A Vacuum Cleaner Site Identification Method Based on Multi-Sensory Fusion

Abstract

This invention discloses a vacuum cleaner site identification method based on multi-sensor fusion. The vacuum cleaner is equipped with a sensor module for site identification, including a torque sensor and a photoelectric switch assembly. The vacuum cleaner site identification method includes the following steps: S1, the torque sensor obtains a torque detection result based on the detected torque value, and the photoelectric switch assembly obtains a photoelectric detection result; S2, the vacuum cleaner's MCU performs binary encoding based on the torque detection result and the photoelectric detection result to obtain a sensor code; S3, the vacuum cleaner's MCU reads the sensor code, identifies the vacuum cleaner's working site status, and distinguishes different ground surfaces. Compared with existing technologies, this invention solves the problem that existing vacuum cleaners lack the ability to intelligently sense and identify the working environment, thus failing to adopt cleaning modes that match the cleaning needs and adapt to cleaning tasks in different environments.

Description

Technical Field

[0001] This invention relates to the field of vacuum cleaner technology, and in particular to a vacuum cleaner site identification method based on multi-sensor fusion. Background Technology

[0002] To improve floor cleanliness and reduce labor intensity, vacuum cleaners are commonly used for floor cleaning, and the demand for vacuum cleaners is increasing year by year. The stronger the suction power of the main motor and the faster the speed of the floor brush motor, the stronger the cleaning force and the easier it is to clean the floor; however, this also means faster energy consumption; excessive cleaning force may also damage the floor. Cordless vacuum cleaners rely on rechargeable batteries to operate. The faster the energy is consumed, the shorter the battery life. The number of charge / discharge cycles of the battery is limited, and frequent charging and discharging will reduce battery life. Considering energy saving, cleaning effect, floor protection, and extending the vacuum cleaner's lifespan, the optimal suction power and floor brush speed should be selected for different work environments.

[0003] To further categorize the ground operation modes, it's essential to first identify the ground environment. Currently, vacuum cleaners are primarily designed for two modes: floor (tile) mode and carpet mode. Specifically, existing ground detection solutions for vacuum cleaners mainly detect the current of the floor brush motor, determine the brush resistance, and then assess the ground condition. For example, Chinese Patent 202021573001.2 discloses a vacuum cleaner circuit and a vacuum cleaner. This circuit includes a first drive circuit, a suction motor, a second drive circuit, a floor brush motor, a current sampling circuit, and a controller. The first drive circuit is connected to an external AC power supply, the first terminal of the suction motor, and the first terminal of the controller. The second terminal of the suction motor is connected to the negative terminal of the external AC power supply. The second drive circuit is connected to the external AC power supply, the first terminal of the floor brush motor, and the second terminal of the controller. The second terminal of the floor brush motor is also connected to the positive terminal of the external AC power supply. The current sampling circuit is connected in series in the floor brush motor circuit and is also connected to the third terminal of the controller. The controller can accurately identify the material of the floor to be cleaned based on the loop current sampled by the current sampling circuit. After analyzing the material of the floor to be cleaned, it generates a suction value that matches the material of the floor to be cleaned, thereby reducing the power consumption of the vacuum cleaner and improving the working efficiency of the vacuum cleaner.

[0004] Furthermore, Chinese Patent 202311782528.4 discloses an automatic speed adjustment method, device, and computer equipment for a vacuum cleaner floor brush motor. The method includes: acquiring the current rotational speed, current power consumption information, and target rotational speed of the vacuum cleaner's floor brush motor; identifying the idle rotational speed of the floor brush motor based on the current power consumption information; calculating a first speed difference between the idle rotational speed and the current rotational speed; identifying the surface friction force of the current contact surface of the floor brush motor based on the first speed difference and the current power consumption information; analyzing the target power consumption information corresponding to the floor brush motor maintaining the target rotational speed based on the applicable power consumption range of the contact surface type corresponding to the surface friction force, a second speed difference between the current rotational speed and the target rotational speed, and the surface friction force; generating a speed adjustment command for the floor brush motor based on the target power consumption information; and sending the speed adjustment command to the floor brush motor control device. This solution identifies the contact surface type and surface friction of the vacuum cleaner's floor brush motor by using current power consumption information and current rotation speed. Then, by calculating the second speed difference between the target rotation speed corresponding to maximum cleaning efficiency and the current rotation speed, it analyzes the target power consumption information for the floor brush motor to maintain the target rotation speed. This allows for intelligent adjustment of the vacuum cleaner's floor brush motor, avoiding the cumbersome steps of manual adjustment and gear shifting. The vacuum cleaner can automatically identify the surface type of the current cleaning surface and automatically adjust the power consumption information of the floor brush motor based on that surface type. This ensures that the floor brush motor can maintain the target rotation speed corresponding to maximum cleaning efficiency on different surface types, thereby improving the efficiency of the vacuum cleaner's intelligent adjustment of the floor brush.

[0005] Existing floor detection solutions for vacuum cleaners have several limitations. First, those based on detecting motor current are not very accurate. Second, as people's living standards improve, the decoration of home and office environments becomes more complex. Tiles, wood flooring, and carpets are widely used for indoor floor decoration. Furthermore, to meet people's pursuit of personalization, the variety of carpets is constantly increasing. This leads to a diversity of vacuum cleaner working environments, which can only distinguish between two types of floors: wood flooring (tiles) and carpets. It is difficult to further subdivide them and cannot meet the cleaning requirements of different types of floors.

[0006] Therefore, it is necessary to further improve the ability of vacuum cleaners to intelligently sense and identify the work environment, so as to adopt a matching cleaning mode and adapt to cleaning tasks in different environments. Summary of the Invention

[0007] The purpose of this invention is to provide a vacuum cleaner site identification method based on multi-sensor fusion, so as to solve the problem that existing vacuum cleaners are not capable enough of intelligently sensing and identifying the working environment, thus failing to adopt a cleaning mode that matches the cleaning and adapting to cleaning tasks in different environments.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a vacuum cleaner site identification method based on multi-sensor fusion, wherein the vacuum cleaner is equipped with a sensor module for site identification, the sensor module comprising:

[0009] The torque sensor is installed between the brush motor and the brush. The torque sensor is used to detect the ground resistance based on the change of torque, and thus identify whether the vacuum cleaner is working on a tile floor or a carpet.

[0010] A photoelectric switch assembly includes a low-position photoelectric switch, a middle-position photoelectric switch, and a high-position photoelectric switch disposed in the floor brush chamber of a vacuum cleaner, wherein the low-position photoelectric switch, the middle-position photoelectric switch, and the high-position photoelectric switch are arranged in order from low to high in the floor brush chamber;

[0011] The vacuum cleaner site identification method includes the following steps:

[0012] S1. The torque sensor obtains the torque detection result based on the detected torque value, and the photoelectric switch assembly obtains the photoelectric detection result.

[0013] S2. The vacuum cleaner MCU performs binary encoding based on the torque detection result and photoelectric detection result to obtain the sensor code;

[0014] S3. The vacuum cleaner's MCU reads the sensor code, identifies the working environment of the vacuum cleaner, and distinguishes between different ground surfaces.

[0015] As a further description of the above technical solution:

[0016] In step S1, when the ground is a tile floor, the torque value detected by the torque sensor will be lower than the set threshold, and when the ground is a carpet, the torque value detected by the torque sensor will be higher than the set threshold.

[0017] As a further description of the above technical solution:

[0018] In step S1, when the photoelectric switch assembly performs detection, only the low-position photoelectric switch outputs a signal when a short-pile carpet is detected; when a medium-pile carpet is detected, both the low-position and medium-position photoelectric switches output signals simultaneously; and when a long-pile carpet is detected, the low-position, medium-position, and high-position photoelectric switches output signals simultaneously.

[0019] As a further description of the above technical solution:

[0020] In step S2, when the vacuum cleaner MCU performs binary encoding, if the torque value detected by the torque sensor is higher than the set threshold, the output encoding is 1; if the torque value detected by the torque sensor is lower than the set threshold, the output encoding is 0. If the low-position photoelectric switch, the middle-position photoelectric switch, and the high-position photoelectric switch detect a carpet and output a signal, they all output a code of 1; if the low-position photoelectric switch, the middle-position photoelectric switch, and the high-position photoelectric switch do not detect a carpet and output a signal, they all output a code of 0. The output results of the torque sensor, the low-position photoelectric switch, the middle-position photoelectric switch, and the high-position photoelectric switch are encoded separately and then integrated together to form a sensor code.

[0021] As a further description of the above technical solution:

[0022] The sensor encoding includes the high-position photoelectric switch encoding value, the middle-position photoelectric switch encoding value, the low-position photoelectric switch encoding value, and the torque sensor encoding value arranged from left to right.

[0023] As a further description of the above technical solution:

[0024] In step S2, during the binary encoding process of the vacuum cleaner MCU, the torque detection results and photoelectric detection results are filtered and anti-vibration processed.

[0025] As a further description of the above technical solution:

[0026] In step S2, the torque sensor detection result is first subjected to mean filtering or least squares filtering, and then encoded based on the filtered value. To prevent carpet fibers from shaking and interfering with the photoelectric sensor output during vacuum cleaner operation, the output signal of the photoelectric switch component is read multiple times. If there is an output signal, it is recorded as 1; if there is no output signal, it is recorded as 0. The multiple reading results are accumulated. If the accumulated value is greater than or equal to the set threshold, the photoelectric signal output is encoded as 1; otherwise, the output is encoded as 0.

[0027] As a further description of the above technical solution:

[0028] In step S3, when determining the working environment status of the vacuum cleaner based on the encoding result, the following steps are included:

[0029] S31. First determine if the work area is tile floor. If so, switch to tile floor work mode.

[0030] S32. If it is not a tile floor, then determine whether it is a lintless carpet. If it is a lintless carpet, switch to the lintless carpet working mode.

[0031] S33. If it is not a pileless carpet, then determine whether it is a short-pile carpet. If it is a short-pile carpet, switch to short-pile carpet mode.

[0032] S34. If it is not a short-pile carpet, then determine whether it is a medium-pile carpet. If it is a medium-pile carpet, switch to the medium-pile carpet working mode.

[0033] S35. If it is not a medium-pile carpet, then determine if it is a long-pile carpet. If it is a long-pile carpet, switch to the long-pile carpet working mode. If it is not a long-pile carpet, start the sensor fault self-diagnosis.

[0034] As a further description of the above technical solution:

[0035] In step S35, if the sensor coding is abnormal, sensor fault self-diagnosis begins, including the following steps:

[0036] S351. First, determine if the torque sensor is faulty. If so, trigger a torque sensor fault alarm.

[0037] S352. If it is not a torque sensor fault, then determine whether it is a low-position photoelectric fault. If so, then issue a low-position photoelectric fault alarm.

[0038] S353. If it is not a low-position photoelectric fault, then determine whether it is a mid-position photoelectric fault. If so, then trigger a mid-position photoelectric fault alarm.

[0039] S354. If it is not a mid-position photoelectric fault, then determine whether it is a torque sensor + low-position photoelectric fault. If so, then trigger a torque sensor + low-position photoelectric fault alarm.

[0040] S355. If it is not a torque sensor + low position photoelectric fault, then determine whether it is a torque sensor + middle position photoelectric fault. If so, then trigger a torque sensor + middle position photoelectric fault alarm.

[0041] S356. If it is not a torque sensor + mid-position photoelectric fault, then determine whether it is a low-position photoelectric fault + mid-position photoelectric fault. If so, then issue a low-position photoelectric + mid-position photoelectric fault alarm.

[0042] S357. If it is not a low-position photoelectric fault + middle-position photoelectric fault, then trigger an alarm for torque sensor + low-position photoelectric fault + middle-position photoelectric fault.

[0043] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0044] 1. In this invention, the vacuum cleaner can identify various working environments such as tile floors, lintless carpets, short-pile carpets, medium-pile carpets, and long-pile carpets, automatically switch to the corresponding working mode, and has a self-diagnostic function for sensor malfunctions.

[0045] 2. In this invention, a vacuum cleaner site identification method based on multi-sensor fusion is used in conjunction with a torque sensor and three sets of through-beam photoelectric switches to encode the sensor detection results into binary. Based on the encoding results, it is possible to identify various vacuum cleaner work sites such as tile floors, lint-free carpets, short-pile carpets, medium-pile carpets, and long-pile carpets. This breaks through the limitation of existing identification methods that can only distinguish the ground into two states: tile floors or carpets, and cannot be further subdivided.

[0046] 3. In this invention, filtering and anti-shake processing are performed on the sensor detection results during the binary encoding process, which can improve the reliability of the sensor detection results and thus improve the accuracy of the vacuum cleaner's ground condition identification.

[0047] 4. In this invention, the design of the sensor fault self-diagnosis program ensures that the system has the ability to self-diagnose sensor faults and can output corresponding sensor fault alarms in a timely manner based on the abnormal codes. Attached Figure Description

[0048] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 The flowchart shows the main program for site identification of a vacuum cleaner site identification method based on multi-sensor fusion.

[0050] Figure 2 This is a flowchart of a sensor fault self-diagnosis subroutine for a vacuum cleaner site identification method based on multi-sensor fusion.

[0051] Figure 3 This is a flowchart of a photoelectric switch signal anti-jitter filtering subroutine for a vacuum cleaner site identification method based on multi-sensor fusion. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0053] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0054] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0055] In the description of the embodiments of the present invention, it should be noted that the terms "upper" and "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0056] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0057] Example 1

[0058] Please see Figure 1-3 The sensors used by the vacuum cleaner during the identification process include a torque sensor and three sets of through-beam photoelectric switches. The torque sensor is used to identify whether the vacuum cleaner is working on tile or carpet, and the three sets of photoelectric switches are used to identify the length of the carpet pile.

[0059] A torque sensor is installed between the brush motor and the brush to detect ground resistance, thereby identifying whether the vacuum cleaner is working on a tiled or carpeted floor. When the floor is tiled, the torque value detected by the torque sensor will be lower than the set threshold; when the floor is carpeted, the torque value detected by the torque sensor will be higher than the set threshold.

[0060] Three sets of photoelectric switches are installed in the floor brush chamber of the vacuum cleaner at different heights. The three sets of photoelectric switches, arranged from low to high in the floor brush chamber, are named the low-position photoelectric switch, the middle-position photoelectric switch, and the high-position photoelectric switch, respectively.

[0061] When a short-pile carpet is detected, only the low-position photoelectric switch outputs a signal;

[0062] When a medium-pile carpet is detected, both the low-position photoelectric switch and the medium-position photoelectric switch output signals simultaneously.

[0063] When a long-pile carpet is detected, the low-position photoelectric switch, the middle-position photoelectric switch, and the high-position photoelectric switch all output signals simultaneously.

[0064] The specific steps for encoding the sensor detection results into binary format using software in the MCU are as follows:

[0065] If the torque value detected by the torque sensor is higher than the set threshold, the output code is 1; if the torque value detected by the torque sensor is lower than the set threshold, the output code is 0.

[0066] When the low-position photoelectric switch, middle-position photoelectric switch, and high-position photoelectric switch detect the carpet, they output a signal with an output code of 1. When the low-position photoelectric switch, middle-position photoelectric switch, and high-position photoelectric switch do not detect the carpet, they output no signal with an output code of 0.

[0067] After encoding the output results of a single sensor, the encoded values ​​of the torque sensor and the three sets of photoelectric switches are integrated together, from left to right: high-order photoelectric encoded value, middle-order photoelectric encoded value, low-order photoelectric encoded value, and torque sensor encoded value.

[0068] When the sensor is working normally, it can generate five encoded results, corresponding to five different vacuum cleaner operating conditions. See Table 1 for an example:

[0069] Code 0000 corresponds to floor tile.

[0070] Code 0001 corresponds to a lint-free carpet;

[0071] Code 0011 corresponds to a short-pile rug;

[0072] Code 0111 corresponds to a medium-pile carpet;

[0073] Code 1111 corresponds to a long-pile carpet.

[0074] Table 1: Coding Results of Sensor Normal Operation

[0075] High-position photoelectric Zhongwei Optoelectronics Low-position photoelectric Torque sensor floor tiles 0 0 0 0 Hairless carpet 0 0 0 1 Short-pile rug 0 0 1 1 Medium-duty carpet 0 1 1 1 long-pile carpet 1 1 1 1

[0076] If a sensor malfunctions, it will generate an error code. There are 11 error codes in total, corresponding to 7 types of sensor malfunctions.

[0077] As shown in Table 2:

[0078] Codes 0010, 0110, and 1110 correspond to torque sensor malfunctions.

[0079] Codes 0101 and 1101 correspond to low-level photoelectric faults; code 1011 corresponds to a middle-level photoelectric fault.

[0080] Codes 0100 and 1100 correspond to torque sensor + low-position photoelectric faults;

[0081] Code 1010 corresponds to a fault in the torque sensor and the center position photoelectric sensor.

[0082] Code 1001 corresponds to a fault in both the low-position photoelectric sensor and the middle-position photoelectric sensor.

[0083] Code 1000 corresponds to a fault in the torque sensor, low-position photoelectric sensor, and mid-position photoelectric sensor.

[0084] Table 2: Anomaly Codes for Sensor Failures

[0085]

[0086] To ensure the reliability of sensor detection results, filtering and anti-jitter processing are performed on the detection results during the encoding process. The specific implementation steps are as follows:

[0087] The torque sensor detection results are first subjected to mean filtering or least squares filtering, and then encoded based on the filtered values.

[0088] The flow of the photoelectric switch signal anti-jitter filtering subroutine is as follows: Figure 3 As shown.

[0089] Read the photoelectric switch output signal 7 times. Record the output signal as 1 if there is an output signal and 0 if there is no output signal. Add up the 7 reading results. If the accumulated value is greater than or equal to 5, the photoelectric signal output code is 1; otherwise, the output code is 0.

[0090] The main program flow for vacuum cleaner site identification based on multi-sensor fusion is as follows: Figure 1 As shown.

[0091] The MCU reads the code and first determines whether the work site is a tile floor. If the code is 0000, it switches to the tile floor working mode.

[0092] If it is not a tile floor, then determine if it is a lintless carpet. If the code is 0001, then switch to the lintless carpet working mode.

[0093] If it is not a pileless carpet, then determine if it is a short-pile carpet. If the code is 0011, then switch to short-pile carpet mode.

[0094] If it is not a short-pile carpet, then determine if it is a medium-pile carpet. If the code is 0111, then switch to the medium-pile carpet working mode.

[0095] If it is not a medium-pile carpet, then determine if it is a long-pile carpet. If the code is 1111, then switch to long-pile carpet working mode. If it is not a long-pile carpet, then start sensor fault self-diagnosis.

[0096] After the vacuum cleaner switches to the corresponding working mode, it returns to the initial position to reread the code.

[0097] The sensor fault self-diagnosis subroutine flow is as follows: Figure 2 As shown.

[0098] First, determine if the torque sensor is faulty. If the code is 0010, 0110, or 1110, then issue a torque sensor fault alarm.

[0099] If not, then determine whether it is a low-level photoelectric fault. If the code is 0101 or 1101, then issue a low-level photoelectric fault alarm.

[0100] If not, then determine whether it is a mid-position photoelectric fault. If the code is 1011, then issue a mid-position photoelectric fault alarm.

[0101] If not, then determine whether it is a torque sensor + low-level photoelectric fault. If the code is 0100 or 1100, then trigger a torque sensor + low-level photoelectric fault alarm.

[0102] If not, then determine whether it is a torque sensor + center position photoelectric fault. If the code is 1010, then trigger a torque sensor + center position photoelectric fault alarm.

[0103] If not, then determine whether it is a low-position photoelectric + middle-position photoelectric fault. If the code is 1001, then issue a low-position photoelectric + middle-position photoelectric fault alarm.

[0104] If not, a fault alarm will be triggered for the torque sensor, low-position photoelectric sensor, and mid-position photoelectric sensor. After the vacuum cleaner outputs the corresponding alarm, it will return to the main program.

[0105] Working Principle: This invention utilizes a multi-sensor fusion-based vacuum cleaner site identification method, in conjunction with a torque sensor and three sets of through-beam photoelectric switches. The sensor detection results are binary encoded, enabling the identification of various vacuum cleaner working environments, including tile floors, lint-free carpets, short-pile carpets, medium-pile carpets, and long-pile carpets. This overcomes the limitation of existing identification methods that can only classify floors as either tile or carpet without further subdivision. During the binary encoding process, filtering and anti-jitter processing of the sensor detection results improves reliability and thus enhances the accuracy of floor condition identification. The design of a sensor fault self-diagnosis program ensures the system's ability to self-diagnose sensor faults, promptly outputting corresponding sensor fault alarms based on abnormal codes.

[0106] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A vacuum cleaner site identification method based on multi-sensor fusion, characterized in that, The vacuum cleaner is equipped with a sensor module for identifying the location, the sensor module including: A torque sensor is installed between the floor brush motor and the floor brush. The torque sensor is used to detect the ground resistance based on the change of torque, and then to identify whether the vacuum cleaner's working surface is a tile floor or a carpet. A photoelectric switch assembly includes a low-position photoelectric switch, a middle-position photoelectric switch, and a high-position photoelectric switch disposed in the floor brush chamber of a vacuum cleaner, wherein the low-position photoelectric switch, the middle-position photoelectric switch, and the high-position photoelectric switch are arranged in order from low to high in the floor brush chamber; The vacuum cleaner site identification method includes the following steps: S1. The torque sensor obtains the torque detection result based on the detected torque value, and the photoelectric switch assembly obtains the photoelectric detection result. S2. The vacuum cleaner MCU performs binary encoding based on the torque detection result and photoelectric detection result to obtain the sensor code; S3. The vacuum cleaner's MCU reads the sensor code, identifies the working environment of the vacuum cleaner, and distinguishes different ground surfaces. In step S1, when the ground is a tile floor, the torque value detected by the torque sensor will be lower than the set threshold, and when the ground is a carpet, the torque value detected by the torque sensor will be higher than the set threshold. In step S1, when the photoelectric switch assembly performs detection, when a short-pile carpet is detected, only the low-position photoelectric switch outputs a signal; when a medium-pile carpet is detected, both the low-position and medium-position photoelectric switches output signals simultaneously; and when a long-pile carpet is detected, the low-position, medium-position, and high-position photoelectric switches output signals simultaneously. In step S2, when the vacuum cleaner MCU performs binary encoding, if the torque value detected by the torque sensor is higher than the set threshold, the output encoding is 1; if the torque value detected by the torque sensor is lower than the set threshold, the output encoding is 0. The low-position photoelectric switch, the middle-position photoelectric switch, and the high-position photoelectric switch all output an encoding of 1 when they detect a carpet, and output an encoding of 0 when they do not detect a carpet. The output results of the torque sensor, the low-position photoelectric switch, the middle-position photoelectric switch, and the high-position photoelectric switch are encoded separately and then integrated together to form the sensor encoding. In step S3, when determining the working environment status of the vacuum cleaner based on the encoding result, the following steps are included: S31. First determine if the work area is tile floor. If so, switch to tile floor work mode. S32. If it is not a tile floor, then determine whether it is a lintless carpet. If it is a lintless carpet, switch to the lintless carpet working mode. S33. If it is not a pileless carpet, then determine whether it is a short-pile carpet. If it is a short-pile carpet, switch to short-pile carpet mode. S34. If it is not a short-pile carpet, then determine whether it is a medium-pile carpet. If it is a medium-pile carpet, switch to the medium-pile carpet working mode. S35. If it is not a medium-pile carpet, then determine whether it is a long-pile carpet. If it is a long-pile carpet, switch to the long-pile carpet working mode. If it is not a long-pile carpet, start the sensor fault self-diagnosis. In step S35, if the sensor coding is abnormal, sensor fault self-diagnosis begins, including the following steps: S351. First, determine if the torque sensor is faulty. If so, trigger a torque sensor fault alarm. S352. If it is not a torque sensor fault, then determine whether it is a low-position photoelectric fault. If so, then issue a low-position photoelectric fault alarm. S353. If it is not a low-position photoelectric fault, then determine whether it is a mid-position photoelectric fault. If so, then trigger a mid-position photoelectric fault alarm. S354. If it is not a fault in the middle position photoelectric sensor, then determine whether it is a fault in the torque sensor + low position photoelectric sensor. If so, then trigger a fault alarm for the torque sensor + low position photoelectric sensor. S355. If it is not a torque sensor + low position photoelectric fault, then determine whether it is a torque sensor + middle position photoelectric fault. If so, then trigger a torque sensor + middle position photoelectric fault alarm. S356. If it is not a torque sensor + mid-position photoelectric fault, then determine whether it is a low-position photoelectric fault + mid-position photoelectric fault. If so, then issue a low-position photoelectric + mid-position photoelectric fault alarm. S357. If it is not a low-position photoelectric fault + middle-position photoelectric fault, then trigger an alarm for torque sensor + low-position photoelectric fault + middle-position photoelectric fault.

2. The vacuum cleaner site identification method based on multi-sensor fusion according to claim 1, characterized in that, The sensor encoding includes the high-position photoelectric switch encoding value, the middle-position photoelectric switch encoding value, the low-position photoelectric switch encoding value, and the torque sensor encoding value arranged from left to right.

3. The vacuum cleaner site identification method based on multi-sensor fusion according to claim 1, characterized in that, In step S2, during the binary encoding process of the vacuum cleaner MCU, the torque detection results and photoelectric detection results are filtered and anti-vibration processed.

4. The vacuum cleaner site identification method based on multi-sensor fusion according to claim 3, characterized in that, In step S2, the torque sensor detection results are first subjected to mean filtering or least squares filtering, and then encoded based on the filtered values. To prevent carpet fibers from shaking and interfering with the output of the photoelectric sensor during vacuum cleaner operation, the output signal of the photoelectric switch component is read multiple times. If there is an output signal, it is recorded as 1; if there is no output signal, it is recorded as 0. The results of multiple readings are accumulated. If the accumulated value is greater than or equal to a set threshold, the photoelectric signal output code is 1; otherwise, the output code is 0.

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