenance more difficult for users. Furthermore, as the vacuum cleaner accumulates more hair, its suction power and cleaning efficiency are affected, further compromising cleaning results.
  • FIG. 1 is a schematic structural diagram of the vacuum cleaner.
  • the vacuum cleaner includes an environmental sensor, an input module, a control module, a storage module, a roller brush, a fan, a travel module, and a status detection and control module.
  • the environmental sensor is used to detect environmental information at the current position of the vacuum cleaner, or at a predetermined distance ahead of the current position, such as environmental information at a navigation path point at a predetermined distance ahead.
  • the environmental information may include ground material information, or may further include at least one of ground humidity and ground hair length.
  • the floor material information may include multiple different types.
  • the floor material information may include two or more of wooden flooring, tile flooring, rubber flooring, woven flooring, and concrete flooring. Different floor materials have different abilities to grip hair and may also contact the roller brush in different ways.
  • Different floor humidity levels also affect the floor's ability to absorb hair.
  • a vacuum cleaner When a vacuum cleaner is used on floors at different humidity levels, the way hair contacts the brush, the shape of the hair, and the suction force required to absorb the hair will also change.
  • the length of the hair also affects its adhesion to the brush.
  • the input module can be used to input control data for the vacuum cleaner. For example, the walking speed of the vacuum cleaner, the fan speed of the vacuum cleaner, or the speed of the roller brush can be controlled, or different gears can be input and the machine can be operated according to the control parameters corresponding to the gears.
  • the input module can also control the vacuum cleaner to be in automatic control state or manual control state. When the vacuum cleaner is in automatic control state, the control parameters with the minimum degree of entanglement can be automatically selected based on environmental information.
  • the input module can be input through the display panel of the vacuum cleaner, or through buttons, or through the APP interface of the control terminal.
  • the control module can be used to execute the anti-hair entanglement control method of the vacuum cleaner in the embodiment of the present application, determine the control parameters that best match the environmental information, so that the vacuum cleaner can effectively reduce the degree of hair entanglement according to the control parameters, and improve the performance and cleaning effect of the vacuum cleaner.
  • the storage module can be used to store code data corresponding to the anti-hair entanglement control method for the vacuum cleaner, so that the control module can execute the code data to implement the anti-hair entanglement control method for the vacuum cleaner.
  • the storage module can also store the corresponding relationship between different gears and control parameters.
  • roller brush and fan are the primary cleaning components of a vacuum cleaner.
  • the roller brush directly contacts the floor, and through its rotation, the bristles on the brush sweep dust and debris into the vacuum cleaner's suction port.
  • the fan creates negative pressure or suction, drawing contaminants like hair and dust into the dust collection box. The combined effect of the roller brush and fan effectively improves cleaning efficiency.
  • the walking module is used to control the movement of the vacuum cleaner according to the set cleaning path, so that the vacuum cleaner can autonomously complete the cleaning work indoors or in a designated area, improving the convenience of people's use.
  • the status detection and control module can be used to detect the cleaning status data of the vacuum cleaner, which may include detecting one or more of the fan speed, the travel motor speed and the roller brush motor speed, and controlling one or more of the fan speed, the travel motor speed and the roller brush motor speed according to the control parameters generated by the control module.
  • FIG2 is a schematic diagram of a flow chart of a control method for preventing hair entanglement in a vacuum cleaner according to an embodiment of the present application, which is described in detail as follows:
  • the working scene of the vacuum cleaner may include working scenes in different rooms.
  • the environmental information in the working scene may include the floor material information in the working scene.
  • the floor material information may include two or more of wooden floor, tile floor, rubber floor, woven floor and concrete floor.
  • ground material information When acquiring ground material information, it can be determined by analyzing the signals collected by the infrared sensor and/or the ultrasonic sensor.
  • the ground material information can be determined by detecting the intensity of the infrared signal emitted by the infrared emitting tube after being reflected by the ground through an infrared sensor, or by detecting the intensity of the ultrasonic signal emitted by the ultrasonic tube after being reflected by the ground through an ultrasonic sensor.
  • Environmental information detection isn't limited to infrared or ultrasonic sensors.
  • Image sensors can also be used to detect the surface material in the work scene. For example, the mapping between different surface types and image features can be pre-set, and the surface type in the work environment can be determined based on the image features included in the captured surface image.
  • the environmental information may include at least one of hair length of the ground and humidity of the ground.
  • the hair included in the image can be detected through the captured image and the hair length can be calculated.
  • the environmental information includes humidity
  • the humidity in the working scene can be detected through a humidity sensor.
  • a control parameter corresponding to the minimum entanglement degree under the environmental information is determined.
  • the control parameters of the vacuum cleaner include at least one of a fan speed, a travel motor speed and a roller brush speed.
  • the control logic in the embodiment of the present application can be a pre-set correspondence between environmental information and control parameters. Based on this correspondence, the control strategy of the current environmental information is quickly determined.
  • the correspondence can be a correspondence between control parameters and environmental information of different gears.
  • control logic can calculate different predicted entanglement degrees based on the vacuum cleaner control network model, determine the best control parameters through optimization iteration, and determine the control parameters corresponding to the minimum entanglement degree to control the state of the vacuum cleaner.
  • FIG3 the process of determining the control parameters of a vacuum cleaner based on the optimization iteration method can be shown in FIG3 , including:
  • a pre-trained vacuum cleaner control network model is used to calculate a predicted entanglement degree of the vacuum cleaner according to current control parameters of the vacuum cleaner and the environmental information.
  • the current control parameter of the vacuum cleaner may include at least one of the fan speed, travel motor speed and roller brush speed of the vacuum cleaner.
  • the current environmental information of the vacuum cleaner can be the same as the environmental information used during the training of the control network model of the vacuum cleaner.
  • the environmental information used for calculation also includes ground material information.
  • the environmental information used during training includes hair length
  • the environmental information used for calculation also includes hair length
  • the environmental information used during training includes ground humidity
  • the environmental information used for calculation also includes ground humidity.
  • the error of the predicted entanglement degree calculated based on the vacuum cleaner control network model is small and meets the predetermined error requirement.
  • the control parameters can be iteratively optimized based on the calculated predicted entanglement degree.
  • the vacuum cleaner control network model may include a variety of different neural network models, such as a convolutional neural network, a feedforward neural network, and the like.
  • the model before using the vacuum cleaner control network model to calculate the predicted entanglement degree, the model may be trained, as shown in FIG4 , including:
  • sample data is acquired.
  • the sample data includes the sample entanglement degree obtained by the vacuum cleaner in working scenarios of different sample environmental information, using sample control parameters of different fan speeds, different travel motor speeds and different roller brush speeds.
  • the data can be collected repeatedly a predetermined number of times to obtain a predetermined number of entanglement degrees, and the sample entanglement degree can be determined based on the predetermined number of entanglement degrees.
  • the sample entanglement degree can be determined by calculating the average value of the predetermined number of entanglement degrees.
  • the maximum and minimum values of the predetermined number of entanglement degrees can be removed and then the average value can be calculated to obtain the sample entanglement degree.
  • the vacuum cleaner control network model is used to calculate the sample environment information and sample control parameters in the sample data, and outputs a predicted entanglement degree.
  • the vacuum cleaner control network model can be used to calculate the sample environment information and sample control parameters in the sample data in the training set to obtain the predicted entanglement degree.
  • the parameters of the vacuum cleaner control network model are adjusted according to the deviation between the sample entanglement degree and the predicted entanglement degree until the deviation meets the preset requirement, thereby obtaining a trained vacuum cleaner control network model.
  • the parameters can be adjusted and optimized based on the size of the deviation between the sample entanglement degree and the predicted entanglement degree through a gradient optimization method or other optimization methods. After the adjustment, it can be verified by the sample data in the sample verification set.
  • a deviation threshold can be set.
  • the parameters can be updated in the gradient direction to quickly reduce the deviation between the two, so that the deviation is less than or equal to the deviation threshold, that is, the preset requirements are met, so that the vacuum cleaner control network model converges quickly.
  • a preset optimization algorithm is used to perform iterative optimization to determine the control parameters corresponding to the minimum predicted entanglement degree.
  • iterative optimization can be performed based on numerical optimization methods, including gradient descent, stochastic gradient ascent, quasi-Newton method, and other numerical optimization methods, until the control parameters corresponding to the minimum degree of entanglement are determined.
  • At least one of the fan speed, the travel motor speed, and the roller brush speed of the vacuum cleaner is controlled according to the control parameter.
  • the vacuum cleaner can reduce the amount of hair accumulation as much as possible, improve the performance of the vacuum cleaner, and improve the cleaning effect of the vacuum cleaner.
  • control parameters for minimizing entanglement can be calculated based on different environmental information, including at least one of the vacuum cleaner's fan speed, travel motor speed, and roller brush speed.
  • different gears can be set based on the common correspondence between environmental information and control parameters.
  • the control parameters for the set gear are the control parameters that minimize entanglement under the environmental information.
  • ground material information may include tile floors, concrete floors, wooden floors, and woven floors.
  • the optimal control parameters corresponding to different ground material information can be determined, and the correspondence between the optimal control parameters and the gears can be set.
  • the first gear is set to the control parameters corresponding to the tile floor
  • the second gear is set to the control parameters corresponding to the concrete floor
  • the third gear is set to the control parameters corresponding to the wooden floor
  • the fourth gear is set to the control parameters corresponding to the woven floor.
  • the vacuum cleaner can automatically switch to the corresponding gear by detecting the current environmental information when it is working, and quickly locate the optimal control parameters.
  • the user can set the gear to be used based on the correspondence between the vacuum cleaner in different environmental information and the gears.
  • the environmental information is not limited to the ground material information, and may also include the length of hair on the ground and ground humidity, etc.
  • the control parameters of multiple gears are set to correspond to the various environmental information.
  • the embodiment of the present application can pre-acquire environmental information of the location that the vacuum cleaner is about to reach, determine the correspondence between the location in the navigation path and the control parameters, and based on the correspondence, control the control parameters of the vacuum cleaner during the movement, thereby being able to more accurately control the working state of the vacuum cleaner.
  • FIG5 is a schematic diagram of a control device for preventing hair entanglement in a vacuum cleaner according to an embodiment of the present application, the device comprising:
  • An environmental information acquisition unit 501 is used to acquire environmental information of the working scene of the vacuum cleaner
  • control parameter determination unit 502 for determining, based on a preset control logic, a control parameter corresponding to a minimum entanglement degree under the environmental information, wherein the control parameter comprises at least one of a fan speed, a travel motor speed, and a roller brush speed;
  • the control unit 503 is used to control at least one of the fan speed, the travel motor speed and the roller brush speed of the vacuum cleaner according to the control parameters.
  • the anti-hair entanglement control device for a vacuum cleaner shown in FIG5 corresponds to the anti-hair entanglement control method for a vacuum cleaner shown in FIG2 .
  • FIG. 6 is a schematic diagram of a vacuum cleaner provided in an embodiment of the present application.
  • the vacuum cleaner 6 in this embodiment includes a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60, such as a vacuum cleaner hair entanglement prevention control program.
  • the processor 60 executes the computer program 62, it implements the steps of the aforementioned vacuum cleaner hair entanglement prevention control method embodiments.
  • the processor 60 executes the computer program 62, it implements the functions of the various modules/units in the aforementioned device embodiments.
  • the computer program 62 may be divided into one or more modules/units, which are stored in the memory 61 and executed by the processor 60 to implement the present application.
  • the one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 62 in the vacuum cleaner 6.
  • the vacuum cleaner may include, but is not limited to, a processor 60 and a memory 61.
  • FIG6 is merely an example of the vacuum cleaner 6 and does not limit the vacuum cleaner 6 .
  • the vacuum cleaner 6 may include more or fewer components than shown in the figure, or may combine certain components, or may include different components.
  • the vacuum cleaner may further include input and output devices, network access devices, buses, and the like.
  • the processor 60 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or any conventional processor.
  • the memory 61 may be an internal storage unit of the vacuum cleaner 6, such as a hard disk or memory of the vacuum cleaner 6.
  • the memory 61 may also be an external storage device of the vacuum cleaner 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the vacuum cleaner 6.
  • the memory 61 may also include both an internal storage unit and an external storage device of the vacuum cleaner 6.
  • the memory 61 is used to store the computer program and other programs and data required by the vacuum cleaner.
  • the memory 61 may also be used to temporarily store data that has been output or is to be output.
  • the disclosed devices/terminal equipment and methods can be implemented in other ways.
  • the device/terminal equipment embodiments described above are merely illustrative.
  • the division of the modules or units is merely a logical function division.
  • Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.
  • the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.
  • the aforementioned integrated units may be implemented in the form of hardware or software functional units.
  • the integrated module/unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the present application implements all or part of the process in the above-mentioned method embodiment, which can also be completed by hardware related to computer program instructions.
  • the computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments.
  • the computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form.
  • the computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

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  • Electric Vacuum Cleaner (AREA)

Abstract

本申请涉及吸尘器领域，尤其涉及吸尘器及其防毛发缠绕的控制方法、装置及存储介质。该方法包括：获取所述吸尘器的工作场景中的环境信息；根据预先设定的控制逻辑，确定在所述环境信息下，缠绕程度最小时所对应的控制参数，所述控制参数包括风机转速、行走电机转速和滚刷转速中的至少一项；根据所述控制参数，控制所述吸尘器的风机转速、行走电机转速和滚刷转速中的至少一项。从而使得吸尘器可以根据环境信息自适应调整控制参数，处于最小缠绕程度的状态，从而有利于提升吸尘器性能，提高清洁效果。

Description

吸尘器及其防毛发缠绕的控制方法、装置及存储介质
本申请要求于2024年4月10日在中国专利局提交的、申请号为202410441031.4、发明名称为“吸尘器及其防毛发缠绕的控制方法、装置及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及吸尘器领域，尤其涉及吸尘器及其防毛发缠绕的控制方法、装置及存储介质。
背景技术
随着智能家居设备的快速发展，带有自主导航功能的吸尘器(即智能吸尘器)已成为家庭清洁中不可或缺的一部分。智能吸尘器通过自主导航和清扫功能，极大地减轻了人们的家务负担。尤其是对于养宠物的家庭来说，智能吸尘器能够有效清理宠物毛发和各种细小碎屑，保持家庭环境的清洁。
然而，现有的吸尘器在清扫过程中常常面临毛发缠绕在滚刷上的问题。毛发缠绕不仅会导致吸尘器性能下降，还会增加用户清理和维护吸尘器的难度。此外，随着吸尘器积累的毛发越来越多，其吸力和清扫效率也会受到影响，进而影响清洁效果。
技术问题
有鉴于此，本申请实施例提供了一种吸尘器及其防毛发缠绕的控制方法、装置及存储介质，以减轻现有技术中的吸尘器的毛发缠绕程度，提升吸尘器性能和清洁效果的问题。
技术解决方案
本申请实施例的第一方面提供了一种吸尘器的防毛发缠绕的控制方法，所述方法包括：
获取所述吸尘器的工作场景中的环境信息；
根据预先设定的控制逻辑，确定在所述环境信息下，缠绕程度最小时所对应的控制参数，所述控制参数包括风机转速、行走电机转速和滚刷转速中的至少一项；
根据所述控制参数，控制所述吸尘器的风机转速、行走电机转速和滚刷转速中的至少一项。
结合第一方面，在第一方面的第一种可能实现方式中，根据预先设定的控制逻辑，确定在所述环境信息下，缠绕程度最小时所对应的控制参数，包括：
根据所述吸尘器当前的控制参数和所述环境信息，采用预先训练完成的吸尘器控制网络模型计算所述吸尘器的预测缠绕程度；
采用预设的优化算法进行迭代优化，确定所述预测缠绕程度最小时所对应的控制参数。
结合第一方面的第一种可能实现方式，在第一方面的第二种可能实现方式中，在采用预先训练完成的吸尘器控制网络模型计算所述吸尘器的预测缠绕程度之前，所述方法还包括：
获取样本数据，所述样本数据包括所述吸尘器在不同的样本环境信息的工作场景中，采用不同风机转速、不同行走电机转速和不同滚刷转速的样本控制参数下，所得到的样本缠绕程度；
通过吸尘器控制网络模型计算所述样本数据中的样本环境信息和样本控制参数，输出预测缠绕程度；
根据样本缠绕程度与预测缠绕程度之间的偏差调整所述吸尘器控制网络模型的参数，直到所述偏差符合预设要求，得到训练完成的吸尘器控制网络模型。
结合第一方面，在第一方面的第三种可能实现方式中，根据预先设定的控制逻辑，确定在所述环境信息下，缠绕程度最小时所对应的控制参数，包括：
确定不同控制档位所对应的控制参数；
通过预先训练完成的吸尘器控制网络模型计算所述环境信息和不同档位所对应的控制参数所输出的预测缠绕程度；
确定预测缠绕程度最小时所对应的档位，根据所述档位确定所述控制参数。
结合第一方面，在第一方面的第四种可能实现方式中，获取所述吸尘器的工作场景中的环境信息，包括：
根据所述吸尘器的导航路径，确定距离所述吸尘器当前位置预定距离处的导航路径点的环境信息；
根据所述控制参数，控制所述吸尘器的风机转速、行走电机转速和滚刷转速中的至少一项，包括：
根据所述控制参数，控制所述吸尘器在所述预定距离处的导航路径点时的风机转速、行走电机转速和滚刷转速中的至少一项。
结合第一方面，在第一方面的第五种可能实现方式中，所述环境信息包括地面材质信息；
获取所述吸尘器的工作场景中的环境信息，包括：
通过接收超声波在地面反射后的超声反射信号，或者接收红外信号在地面反射后的红外反射信号，确定所述地面的地面材质信息。
结合第一方面的第五种可能实现方式，在第一方面的第六种可能实现方式中，所述环境信息还包括所述毛发长度和地面湿度中的至少一种；
获取所述吸尘器的工作场景中的环境信息，包括：
通过图像传感器获取地面图像；
根据所述地面图像，解析得到所述环境信息中毛发长度和地面湿度中的至少一种。
本申请实施例的第二方面提供了一种吸尘器的防毛发缠绕的控制装置，所述装置包括：
环境信息获取单元，用于获取所述吸尘器的工作场景中的环境信息；
控制参数确定单元，用于根据预先设定的控制逻辑，确定在所述环境信息下，缠绕程度最小时所对应的控制参数，所述控制参数包括风机转速、行走电机转速和滚刷转速中的至少一项；
控制单元，用于根据所述控制参数，控制所述吸尘器的风机转速、行走电机转速和滚刷转速中的至少一项。
结合第二方面，在第二方面的第一种可能实现方式中，所述控制参数确定单元包括：
计算子单元，用于根据所述吸尘器当前的控制参数和所述环境信息，采用预先训练完成的吸尘器控制网络模型计算所述吸尘器的预测缠绕程度；
优化子单元，用于采用预设的优化算法进行迭代优化，确定所述预测缠绕程度最小时所对应的控制参数。
结合第二方面的第一种可能实现方式，在第二方面的第二种可能实现方式中，所述装置还包括：
样本数据获取单元，用于获取样本数据，所述样本数据包括所述吸尘器在不同的样本环境信息的工作场景中，采用不同风机转速、不同行走电机转速和不同滚刷转速的样本控制参数下，所得到的样本缠绕程度；
计算输出单元，用于通过吸尘器控制网络模型计算所述样本数据中的样本环境信息和样本控制参数，输出预测缠绕程度；
参数调整单元，用于根据样本缠绕程度与预测缠绕程度之间的偏差调整所述吸尘器控制网络模型的参数，直到所述偏差符合预设要求，得到训练完成的吸尘器控制网络模型。
结合第二方面，在第二方面的第三种可能实现方式中，控制参数确定单元包括：
对应关系确定子单元，用于确定不同控制档位所对应的控制参数；
缠绕程度预测子单元，用于通过预先训练完成的吸尘器控制网络模型计算所述环境信息和不同档位所对应的控制参数所输出的预测缠绕程度；
档位确定子单元，用于确定预测缠绕程度最小时所对应的档位，根据所述档位确定所述控制参数。
结合第二方面，在第二方面的第四种可能实现方式中，所述环境信息获取单元包括：
位置确定子单元，用于根据所述吸尘器的导航路径，确定距离所述吸尘器当前位置预定距离处的导航路径点的环境信息；
所述控制单元用于根据所述控制参数，控制所述吸尘器在所述预定距离处的导航路径点时的风机转速、行走电机转速和滚刷转速中的至少一项。
结合第二方面，在第二方面的第五种可能实现方式中，所述环境信息包括地面材质信息；
所述环境信息获取单元用于通过接收超声波在地面反射后的超声反射信号，或者接收红外信号在地面反射后的红外反射信号，确定所述地面的地面材质信息。
结合第二方面的第五种可能实现方式，在第二方面的第六种可能实现方式中，所述环境信息还包括所述毛发长度和地面湿度中的至少一种；
所述环境信息获取单元包括：
图像获取子单元，用于通过图像传感器获取地面图像；
图像解析子单元，用于根据所述地面图像，解析得到所述环境信息中毛发长度和地面湿度中的至少一种。
本申请实施例的第三方面提供了一种吸尘器，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如第一方面任一项所述方法的步骤。
本申请实施例的第四方面提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现如第一方面任一项所述方法的步骤。
有益效果
本申请实施例与现有技术相比存在的有益效果是：本申请实施例通过获取吸尘器所在的工作场景中的环境信息，基于预先设定的控制逻辑，确定环境信息下的缠绕程度最小时对应的控制参数，基于所确定的控制参数，控制吸尘器的风机转速、滚刷转速和行走电机转速中的至少一种，从而使得吸尘器可以根据环境信息自适应调整控制参数，处于最小缠绕程度的状态，从而有利于提升吸尘器性能，提高清洁效果。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种吸尘器的结构示意图；
图2是本申请实施例提供的一种吸尘器的防毛发缠绕的控制方法的实现流程示意图；
图3是本申请实施例提供的一种确定控制参数的实现流程示意图；
图4是本申请实施例提供的一种训练吸尘器控制网络模型的参数的实现流程示意图；
图5是本申请实施例提供的一种吸尘器的防毛发缠绕的控制装置的示意图；
图6是本申请实施例提供的一种吸尘器的示意图。
本发明的实施方式
以下描述中，为了说明而不是为了限定，提出了诸如特定系统结构、技术之类的具体细节，以便透彻理解本申请实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中，省略对众所周知的系统、装置、电路以及方法的详细说明，以免不必要的细节妨碍本申请的描述。
为了说明本申请所述的技术方案，下面通过具体实施例来进行说明。
吸尘器是一种用来清洁地板、地毯等地面的尘埃、污垢和毛发等垃圾的家用电器。吸尘器通过滚刷可以拾起垃圾并推向吸嘴部位，电动泵产生吸力，可以将垃圾吸入机器内部。随着室内建图技术的发展，吸尘器还可以通过行走电机控制吸尘器按照设定的路径自动完成清扫，大大的减轻了人们的家务负担。
然而，现有的吸尘器在清扫过程中常常面临毛发缠绕在滚刷上的问题。毛发缠绕不仅会导致吸尘器性能下降，还会增加用户清理和维护吸尘器的难度。此外，随着吸尘器积累的毛发越来越多，其吸力和清扫效率也会受到影响，进而影响清洁效果。
为了解决上述问题，本申请实施例提出了一种能够有效减少毛发缠绕的吸尘器，图1为该吸尘器的结构示意图。该吸尘器包括环境传感器、输入模块、控制模块、存储模块、滚刷、风机、行走模块、状态检测和控制模块。
其中，环境传感器用于检测吸尘器当前位置处的环境信息，或者当前位置的前方预定距离处，比如前方预定距离处的导航路径点处的环境信息。
环境信息可以包括地面材质信息，或者还可以包括地面湿度和地面毛发长度中的至少一种。
其中，地面材质信息可以包括多种不同类型。比如，地面材质信息可以包括木地板、瓷砖地板、橡胶地板、编织地板和混凝土地板中的两种或两种以上。由于不同地面材质信息对毛发的抓附能力不同，以及对滚刷的接触方式也会有所不同。
地面的湿度不同，同样也会影响地面对毛发的吸附能力。当吸尘器对不同湿度下的地面进行清扫时，毛发与滚刷的接触方式、毛发的形状变化信息、吸附毛发需要的吸力也会发生变化。毛发的长度不同，同样也会影响到毛发在滚刷上的状态。
输入模块可用于输入吸尘器的控制数据。比如，可以控制吸尘器的行走速度、控制吸尘器的风机转速或控制滚刷的转速等，或者还可以输入不同的档位，根据档位对应的控制参数运行。或者，输入模块还可以控制吸尘器处于自动控制状态或人为控制状态。当吸尘器处于自动控制状态时，可以根据环境信息，自动选择缠绕程度最小的控制参数。输入模块可以通过吸尘器的显示面板输入，或者通过按键输入，或者也可以通过控制终端的APP界面输入。
控制模块可用于执行本申请实施例中的吸尘器的防毛发缠绕的控制方法，确定与环境信息最匹配的控制参数，使吸尘器能够根据该控制参数有效减轻毛发缠绕程度，提升吸尘器的使用性能和清洁效果。
存储模块可用于存储吸尘器的防毛发缠绕的控制方法对应的代码数据，以用于控制模块执行该代码数据，实现吸尘器的防毛发缠绕的控制方法。在可能的实现方式中，存储模块中还可以存储不同档位与控制参数的对应关系。
滚刷和风机是吸尘器的主要清扫器件之一，滚刷可直接接触地面，通过旋转运动，滚刷上的刷毛把地面的灰尘或垃圾扫入吸尘器的吸入口。风机可用于产生负压或吸力，将地面的毛发或灰尘等污染物吸入集尘箱。通过滚刷与风机的配合工作，可有效的提升污染物的清扫效率。
行走模块用于控制吸尘器按照所设定的清扫路径移动，从而使得吸尘器可以自主的完成室内或指定区域的清扫工作，提升人们使用的便利性。
状态检测和控制模块可用于检测吸尘器的清扫状态数据，可以包括检测风机转速、行走电机转速和滚刷电机转速中的一项或者多项，并根据控制模块生成的控制参数，控制风机转速、行走电机转速和滚刷电机转速中的一项或者多项。
图2为本申请实施例提供的一种吸尘器的防毛发缠绕的控制方法的实现流程示意图，详述如下：
在S201中，获取所述吸尘器的工作场景中的环境信息。
本申请实施例中，吸尘器的工作场景可以包括不同房间的工作场景。工作场景中的环境信息，可以包括工作场景中的地面材质信息。比如，地面材质信息可以包括木地板、瓷砖地板、橡胶地板、编织口地板和混凝土地板中的两种或两种以上。
在获取地面材质信息时，可以基于红外传感器和/或超声传感器所采集的信号进行分析确定。
比如，可以根据不同地面对红外信号或超声信号的反射强度，通过红外传感器检测红外发射管所发射的红外信号经由地面反射后的红外信号的强度，或通过超声传感器检测超声管所发射的超声信号，经由地面反射后的超声信号的强度，确定地面材质信息。
不局限于通过红外传感器或超声传感器对环境信息进行检测，还可以通过图像传感器检测得到工作场景中的地面材质信息。比如，可以预先设定不同地面与图像特征的对应关系，基于所采集的地面图像所包括的图像特征，确定工作环境中的地面类型。
在可能的实现方式中，该环境信息可以包括地面的毛发长度和地面的湿度中的至少一项。
当环境信息中包括毛发长度时，可以通过所采集的图像，检测图像中包括的毛发，并计算毛发的长度。当环境信息中包括湿度时，可以通过湿度传感器检测工作场景中的湿度。
在S202中，根据预先设定的控制逻辑，确定在所述环境信息下，缠绕程度最小时所对应的控制参数。
其中，吸尘器的控制参数包括风机转速、行走电机转速和滚刷转速中的至少一项。
本申请实施例中的控制逻辑，可以为预先设定的环境信息与控制参数的对应关系。基于该对应关系，快速的确定当前的环境信息的控制策略，该对应关系可以为不同档位的控制参数与环境信息的对应关系。
或者，该控制逻辑可以基于吸尘器控制网络模型计算不同的预测缠绕程度，通过优化迭代，确定最佳的控制参数，确定最小缠绕程度对应的控制参数进行吸尘器的状态控制。
比如，基于优化迭代方法确定吸尘器的控制参数的过程可以如图3所示，包括：
在S301中，根据所述吸尘器当前的控制参数和所述环境信息，采用预先训练完成的吸尘器控制网络模型计算所述吸尘器的预测缠绕程度。
其中，吸尘器当前的控制参数，可以包括吸尘器的风机转速、行走电机转速和滚刷转速中的至少一项。
吸尘器当前的环境信息，可以与吸尘器的控制网络模型在训练时所使用的环境信息相同。比如，在训练该吸尘器的控制网络模型所使用的环境信息包括地面材质信息时，则用于计算的环境信息也包括地面材质信息。当训练时使用的环境信息包括毛发长度时，则用于计算的环境信息也包括毛发长度。当训练时使用的环境信息包括地面湿度时，则用于计算的环境信息也包括地面湿度。
由于吸尘器控制网络模型为已训练完成，因此，基于吸尘器控制网络模型所计算的预测缠绕程度的误差较小，满足预定的误差要求，可基于所计算的预测缠绕程度进行控制参数的迭代优化。
吸尘器控制网络模型可以包括多种不同的神经网络模型，比如可以包括卷积神经网络、前馈神经网络等。
在可能的实现方式中，在使用吸尘器控制网络模型计算预测缠绕程度之前，还可以完成对该模型的训练，具体如图4所示，包括：
在S401中，获取样本数据。
其中，样本数据包括所述吸尘器在不同的样本环境信息的工作场景中，采用不同风机转速、不同行走电机转速和不同滚刷转速的样本控制参数下，所得到的样本缠绕程度。
为了减少偶然事件对样本数据准确性的影响，对于同一样本数据，即对于相同样本环境信息和相同样本控制参数下，可以重复采集预定次数，得到预定数量的缠绕程度，可以根据预定数量的缠绕程度确定样本缠绕程度。比如，可以根据预定数量的缠绕程度计算平均值，得到样本缠绕程度。或者，也可以将预定数量的缠绕程度中的最大值和最小值去掉，然后计算平均值，得到样本缠绕程度。
在S402中，通过吸尘器控制网络模型计算所述样本数据中的样本环境信息和样本控制参数，输出预测缠绕程度。
可以根据预先初始化的参数，通过吸尘器控制网络模型计算训练集中的样本数据中的样本环境信息和样本控制参数，得到预测缠绕程度。
由于初始化的参数与准确的参数之间通常会存在差异，因此，基于初始化的参数所计算的预测缠绕程度的精度较低，需要进一步优化。
在S403中，根据样本缠绕程度与预测缠绕程度之间的偏差调整所述吸尘器控制网络模型的参数，直到所述偏差符合预设要求，得到训练完成的吸尘器控制网络模型。
在对模型的参数进行优化调整时，可以通过梯度优化方法或其它优化方法，基于样本缠绕程度与预测缠绕程度之间的偏差的大小，对参数进行调整优化。在调整后，可以通过样本验证集中的样本数据对其验证。根据样本缠绕程度与预测缠绕程度之间的偏差调整所述吸尘器控制网络模型的参数时，可以设定偏差阈值，如果样本缠绕程度与预测缠绕程度之间的偏差大于偏差阈值，则可以通过梯度方向更新参数，以快速的减小二者之间的偏差，使偏差小于或等于偏差阈值，即满足预设的要求，使吸尘器控制网络模型快速收敛。
在S302中，采用预设的优化算法进行迭代优化，确定所述预测缠绕程度最小时所对应的控制参数。
在将吸尘器控制网络模型训练完成后，可以基于数值优化方法，包括如梯度下降法、随机梯度上升方法、拟牛顿法等数值优化方法进行迭代优化，直到确定缠绕程度最小时所对应的控制参数。
在S203中，根据所述控制参数，控制所述吸尘器的风机转速、行走电机转速和滚刷转速中的至少一项。
由于通过迭代优化得到的控制参数可以使得吸尘器在清扫毛发时的缠绕程度最小，因而使得吸尘器能够尽可能的减小吸尘器的毛发积累量，提升吸尘器的使用性能，提升吸尘器的清扫效果。
在本申请实施例中，可以根据不同的环境信息，计算缠绕程度最小的控制参数，包括吸尘器的风机转速、行走电机转速和滚刷转速中的至少一项。在确定了不同环境信息对应的控制参数后，可以根据常见的环境信息与控制参数的对应关系，设定不同的档位。所设定的档位的控制参数，为该环境信息下缠绕程度最小时的控制参数。
比如，常见的环境信息包括地面材质信息。而地面材质信息可以包括瓷砖地板、混凝土地板、木质地板和编织地板。可以根据图3所示的方法，确定不同地面材质信息所对应的最优的控制参数，并设定最优的控制参数与档位的对应关系。比如，第一档设置为瓷砖地板对应的控制参数，第二档设置为混凝土地板对应的控制参数，第三档设置为木质地板对应的控制参数，第四档设置为编织地板对应的控制参数。通过档位与控制参数的对应关系，可以使得吸尘器在工作时，通过检测当前的环境信息，自动的切换至对应的档位，快速的定位最优的控制参数。或者，也可以根据吸尘器在不同的环境信息与档位的对应关系，由用户设定需要使用的档位。
可以理解的是，环境信息不局限于地面材质信息，还可以包括如地面的毛发的长度和地面湿度等。基于环境信息的多种可能性，设定多个档位的控制参数与多种环境信息对应。
在可能的实现方式中，本申请实施例可以预先获取吸尘器即将到达的位置处的环境信息，确定导航路径中的位置与控制参数的对应关系，基于该对应关系，控制吸尘器在移动过程中的控制参数，从而能够更准确的控制吸尘器的工作状态。
应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
图5为本申请实施例提供的一种吸尘器的防毛发缠绕的控制装置示意图，该装置包括：
环境信息获取单元501，用于获取所述吸尘器的工作场景中的环境信息；
控制参数确定单元502，用于根据预先设定的控制逻辑，确定在所述环境信息下，缠绕程度最小时所对应的控制参数，所述控制参数包括风机转速、行走电机转速和滚刷转速中的至少一项；
控制单元503，用于根据所述控制参数，控制所述吸尘器的风机转速、行走电机转速和滚刷转速中的至少一项。
图5所示的吸尘器的防毛发缠绕的控制装置，与图2所示的吸尘器的防毛发缠绕的控制方法对应。
图6是本申请实施例提供的吸尘器的示意图。如图6所示，该实施例的吸尘器6包括：处理器60、存储器61以及存储在所述存储器61中并可在所述处理器60上运行的计算机程序62，例如吸尘器的防毛发缠绕的控制程序。所述处理器60执行所述计算机程序62时实现上述各个吸尘器的防毛发缠绕的控制方法实施例中的步骤。或者，所述处理器60执行所述计算机程序62时实现上述各装置实施例中各模块/单元的功能。
示例性的，所述计算机程序62可以被分割成一个或多个模块/单元，所述一个或者多个模块/单元被存储在所述存储器61中，并由所述处理器60执行，以完成本申请。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序62在所述吸尘器6中的执行过程。
所述吸尘器可包括，但不仅限于，处理器60、存储器61。本领域技术人员可以理解，图6仅仅是吸尘器6的示例，并不构成对吸尘器6的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述吸尘器还可以包括输入输出设备、网络接入设备、总线等。
所称处理器60可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器61可以是所述吸尘器6的内部存储单元，例如吸尘器6的硬盘或内存。所述存储器61也可以是所述吸尘器6的外部存储设备，例如所述吸尘器6上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。进一步地，所述存储器61还可以既包括所述吸尘器6的内部存储单元也包括外部存储设备。所述存储器61用于存储所述计算机程序以及所述吸尘器所需的其他程序和数据。所述存储器61还可以用于暂时地存储已经输出或者将要输出的数据。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将所述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中，应该理解到，所揭露的装置/终端设备和方法，可以通过其它的方式实现。例如，以上所描述的装置/终端设备实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实现上述实施例方法中的全部或部分流程，也可以通过计算机程序指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括是电载波信号和电信信号。
以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种吸尘器的防毛发缠绕的控制方法，其特征在于，所述方法包括：
    获取所述吸尘器的工作场景中的环境信息；
    根据预先设定的控制逻辑，确定在所述环境信息下，缠绕程度最小时所对应的控制参数，所述控制参数包括风机转速、行走电机转速和滚刷转速中的至少一项；
    根据所述控制参数，控制所述吸尘器的风机转速、行走电机转速和滚刷转速中的至少一项。
  2. 根据权利要求1所述的方法，其特征在于，根据预先设定的控制逻辑，确定在所述环境信息下，缠绕程度最小时所对应的控制参数，包括：
    根据所述吸尘器当前的控制参数和所述环境信息，采用预先训练完成的吸尘器控制网络模型计算所述吸尘器的预测缠绕程度；
    采用预设的优化算法进行迭代优化，确定所述预测缠绕程度最小时所对应的控制参数。
  3. 根据权利要求2所述的方法，其特征在于，在采用预先训练完成的吸尘器控制网络模型计算所述吸尘器的预测缠绕程度之前，所述方法还包括：
    获取样本数据，所述样本数据包括所述吸尘器在不同的样本环境信息的工作场景中，采用不同风机转速、不同行走电机转速和不同滚刷转速的样本控制参数下，所得到的样本缠绕程度；
    通过吸尘器控制网络模型计算所述样本数据中的样本环境信息和样本控制参数，输出预测缠绕程度；
    根据样本缠绕程度与预测缠绕程度之间的偏差调整所述吸尘器控制网络模型的参数，直到所述偏差符合预设要求，得到训练完成的吸尘器控制网络模型。
  4. 根据权利要求1所述的方法，其特征在于，根据预先设定的控制逻辑，确定在所述环境信息下，缠绕程度最小时所对应的控制参数，包括：
    确定不同控制档位所对应的控制参数；
    通过预先训练完成的吸尘器控制网络模型计算所述环境信息和不同档位所对应的控制参数所输出的预测缠绕程度；
    确定预测缠绕程度最小时所对应的档位，根据所述档位确定所述控制参数。
  5. 根据权利要求1所述的方法，其特征在于，获取所述吸尘器的工作场景中的环境信息，包括：
    根据所述吸尘器的导航路径，确定距离所述吸尘器当前位置预定距离处的导航路径点的环境信息；
    根据所述控制参数，控制所述吸尘器的风机转速、行走电机转速和滚刷转速中的至少一项，包括：
    根据所述控制参数，控制所述吸尘器在所述预定距离处的导航路径点时的风机转速、行走电机转速和滚刷转速中的至少一项。
  6. 根据权利要求1所述的方法，其特征在于，所述环境信息包括地面材质信息；
    获取所述吸尘器的工作场景中的环境信息，包括：
    通过接收超声波在地面反射后的超声反射信号，或者接收红外信号在地面反射后的红外反射信号，确定所述地面的地面材质信息。
  7. 根据权利要求6所述的方法，其特征在于，所述环境信息还包括毛发长度和地面湿度中的至少一种；
    获取所述吸尘器的工作场景中的环境信息，包括：
    通过图像传感器获取地面图像；
    根据所述地面图像，解析得到所述环境信息中毛发长度和地面湿度中的至少一种。
  8. 一种吸尘器的防毛发缠绕的控制装置，其特征在于，所述装置包括：
    环境信息获取单元，用于获取所述吸尘器的工作场景中的环境信息；
    控制参数确定单元，用于根据预先设定的控制逻辑，确定在所述环境信息下，缠绕程度最小时所对应的控制参数，所述控制参数包括风机转速、行走电机转速和滚刷转速中的至少一项；
    控制单元，用于根据所述控制参数，控制所述吸尘器的风机转速、行走电机转速和滚刷转速中的至少一项。
  9. 一种吸尘器，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至7任一项所述方法的步骤。
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至7任一项所述方法的步骤。
PCT/CN2024/143547 2024-04-10 2024-12-28 吸尘器及其防毛发缠绕的控制方法、装置及存储介质 Pending WO2025213877A1 (zh)

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