Control methods, devices, cleaning equipment and storage media for cleaning equipment

Abstract

This application discloses a control method, device, cleaning equipment, and storage medium for cleaning equipment. The control method includes: acquiring motion parameters of the cleaning equipment; extracting features from the motion parameters to obtain feature components in the dimensions of drop detection, motion intensity, ground clearance, acceleration, and angular velocity; identifying transient events of the cleaning equipment based on at least one dimension of feature components, including gesture adjustment events, drop events, or irregular shaking events after ground clearance; and adjusting the operating parameters of the cleaning equipment based on the identification results. The control method of this application extracts features from motion parameters in different dimensions, identifies transient events of the cleaning equipment based on feature components in different dimensions, and automatically executes matching parameter adjustment commands when a transient event is identified. This enables user gesture control and proactive protection under abnormal events, improves user operation convenience, avoids safety hazards and unnecessary energy consumption, and enhances the user experience.

Description

Technical Field

[0001] This application belongs to the field of cleaning device technology, specifically relating to a control method, device, cleaning device, and storage medium for a cleaning device. Background Technology

[0002] To meet the needs of different cleaning scenarios, existing vacuum cleaners are equipped with multiple different working speeds. Currently, switching between working speeds relies on user button presses, and existing vacuum cleaners cannot detect transient events such as falls or external disturbances. Summary of the Invention

[0003] When using existing vacuum cleaners, users need to frequently press buttons to switch modes according to the cleaning needs of different cleaning scenarios and the operational needs of moving and parking. Switching requires both hands to operate simultaneously, which is inconvenient and affects the user experience. At the same time, existing vacuum cleaners cannot detect abnormal events such as falls or external disturbances, and cannot take proactive protection in the event of abnormal events, which poses a safety hazard.

[0004] The purpose of this application is to provide a control method, device, cleaning equipment, and storage medium for cleaning equipment, so as to simplify the user's gear switching operation and enable the cleaning equipment to actively adjust parameters when abnormal events occur, thereby reducing safety hazards and improving user experience.

[0005] To achieve the above objectives, the first aspect of this application provides a method for controlling a cleaning device, comprising:

[0006] Acquire the motion parameters of the cleaning equipment, including triaxial angular velocity and triaxial acceleration;

[0007] Feature extraction is performed on the motion parameters to obtain feature components of the fall detection dimension, motion intensity dimension, ground departure state dimension, acceleration dimension, and angular velocity dimension. The feature components of the acceleration dimension include at least one axial acceleration time-domain signal, and the feature components of the angular velocity dimension include at least one axial angular velocity time-domain signal.

[0008] Transient events of the cleaning device are identified based on the feature components of at least one dimension, including gesture adjustment events, drop events, or irregular shaking events off the ground;

[0009] Based on the identification results of the transient events, the operating parameters of the cleaning equipment are adjusted.

[0010] In one or more embodiments, the method for recognizing the gesture-based gear shifting event includes:

[0011] Based on the characteristic components of the acceleration dimension, determine whether there are alternating positive and negative acceleration pulses in at least one axis of the cleaning equipment;

[0012] If so, determine whether there is a target pulse with a pulse peak value greater than the first acceleration threshold among the alternating positive and negative acceleration pulses;

[0013] If so, extract the target pulse and determine whether the number of pulses of the target pulse has reached the number threshold;

[0014] If so, based on the feature components of the angular velocity dimension, obtain the peak angular velocity synchronized with the target pulse, and determine whether the peak angular velocity is greater than the angular velocity threshold;

[0015] If so, determine whether the duration of the target pulse is less than a first time threshold;

[0016] If so, the gesture gear adjustment event will be triggered.

[0017] In one or more embodiments, the gesture-based gear adjustment event corresponds to multiple different parameter adjustment commands;

[0018] The method for recognizing gesture-based gear shifting events also includes:

[0019] Based on the axis, number of pulses, and / or initial polarity of the target pulse, determine the parameter adjustment command corresponding to the gesture gear shifting event.

[0020] In one or more embodiments, the parameter adjustment command includes a power increase command and a power decrease command;

[0021] The method for recognizing gesture-based gear shifting events also includes:

[0022] When the initial polarity of the target pulse is the first polarity, the gesture gear adjustment event corresponds to the power boost command.

[0023] In one or more embodiments, the method for recognizing the gesture gear shifting event further includes: when the initial polarity of the target pulse is a second polarity opposite to the first polarity, the gesture gear shifting event corresponds to the power reduction command.

[0024] In one or more embodiments, the feature components of the drop detection dimension include a triaxial acceleration vector;

[0025] The method for identifying the fall event includes:

[0026] Determine whether the sum of the three-axis acceleration vectors is less than the second acceleration threshold;

[0027] If so, a fall event is triggered.

[0028] In one or more embodiments, the second acceleration threshold is greater than or equal to 0.05g and less than or equal to 0.3g, where g is the gravitational acceleration.

[0029] In one or more embodiments, the method for identifying the irregular shaking event off the ground includes:

[0030] Based on the feature components of the above-ground state dimension, it is determined whether the cleaning equipment is in an above-ground state;

[0031] If so, based on the feature components of the acceleration dimension, obtain the acceleration vector change sequence within a preset time window;

[0032] Calculate the spatial angle between adjacent acceleration vectors in the acceleration vector change sequence to obtain the spatial angle sequence;

[0033] Calculate the coefficient of variation of the spatial angle sequence, and determine whether the coefficient of variation is greater than a coefficient threshold;

[0034] If so, based on the feature components of the motion intensity dimension, determine whether the mean value of the motion intensity within the preset time window is greater than the intensity threshold;

[0035] If so, an event of irregular shaking off the ground will be triggered.

[0036] In one or more embodiments, the feature components of the off-ground state dimension include z-axis acceleration;

[0037] The step of determining whether the cleaning equipment is in an off-ground state based on the feature components of the off-ground state dimension includes:

[0038] Determine if the z-axis acceleration is less than the third acceleration threshold;

[0039] If so, determine whether the duration of the z-axis acceleration being less than the third acceleration threshold is greater than the second time threshold;

[0040] If so, the cleaning equipment is in an off-ground state.

[0041] In one or more embodiments, the step of calculating the coefficient of variation of the spatial angle sequence includes:

[0042] Calculate the standard deviation and mean of each spatial angle in the spatial angle sequence, and calculate the ratio of the standard deviation to the mean to obtain the coefficient of variation.

[0043] In one or more embodiments, the characteristic components of the motion intensity dimension include the root mean square of triaxial acceleration.

[0044] In one or more embodiments, the step of adjusting the operating parameters of the cleaning equipment based on the identification result of the transient event includes:

[0045] When the drop event is triggered, the roller brush motor and fan of the cleaning equipment are stopped, and the braking device is activated to stop the roller brush.

[0046] In one or more embodiments, the step of controlling the roller brush motor and fan of the cleaning equipment to stop when the drop event is triggered specifically includes:

[0047] When the drop event is triggered, the drive switches of the roller brush motor and the fan are turned off within a first response time, wherein the first response time is less than or equal to 10ms.

[0048] In one or more embodiments, the braking element includes a motor drive MOSFET disposed in the drive circuit of the roller brush motor, and the step of controlling the braking element to stop the roller brush specifically includes:

[0049] The motor drive MOSFET is turned on to short-circuit the three-phase windings of the roller brush motor, thereby applying a short-circuit braking torque to the roller brush motor.

[0050] In one or more embodiments, the step of adjusting the operating parameters of the cleaning equipment based on the identification result of the transient event includes:

[0051] When the irregular shaking event is triggered, the fan power of the cleaning equipment is reduced by a first ratio;

[0052] When the duration of the irregular shaking event off the ground reaches a third time threshold, the roller brush motor and fan of the cleaning equipment are controlled to stop.

[0053] In one or more embodiments, the step of adjusting the operating parameters of the cleaning equipment based on the identification result of the transient event includes:

[0054] When the gesture gear shifting event is triggered, the parameter adjustment command corresponding to the gesture gear shifting event is executed.

[0055] In one or more embodiments, when the parameter adjustment command is a power increase command, the fan power of the cleaning equipment is increased by a second ratio.

[0056] In one or more embodiments, when the parameter adjustment command is a power reduction command, the fan power of the cleaning equipment is reduced by a third ratio.

[0057] In one or more embodiments, the step of adjusting the operating parameters of the cleaning equipment based on the identification result of the transient event further includes:

[0058] After the parameter adjustment command corresponding to the gesture gear shifting event is executed, the control reminder device will activate.

[0059] In one or more embodiments, the step of adjusting the operating parameters of the cleaning equipment based on the identification result of the transient event includes:

[0060] The parameter adjustment command is executed based on the preset event priority, which is the transient event matching parameter. The event priorities are arranged from high to low as fall event, irregular shaking off the ground event, and gesture gear adjustment event.

[0061] To achieve the above objectives, a second aspect of this application provides a control device for a cleaning equipment, comprising:

[0062] The data acquisition module is used to acquire the motion parameters of the cleaning equipment, including triaxial angular velocity and triaxial acceleration.

[0063] The feature extraction module is used to extract features from the motion parameters to obtain feature components of the fall detection dimension, motion intensity dimension, ground-leaving state dimension, acceleration dimension, and angular velocity dimension. The feature components of the acceleration dimension include at least one axial acceleration time-domain signal, and the feature components of the angular velocity dimension include at least one axial angular velocity time-domain signal.

[0064] An event recognition module is used to recognize transient events of the cleaning equipment based on the feature components of at least one dimension, the transient events including gesture adjustment events, drop events, or irregular shaking events off the ground;

[0065] The parameter adjustment module is used to adjust the operating parameters of the cleaning equipment based on the identification results of the transient event.

[0066] To achieve the above objectives, a third aspect of this application provides a cleaning device, comprising:

[0067] Sensors are used to detect motion parameters of the cleaning equipment, including triaxial angular velocity and triaxial acceleration;

[0068] The controller is electrically connected to the sensor;

[0069] The controller includes at least one processor and a memory, the memory storing instructions that, when executed by the at least one processor, cause the at least one processor to perform the control method of the cleaning device as described in any of the above embodiments.

[0070] To achieve the above objectives, a fourth aspect of this application provides a machine-readable storage medium storing executable instructions that, when executed, cause the machine to perform a control method for a cleaning device as described in any of the above embodiments.

[0071] The advantages of this application, which differ from existing technologies, are:

[0072] The control method of this application extracts features of the three-axis angular velocity and three-axis acceleration of the cleaning equipment in different dimensions, identifies transient events of the cleaning equipment based on the feature components in different dimensions, and automatically executes matching parameter adjustment commands when a transient event is identified, so as to realize user gesture control and active protection under abnormal events, improve user operation convenience, avoid safety hazards and ineffective energy consumption, and improve user experience.

[0073] The control method of this application uses alternating positive and negative acceleration pulses as the recognition feature of gesture gear adjustment events, which intuitively represents the user's active reciprocating control intention and is significantly distinguished from non-gesture scenarios. By verifying the pulse amplitude, pulse number, synchronous angular velocity, and duration, a multi-dimensional complementary judgment of the user's control gesture is formed, which effectively improves the accuracy and reliability of gesture gear adjustment event recognition and can realize the recognition of multiple control gestures, meet the multi-parameter adjustment needs of cleaning equipment, and optimize the user experience.

[0074] The control method of this application determines the drop state of the cleaning equipment based on the vector sum of triaxial acceleration, and instantaneously controls the roller brush motor and fan to stop when the cleaning equipment is in the drop state, so as to cut off the power output, eliminate the safety hazards caused by high-speed airflow and roller brush rotation, and reduce the impact load of the whole machine during the drop impact; at the same time, the braking components are controlled to brake the roller brush, so as to prevent the roller brush from continuing to rotate after the cleaning equipment falls to the working surface, which would cause scratches on hard floors, entanglement of hair and debris, or collision and scratching of furniture, while preventing the high-speed rotating roller brush from contacting the human body and causing the risk of scratches.

[0075] The control method of this application identifies irregular shaking events off the ground through two dimensions: the disorder of the acceleration vector direction and the intensity of motion. It effectively filters low-intensity random noise interference and covers the morphological and energy characteristics of irregular shaking, ensuring the accuracy of identifying irregular shaking events off the ground and avoiding misjudgment. When an irregular shaking event off the ground is identified, the fan power is reduced first to reduce the energy consumption and noise of the fan running under no-load conditions, and to avoid operation interruption caused by direct shutdown, which facilitates quick recovery of cleaning. The fan is shut down when the duration of the event reaches a threshold to avoid safety hazards and unnecessary energy consumption.

[0076] The control method of this application executes parameter adjustment instructions matched with transient events triggered by preset event priorities, ensuring the highest response authority for drop events, improving the response speed and execution reliability of parameter adjustment in emergency scenarios, effectively avoiding contradictions and frequent jumps in parameter instructions corresponding to different transient events, and ensuring that the overall machine operating parameters are stable and controllable.

[0077] The control method of this application only requires the addition of a single six-axis IMU sensor to realize the identification of transient events and automatic parameter adjustment, which has low hardware cost and wide applicability. Attached Figure Description

[0078] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0079] Figure 1 This is a flowchart illustrating one embodiment of the control method for the cleaning equipment of this application;

[0080] Figure 2 yes Figure 1 A flowchart of one embodiment corresponding to S103;

[0081] Figure 3 yes Figure 1 A flowchart illustrating another implementation method corresponding to S103;

[0082] Figure 4 yes Figure 1 A flowchart illustrating another implementation method corresponding to S103;

[0083] Figure 5 yes Figure 4 A flowchart of one embodiment corresponding to S1031c;

[0084] Figure 6 This is a schematic diagram of one embodiment of the control device for the cleaning equipment of this application. Detailed Implementation

[0085] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0086] When using existing vacuum cleaners, users need to frequently press buttons to switch modes according to the cleaning needs of different cleaning scenarios and the operational needs of moving and parking. Switching requires both hands to operate simultaneously, which is inconvenient and affects the user experience. At the same time, existing vacuum cleaners cannot detect transient events such as falls or external disturbances, and cannot actively protect against such events, posing a safety hazard.

[0087] To address the aforementioned issues, the applicant has developed a novel control method for cleaning equipment. This method can recognize user gestures based on the motion parameters of the cleaning equipment and execute parameter adjustment commands corresponding to those gestures, enabling users to control the cleaning equipment's settings with one hand, thus optimizing the user experience. Simultaneously, this control method can proactively detect abnormal events such as drops or external disturbances to the cleaning equipment and take proactive protective measures upon detecting such events, effectively extending the equipment's lifespan and avoiding safety hazards.

[0088] Specifically, the control method of this application extracts features of the three-axis angular velocity and three-axis acceleration of the cleaning equipment in different dimensions, identifies transient events of the cleaning equipment based on the feature components in different dimensions, and automatically executes matching parameter adjustment commands when a transient event is identified, thereby realizing user gesture control and active protection under abnormal events.

[0089] In one embodiment, the control method of this application uses alternating positive and negative acceleration pulses as the recognition feature of gesture gear shifting events, which intuitively represents the user's active reciprocating control intention and is significantly distinguished from non-gesture scenarios. By verifying the pulse amplitude, pulse number, synchronous angular velocity, and duration, a multi-dimensional complementary judgment of the user's control gesture is formed, which effectively improves the accuracy and reliability of gesture gear shifting event recognition and can realize the recognition of multiple control gestures, meet the multi-parameter adjustment needs of cleaning equipment, and optimize the user experience.

[0090] In one embodiment, the control method of this application determines the drop state of the cleaning equipment based on the vector sum of triaxial acceleration, and instantaneously controls the roller brush motor and fan to stop when the cleaning equipment is in the drop state, so as to cut off the power output, eliminate the safety hazards caused by high-speed airflow and roller brush rotation, and reduce the impact load of the whole machine during the drop impact; at the same time, the braking component is controlled to work to brake the roller brush, so as to prevent the roller brush from continuing to rotate after the cleaning equipment falls to the working surface, which would cause scratches on hard floors, entanglement of hair and debris, or collision and scratching of furniture, while preventing the high-speed rotating roller brush from contacting the human body and causing the risk of scratches.

[0091] In one embodiment, the control method of this application identifies irregular shaking events off the ground through two dimensions: the disorder of the acceleration vector direction and the intensity of the motion. This effectively filters out low-intensity random noise interference and covers the morphological and energy characteristics of irregular shaking, ensuring the accuracy of identifying irregular shaking events off the ground and avoiding misjudgment. When an irregular shaking event off the ground is identified, the fan power is first reduced to reduce the energy consumption and noise of the fan during no-load operation and to avoid operational interruptions caused by direct shutdown, facilitating rapid resumption of cleaning. The fan is shut down when the duration of the event reaches a threshold to avoid safety hazards and unnecessary energy consumption.

[0092] In one embodiment, the control method of this application executes parameter adjustment instructions matched with transient events triggered based on preset event priorities, ensuring the highest response authority for drop events, improving the response speed and execution reliability of parameter adjustment in emergency scenarios, effectively avoiding contradictions and frequent jumps in parameter instructions corresponding to different transient events, and ensuring that the overall machine operating parameters are stable and controllable.

[0093] In one embodiment, the control method of this application only requires the addition of a single six-axis IMU sensor to realize the identification of transient events and automatic parameter adjustment, which has low hardware cost and wide applicability.

[0094] The control methods of this application are described in detail below. Please refer to [link / reference]. Figure 1 , Figure 1 This is a flowchart illustrating one embodiment of the control method for the cleaning equipment of this application.

[0095] The cleaning equipment can be a vacuum cleaner, floor scrubber, or other cleaning equipment with a handheld part. When operating the cleaning equipment, the user can hold the handheld part and control the movement of the cleaning equipment by pushing or pulling the handheld part to achieve the cleaning operation on the surface to be cleaned.

[0096] like Figure 1 As shown, the control method includes:

[0097] S101. Obtain the motion parameters of the cleaning equipment.

[0098] The control method of this application uses the motion parameters of the cleaning equipment as the basis for adaptive parameter adjustment. The motion parameters include triaxial angular velocity and triaxial acceleration.

[0099] Three-axis angular velocity refers to the rotational rate of a cleaning device along its x-axis, y-axis, and z-axis; that is, the rotational rate along the three orthogonal axes of the cleaning device's coordinate system. It characterizes changes in the device's attitude and rotation. The x-axis represents the direction of travel for the cleaning device. When the cleaning device is placed vertically on a horizontal surface, the z-axis represents the direction of gravity. The y-axis is perpendicular to both the x-axis and z-axis.

[0100] Triaxial acceleration refers to the acceleration along the x-axis, y-axis, and z-axis of the cleaning equipment, that is, the linear acceleration along the three orthogonal axes of the cleaning equipment's coordinate system, used to characterize the changes in the motion state of the machine body.

[0101] In one embodiment, the aforementioned motion parameters can be detected by sensors arranged on the handheld part or control lever of the cleaning device.

[0102] In one embodiment, the sensor may be a six-axis inertial measurement unit (IMU); in other embodiments, the sensor may be one or more other sensing elements capable of detecting the above-mentioned motion parameters, all of which can achieve the effects of this embodiment.

[0103] S102. Perform feature extraction on the motion parameters to obtain feature components of the fall detection dimension, motion intensity dimension, ground-leaving state dimension, acceleration dimension, and angular velocity dimension.

[0104] This application further decomposes the acquired motion parameters to extract feature components of different dimensions for subsequent identification of states in different dimensions.

[0105] Specifically, the feature components are divided into five dimensions according to their functions: fall detection, motion intensity, ground-free state, acceleration, and angular velocity. The feature components of these five dimensions are all based on the same set of motion parameters and are extracted through the signal processing path, each corresponding to different transient event recognition requirements.

[0106] Among them, the feature components of the drop detection dimension are used to characterize the instantaneous acceleration change, weightlessness and impact characteristics of the cleaning equipment body, reflecting the transient motion state of the body.

[0107] In one implementation, the feature components of the drop detection dimension may include a sum of three-axis acceleration vectors, which can be expressed as follows: In the formula, , and These are the accelerations along the x, y, and z axes output by the sensor, respectively. For example, they could be the accelerations of the cleaning equipment provided by the IMU in the direction of travel, the accelerations in the direction perpendicular to the direction of travel, and the accelerations in the direction of gravity.

[0108] The characteristic components of the motion intensity dimension are used to characterize the translational motion intensity, motion change law and overall force state of the cleaning equipment body, reflecting the continuous motion dynamic characteristics of the body.

[0109] In one implementation, the characteristic components of the motion intensity dimension may include the root mean square of triaxial acceleration, which can be expressed as follows: .

[0110] The feature components of the off-ground state dimension are used to characterize the off-ground state of the cleaning equipment.

[0111] In one implementation, the characteristic components of the off-ground state dimension may include z-axis acceleration. When the cleaning device is lifted off the cleaning surface, the upward force applied by the user will reduce the supporting force of the working surface on the cleaning device, and the z-axis acceleration will decrease rapidly from g. Therefore, the off-ground state can be determined by the z-axis acceleration.

[0112] The characteristic components of the acceleration dimension include at least one axial acceleration time-domain signal, which is used to reflect the change law of the acceleration of the corresponding axial direction of the cleaning equipment over time, and thus characterize the dynamic action of transient external forces on the equipment.

[0113] The characteristic components of the angular velocity dimension include at least one axial angular velocity time-domain signal, which reflects the change of the angular velocity of the corresponding axis of the cleaning equipment over time. Its peak characteristics can be used to characterize the amplitude and intensity of the equipment's oscillation motion.

[0114] S103. Identify transient events of the cleaning equipment based on feature components of at least one dimension.

[0115] After decomposing motion parameters by dimension, transient events of the cleaning equipment can be identified based on the feature components of different dimensions. Transient events include gesture adjustment events, fall events, or irregular shaking events off the ground.

[0116] Among them, the gesture adjustment event refers to the transient event triggered when the user controls the cleaning equipment to move according to the preset motion pattern. The control method of this application can identify the preset motion pattern based on the above feature components, and then identify the user's gesture adjustment event.

[0117] A drop event refers to a transient condition in which cleaning equipment falls freely, reflecting the instantaneous risk of collision damage and damage to the surface to be cleaned. The control method of this application can identify the free fall state of the cleaning equipment based on the above-mentioned characteristic components, and thus identify drop events.

[0118] The irregular shaking event off the ground refers to the event in which the cleaning equipment is driven by an external force to shake irregularly when it is not in a cleaning operation state, such as when children play with the cleaning equipment. The control method of this application can identify the irregular shaking state of the cleaning equipment when it is not in a cleaning state based on the above feature components, and then identify the irregular shaking event off the ground.

[0119] The identification methods for each transient event are described in detail below.

[0120] First, please refer to Figure 2 , Figure 2 yes Figure 1 A flowchart of one embodiment corresponding to S103.

[0121] like Figure 2 As shown, the method for recognizing gesture-based gear shifting events includes:

[0122] S1031a. Based on the characteristic components of the acceleration dimension, determine whether there are alternating positive and negative acceleration pulses in at least one axis of the cleaning equipment.

[0123] The gesture-based gear shifting event in this application uses alternating positive and negative acceleration pulses as its core identification feature. The user's specific control gesture can be the reciprocating movement of the cleaning equipment along a certain axis.

[0124] When the device performs reciprocating acceleration and deceleration along a preset axis under user control, the dynamic acceleration signal of the corresponding axis will continuously reverse polarity as the direction of motion changes, thus forming alternating positive and negative acceleration pulses in the time domain. This feature can intuitively represent the user's active reciprocating control intention and can be initially distinguished from non-gesture scenarios such as smooth translation of the device or collisions caused by unidirectional external forces.

[0125] Among them, the feature components of the acceleration dimension can include the time-domain acceleration signal along the motion axis of the cleaning device corresponding to the preset control gesture.

[0126] In particular, when the cleaning device has multiple motion axes with different control gestures, the corresponding feature components of the acceleration dimension can include multiple acceleration time-domain signals of different axes to identify the alternating positive and negative acceleration pulses of the corresponding axis when the user performs different control gestures.

[0127] If there are alternating positive and negative acceleration pulses, then:

[0128] S1032a. Determine whether there is a target pulse with a pulse peak value greater than the first acceleration threshold in the alternating positive and negative acceleration pulses.

[0129] To avoid the accidental triggering of gesture gear adjustment events due to alternating positive and negative acceleration pulses generated by minor vibrations or other small disturbances during normal equipment operation, this embodiment further filters the effectiveness of alternating positive and negative acceleration pulses using a first acceleration threshold.

[0130] Only pulses with peak amplitude greater than the first acceleration threshold are marked as target pulses, and invalid disturbance signals with insufficient amplitude are eliminated. This effectively distinguishes between the user's active force control gestures and unintentional disturbances such as unconscious slight shaking and environmental mechanical vibrations, thereby reducing the probability of misjudgment.

[0131] When a target pulse exists, then:

[0132] S1033a. Extract the target pulse and determine whether the number of pulses of the target pulse has reached the number threshold.

[0133] After obtaining the target pulse that meets the amplitude requirements, this embodiment further determines whether the number of pulses meets the requirements, so as to perform a secondary verification of the user's control intention from the dimension of action frequency, and eliminate scattered pulse interference caused by non-control behaviors such as single instantaneous impact and accidental bump.

[0134] Specifically, in order to distinguish it from non-control behaviors such as single instantaneous impact, the preset user control gesture in this application can be to move the cleaning device back and forth along a certain axis several times. For example, the user can shake the cleaning device twice in a row. Correspondingly, the above-mentioned number of times threshold can be set based on the preset user control gesture. For example, the number of times threshold can be 2.

[0135] If the number of pulses of the target pulse reaches the threshold, then:

[0136] S1034a. Based on the feature components of the angular velocity dimension, obtain the peak angular velocity synchronized with the target pulse, and determine whether the peak angular velocity is greater than the angular velocity threshold.

[0137] Once the target pulse meets the intensity and frequency requirements, it is further determined whether the target pulse is accompanied by an angular velocity that meets the angular velocity threshold requirement.

[0138] Specifically, when a user performs a reciprocating shaking gesture by moving the device with their wrist, the device will inevitably swing around the corresponding axis while generating axial linear acceleration and deceleration. Therefore, the angular velocity signal will show a peak characteristic that is synchronized with the acceleration pulse.

[0139] In contrast, simple linear external force impacts, axial translational dragging of equipment, and random vertical bumps, even if they generate acceleration pulses that meet the amplitude and frequency requirements, usually do not produce synchronous angular velocity responses with adequate amplitude. By introducing synchronous verification in the angular velocity dimension, we can further filter out genuine active control gestures, filter out interference signals that only contain linear acceleration, significantly reduce the probability of false triggering, and improve the recognition accuracy of gesture gear shifting operations.

[0140] If the peak angular velocity is greater than the angular velocity threshold, then:

[0141] S1035a. Determine whether the duration of the target pulse is less than the first time threshold.

[0142] When the target pulse meets the above requirements, it can be determined whether the target pulse is concentrated in a short time interval. This allows for the verification of the transient characteristics of the action from a time dimension, matching the user's rapid shaking gesture operation pattern.

[0143] Specifically, the user-initiated gear shifting gesture is a rapid, reciprocating swaying motion. The start and end time span of the entire set of alternating pulses is short, exhibiting a significant short-term concentrated characteristic. In contrast, the slow swaying, long-term random shaking, and continuous external force dragging during normal cleaning operation of the cleaning equipment, even if alternating positive and negative acceleration pulses are occasionally formed, will have an overall duration that significantly exceeds the time range of normal gestures and does not possess the attribute of transient concentration.

[0144] By constraining the overall duration of the target pulse by setting a first time threshold, unintentional interference signals such as slow reciprocating signals can be effectively filtered out, further locking in transient control actions initiated by the user.

[0145] If the duration of the target pulse is less than the first time threshold, then:

[0146] S1036a, Trigger gesture gear shifting event.

[0147] Furthermore, in one embodiment, the cleaning device can preset multiple different control gestures, each control gesture can correspond to a different parameter adjustment command, and correspondingly, a gesture adjustment event can also correspond to multiple different parameter adjustment commands. To determine the specific parameter adjustment command corresponding to a triggered gesture adjustment event, the method may further include:

[0148] S1037a. Based on the axis, pulse count, and / or initial polarity of the target pulse, determine the parameter adjustment command corresponding to the gesture gear shifting event.

[0149] Specifically, the specific parameter adjustment command can be determined based on the axis, number of pulses, and initial polarity of the target pulse. The initial polarity refers to the direction in which the target pulse deviates from the reference value for the first time. For example, during the process of quickly lifting the cleaning equipment, the acceleration value of the pulse signal changes abruptly from the reference value in the positive direction, which can be identified as the first polarity. During the process of quickly pressing down the cleaning equipment from the hovering state, the acceleration value of the pulse signal changes abruptly from the reference value in the negative direction, which can be identified as the second polarity.

[0150] For example, five control gestures can be preset: shaking left and then right twice, shaking right and then left twice, shaking up and then down twice, shaking down and then up twice, and shaking up and then down three times. The target pulses corresponding to these five control gestures are significantly different.

[0151] Specifically, the axis of the target pulse that swings left and then right twice, and right and then left twice, is the detection axis corresponding to the left and right directions. The number of pulses is the same for both, but the polarity of the starting pulse is opposite: when swinging left and then right, the device initially accelerates to the left, and the first effective pulse on the corresponding axis is of the first polarity; when swinging right and then left, the device initially accelerates to the right, and the first effective pulse on the corresponding axis is of the second polarity, which is opposite to the first polarity. The control direction can be accurately distinguished by the polarity sequence of the pulses.

[0152] The axis of the target pulses that vibrate up and down twice, down and up twice, and up and down three times corresponds to the detection axis in the vertical direction. The up-and-down and down-and-up vibrations have the same number of pulses, but the polarity of the initial pulses is opposite, corresponding to the initial action directions of upward and downward force respectively, and can be distinguished by polarity characteristics. The up-and-down vibrations twice and three times show a clear difference in the number of target pulses, and can be used to distinguish control commands for different adjustment ranges through pulse count thresholds; for example, two vibration gestures correspond to single-level adjustment, and three vibration gestures correspond to multi-level adjustment.

[0153] Therefore, based on the three dimensions of axis, initial polarity, and number of pulses, the parameter adjustment command corresponding to the gesture gear shifting event can be identified, meeting the needs of multi-gesture adjustment and ensuring the recognition accuracy and response speed of gesture control.

[0154] Furthermore, in one embodiment, the gesture adjustment command may include a power increase command and a power decrease command, wherein the power increase command may correspond to a control gesture of shaking twice, first up and then down, and the power decrease command may correspond to a control gesture of shaking twice, first down and then up.

[0155] Correspondingly, when the initial polarity of the target pulse is the first polarity, it can be determined that the gesture gear shifting event corresponds to a power boost command.

[0156] When the initial polarity of the target pulse is the second polarity, which is opposite to the first polarity, it can be determined that the gesture gear shifting event corresponds to a power reduction command.

[0157] For further details, please refer to Figure 3 , Figure 3 yes Figure 1 A flowchart of another embodiment corresponding to S103 is shown.

[0158] like Figure 3 As shown, the methods for identifying fall events include:

[0159] S1031b, Determine whether the sum of the three-axis acceleration vectors is less than the second acceleration threshold.

[0160] The characteristic components of the drop detection dimension include the three-axis acceleration vector sum. Since the cleaning equipment is detached from all external support during a drop and is in free fall only under the action of gravity, the detection mass block inside the accelerometer falls synchronously with the equipment shell. There is no additional support reaction force acting on the mass block, so the three-axis acceleration vector sum will decrease significantly and approach zero, which is significantly lower than the benchmark value under normal operation, handheld movement and other working conditions. Therefore, it can be determined whether the cleaning equipment is in a drop state by calculating whether the vector sum of the three-axis acceleration is less than the second acceleration threshold.

[0161] In one implementation, the second acceleration threshold can be greater than or equal to 0.05g and less than or equal to 0.3g, thereby ensuring the sensitivity of fall event recognition to optimize the response time of the emergency safety protection mechanism. Simultaneously, a smaller second acceleration threshold can effectively reduce the probability of false triggering, where g is the acceleration due to gravity.

[0162] Preferably, the second acceleration threshold can be 0.1g. In other embodiments, the second acceleration threshold can also be adjusted based on the actual detection sensitivity requirements, and the effect of this embodiment can be achieved.

[0163] If the sum of the three-axis acceleration vectors is less than the second acceleration threshold, then:

[0164] S1032b, Trigger a fall event.

[0165] The methods described above can identify the fall status of cleaning equipment, so that an emergency safety protection mechanism can be executed based on the identified fall status to reduce the risk of equipment damage and damage to the work surface.

[0166] For further details, please refer to Figure 4 , Figure 4 yes Figure 1 A flowchart of another implementation corresponding to S103.

[0167] like Figure 4 As shown, methods for identifying irregular shaking events off the ground include:

[0168] S1031c: Determine whether the cleaning equipment is in an off-ground state based on the feature components of the off-ground state dimension.

[0169] The irregular shaking event defined in this embodiment refers to the event in which the cleaning equipment is driven by an external force to shake irregularly when it is not in a cleaning operation state, such as when a child is playing with the cleaning equipment. Therefore, it can be determined whether the cleaning equipment is in a cleaning state by whether it is in a state of being off the ground. When the cleaning equipment is in a state of being off the ground, it can be determined that it has detached from the cleaning working surface and is not in a normal cleaning operation state.

[0170] Specifically, the feature components of the off-ground state dimension can include z-axis acceleration; please refer to [link to relevant documentation]. Figure 5 , Figure 5 yes Figure 4 A flowchart of one embodiment corresponding to S1031c.

[0171] like Figure 5 As shown, methods for determining whether cleaning equipment is off the ground may include:

[0172] S10311. Determine whether the z-axis acceleration is less than the third acceleration threshold.

[0173] When the cleaning equipment is lifted off the cleaning surface, the upward force applied by the user will reduce the supporting force of the working surface on the cleaning equipment, and the z-axis acceleration will decrease rapidly from g. Therefore, the off-ground state can be determined by the z-axis acceleration.

[0174] When the z-axis acceleration is less than the third acceleration threshold, further measures include:

[0175] S10312. Determine whether the duration of the z-axis acceleration being less than the third acceleration threshold is greater than the second time threshold.

[0176] Furthermore, to avoid misjudging ground clearance caused by a momentary decrease in z-axis acceleration due to ground bumps, sudden impacts, or brief passages over obstacles during normal operation, the time duration can be used for further determination.

[0177] In a real-world off-ground state, the cleaning equipment typically detaches from the cleaning surface, and the z-axis acceleration remains at a low amplitude level for a certain period of time. By constraining the duration of the z-axis acceleration being lower than the third acceleration threshold using a second time threshold, false off-ground signals caused by various short-term transient fluctuations can be effectively filtered out, reducing the probability of false triggering.

[0178] If the duration is greater than the second time threshold, then:

[0179] S10313, The cleaning equipment is in an off-ground state.

[0180] Conversely, the cleaning equipment is not off the ground.

[0181] Please continue reading. Figure 4 When determining that the cleaning equipment is in an off-ground state, it also includes:

[0182] S1032c: Based on the feature components of the acceleration dimension, obtain the acceleration vector change sequence within a preset time window.

[0183] Furthermore, based on the time-domain signal of acceleration, the dynamic acceleration vectors within a preset time window can be arranged to construct an acceleration vector change sequence.

[0184] The acceleration vector change sequence includes the change of acceleration vector over time. The acceleration vector is the acceleration signal that combines the three-axis acceleration of the cleaning equipment at each moment after vector synthesis, and has both amplitude and spatial direction attributes. It can characterize the instantaneous motion state of the equipment in three-dimensional space.

[0185] When the fuselage shakes irregularly when it leaves the ground, its acceleration vector changes direction irregularly. Therefore, the irregular shaking state can be identified by the sequence of acceleration vector changes.

[0186] S1033c: Calculate the spatial angle between adjacent acceleration vectors in the acceleration vector change sequence to obtain the spatial angle sequence.

[0187] S1034c Calculate the coefficient of variation of the spatial angle sequence and determine whether the coefficient of variation is greater than the coefficient threshold.

[0188] This implementation method identifies irregular swaying by calculating the spatial angle between adjacent acceleration vectors. The core of this method lies in distinguishing between regular reciprocating motion and irregular external force swaying by the degree of randomness in the change of motion direction.

[0189] For regular reciprocating motions, such as user-initiated gesture gear shifting, the acceleration vector always switches between positive and negative along the same fixed spatial direction. The angle between adjacent acceleration vectors will only be concentrated around 0° (acceleration in the same direction) and 180° (reversal direction). The values ​​of the angle sequence are highly concentrated and the dispersion is extremely low. However, in scenarios of external force disturbances such as children playing with the device or random swinging, the direction of force on the device changes continuously and irregularly. The spatial direction of the acceleration vector deflects randomly accordingly. The spatial angle between adjacent vectors will be randomly distributed in the entire range of 0° to 180°. The dispersion of the angle sequence is significantly higher.

[0190] By calculating the coefficient of variation of the spatial angle sequence, the dispersion of the angle values ​​can be quantitatively characterized, thereby objectively reflecting the degree of disorder in the change of the equipment's motion direction.

[0191] Specifically, in one embodiment, the method for calculating the coefficient of variation may include: calculating the standard deviation and mean of each spatial angle in the spatial angle sequence, calculating the ratio of the standard deviation and the mean, and obtaining the coefficient of variation.

[0192] The larger the coefficient of variation, the more irregular the direction of the acceleration vector deflection, the less fixed the motion trend of the equipment swaying, and the more it conforms to the typical characteristics of external force disturbance; when the coefficient of variation is greater than the preset coefficient threshold, it can be determined that the swaying of the current equipment has irregular attributes.

[0193] When the coefficient of variation is greater than the coefficient threshold, then:

[0194] S1035c: Based on the feature components of the motion intensity dimension, determine whether the mean value of motion intensity within a preset time window is greater than the intensity threshold.

[0195] To avoid minor environmental vibrations or slight random body deflections affecting recognition accuracy, the determination can be further based on the intensity of the shaking.

[0196] Specifically, when the device is subjected to typical external disturbance scenarios such as children playing with it or swinging it around, the irregular shaking is accompanied by a high intensity of motion, and the average intensity of motion within the window will be consistently higher than the level of normal stillness or slight disturbance.

[0197] The mean value of motion intensity within the preset time window can be obtained by calculating the average value of the root mean square of triaxial acceleration at each sampling point within the preset time window.

[0198] When the average motion intensity within the preset time window is greater than the intensity threshold, then:

[0199] S1036c, Triggered an irregular shaking event off the ground.

[0200] Based on the above identification method, irregular shaking events off the ground are identified through two dimensions: the disorder of the acceleration vector direction and the intensity of motion. This effectively filters out low-intensity random noise interference and covers the morphological and energy characteristics of irregular shaking, ensuring the accuracy of identification of irregular shaking events off the ground and avoiding misjudgment.

[0201] Based on the methods described above, accurate identification of gesture adjustment events, fall events, and irregular shaking events off the ground can be achieved based on the motion parameters of the cleaning equipment.

[0202] For further information, please refer to [link / reference]. Figure 1 After the transient event identification of the cleaning equipment is completed, the method also includes:

[0203] S104. Adjust the operating parameters of the cleaning equipment based on the identification results of transient events.

[0204] This application uses transient events identified by S103 to adaptively adjust the operating parameters of cleaning equipment.

[0205] First, the rules for adjusting the running parameters for matching each transient event are introduced, as follows:

[0206] 1. When a fall event is triggered, control the cleaning equipment's roller brush motor and fan to stop, and control the braking components to stop the roller brush from rotating.

[0207] When a fall event is detected, the roller brush motor and fan can be stopped instantly to cut off the power output, eliminate the safety hazards caused by the high-speed airflow and the rotation of the roller brush, and reduce the impact load on the whole machine when it falls. In one embodiment, when the fall time is triggered, the drive switches of the roller brush motor and fan can be turned off within the first response time, wherein the first response time can be less than or equal to 10ms.

[0208] Furthermore, when the drop time is triggered, the braking components can be controlled simultaneously to brake the roller brush, preventing the roller brush from continuing to rotate after the cleaning equipment falls onto the work surface, which could cause scratches on hard surfaces, entanglement of hair and debris, or collisions and scratches on furniture. At the same time, it can prevent the high-speed rotating roller brush from contacting the human body and causing scratches.

[0209] In one embodiment, the braking component can be an electromagnetic braking assembly, specifically including a driving MOS transistor disposed in the drive circuit of the roller brush motor. When a drop event is triggered, the driving MOS transistor can be controlled to conduct, short-circuiting the three-phase windings of the roller brush motor, and relying on electromagnetic reverse torque to quickly lock the roller brush, thereby achieving instantaneous braking without mechanical friction to ensure braking speed.

[0210] In other embodiments, the braking component can be a mechanical braking component, such as an electromagnetic brake pad or a friction brake block, which will not be described in detail here.

[0211] 2. When an irregular shaking event is triggered, the power of the cleaning equipment fan is reduced by a first proportion; when the duration of the irregular shaking event reaches a third time threshold, the roller brush motor and fan of the cleaning equipment are stopped.

[0212] Specifically, when an event of irregular shaking off the ground is detected, the power of the cleaning equipment's fan is first reduced by a certain percentage to reduce the energy consumption and noise of the fan running under no-load conditions, and to avoid operational interruption caused by direct shutdown. Once the equipment returns to normal cleaning status, the power can be quickly increased to ensure the continuity of normal use.

[0213] When irregular shaking events persist and the cumulative duration reaches the third time threshold, the roller brush motor and fan of the cleaning equipment should be shut down. Continuous irregular shaking usually corresponds to abnormal usage scenarios such as children playing with the equipment for a long time or the equipment being unexpectedly shaken. Shutting down the machine at this time can avoid the safety risks caused by the roller brush running idle, reduce the possibility of injury caused by accidental contact, and at the same time avoid component wear and ineffective energy consumption caused by the fan running idle for a long time. This improves the operational reliability and usage safety of the cleaning equipment from both safety protection and equipment protection perspectives.

[0214] The first ratio and the third time threshold can be set based on actual needs. For example, the first ratio can be 10% and the third time threshold can be 5 seconds, both of which can achieve the effect of this implementation method.

[0215] 3. When a gesture gear shifting event is triggered, execute the parameter adjustment command corresponding to the gesture gear shifting event.

[0216] Specifically, based on the parameter adjustment command corresponding to the gesture gear shifting event recognized by S1031a~S1037a, the corresponding parameter adjustment operation can be executed.

[0217] For example, after the user shakes the cleaning device up and down twice, the system recognizes that the current parameter adjustment command is a power increase command, and the fan power of the cleaning device can be increased by a second ratio.

[0218] After the user shakes the cleaning device twice, first down and then up, the system recognizes that the current parameter adjustment command is a power reduction command, and can reduce the fan power of the cleaning device by a third ratio.

[0219] The second and third ratios can be set based on actual needs. For example, the second and third ratios can be 10%, 20%, etc., all of which can achieve the effect of this implementation method.

[0220] Furthermore, in one embodiment, to remind the user that the parameter adjustment command corresponding to their control gesture has been executed, the reminder can also be activated after the parameter adjustment command corresponding to the gesture gear shifting event has been executed.

[0221] The reminder can be a physical component inside the cleaning equipment, such as a buzzer or indicator light, or it can be other control components that can interact with the cleaning equipment, such as a user's mobile phone or computer. Alternatively, it can be a physical component inside a cleaning base station that is compatible with the cleaning equipment. All of these can achieve the effects of this embodiment.

[0222] Preferably, after the parameter adjustment command corresponding to the gesture adjustment event is executed, the buzzer of the cleaning equipment can be controlled to output a single prompt tone to provide feedback on the effectiveness of the user's operation gesture.

[0223] Based on the operating parameter adjustment rules matched with the above transient events, the corresponding control strategies can be quickly triggered when the cleaning equipment experiences a drop, a gesture-based gear adjustment, or an irregular shaking event off the ground. This ensures the convenience and smoothness of normal gear adjustment operations for users, while also providing timely and effective protection against abnormal states such as drops and unexpected shaking off the ground. This effectively optimizes the user experience, avoids safety hazards, and extends the service life of the equipment.

[0224] In one embodiment, the step of adjusting the operating parameters of the cleaning equipment based on the identification results of transient events can be specifically as follows: executing parameter adjustment instructions matched with the triggered transient events based on preset event priorities, wherein the event priorities are arranged from high to low as fall events, irregular shaking events off the ground, and gesture gear adjustment events.

[0225] Specifically, when multiple transient events are triggered simultaneously, matching parameter adjustment rules can be executed according to event priority to ensure the highest response authority for drop events. This avoids parallel operation of multiple rules crowding out computing power and causing instruction conflicts that delay protection actions, significantly improving the response speed and execution reliability of parameter adjustment in emergency scenarios. At the same time, it can effectively avoid contradictory and frequent jumps in parameter instructions corresponding to different transient events, ensuring stable and controllable overall machine operating parameters. In addition, under normal operating conditions, it can still achieve the purpose of automatically adjusting the device operating parameters based on user control gestures, improving the user experience while prioritizing safety.

[0226] For example, when both a fall event and a gesture adjustment event are triggered simultaneously, only the parameter adjustment command matching the fall event can be executed, that is, the roller brush motor and fan of the cleaning equipment can be stopped, and the brake can be activated to stop the roller brush. At the same time, the execution of the parameter adjustment command matching the gesture adjustment event can be canceled or suppressed.

[0227] The parameter adjustment command matching the new gesture shifting event will only be executed after the fall event is resolved and the gesture shifting trigger condition is met again.

[0228] Based on the control methods described above, feature components of different dimensions can be extracted from the triaxial acceleration and triaxial angular velocity data of the cleaning equipment. This allows for the identification of three different levels of transient events: drop events, gesture-based gear adjustment events, and irregular shaking events off the ground. Parameter adjustment commands matching the transient events are then executed, enabling users to control the working gear of the cleaning equipment with a single hand gesture, improving operational portability. Simultaneously, the system can proactively detect abnormal events such as drops and external disturbances and provide active protection, effectively extending the equipment's lifespan and avoiding safety hazards.

[0229] Compared to existing cleaning equipment, only a single six-axis IMU sensor needs to be added to achieve the identification of transient events and automatic parameter adjustment, which is low in hardware cost and widely applicable.

[0230] This application also provides a control device for cleaning equipment; please refer to [link / reference]. Figure 6 , Figure 6 This is a schematic diagram of one embodiment of the control device for the cleaning equipment of this application.

[0231] like Figure 6As shown, the device includes: a data acquisition module 21, a feature extraction module 22, an event recognition module 23, and a parameter adjustment module 24.

[0232] Among them, the data acquisition module 21 is used to acquire the motion parameters of the cleaning equipment, including triaxial angular velocity and triaxial acceleration;

[0233] The feature extraction module 22 is used to extract features from motion parameters to obtain feature components of the fall detection dimension, motion intensity dimension, ground-leaving state dimension, acceleration dimension, and angular velocity dimension. The feature components of the acceleration dimension include at least one axial acceleration time-domain signal, and the feature components of the angular velocity dimension include at least one axial angular velocity time-domain signal.

[0234] Event recognition module 23 is used to recognize transient events of the cleaning equipment based on feature components of at least one dimension. Transient events include gesture adjustment events, drop events, or irregular shaking events off the ground.

[0235] The parameter adjustment module 24 is used to adjust the operating parameters of the cleaning equipment based on the identification results of transient events.

[0236] As per the above reference Figures 1 to 5 The control method for a cleaning device according to embodiments of this specification has been described. The details mentioned in the above description of the method embodiments also apply to the control device of the cleaning device according to embodiments of this specification. The control device described above can be implemented in hardware, software, or a combination of hardware and software.

[0237] This application also provides a cleaning device, which includes a sensor and a controller. The sensor is used to detect the motion parameters of the cleaning device, including triaxial angular velocity and triaxial acceleration. The controller is electrically connected to the sensor.

[0238] In one embodiment, the sensor may be a six-axis inertial measurement unit (IMU); in other embodiments, the sensor may be one or more other sensing elements capable of detecting the above-mentioned motion parameters, all of which can achieve the effects of this embodiment.

[0239] The controller may include at least one processor, memory (e.g., non-volatile memory), RAM, and a communication interface, and the at least one processor, memory, RAM, and communication interface are connected together via a bus. At least one processor executes at least one computer-readable instruction stored or encoded in the memory.

[0240] It should be understood that the computer-executable instructions stored in memory, when executed, cause at least one processor to perform the above-described combinations in the various embodiments of this specification. Figures 1-5 The description includes various operations and functions.

[0241] According to one embodiment, a program product, such as a machine-readable medium, is provided. The machine-readable medium may have instructions (i.e., the elements implemented in software as described above), which, when executed by a machine, cause the machine to perform the above-described combinations of the various embodiments of this specification. Figures 1-5 The various operations and functions described. Specifically, a system or apparatus equipped with a readable storage medium storing software program code that implements the functions of any of the embodiments described above, and enabling the computer or processor of the system or apparatus to read and execute the instructions stored in the readable storage medium.

[0242] In this case, the program code read from the readable medium itself can perform the functions of any of the above embodiments, and therefore the machine-readable code and the readable storage medium storing the machine-readable code constitute a part of this specification.

[0243] Examples of readable storage media include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD-RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer or the cloud via a communication network.

[0244] Those skilled in the art will understand that the various embodiments disclosed above can be modified and varied without departing from the spirit of the invention. Therefore, the scope of protection of this specification should be defined by the appended claims.

[0245] It should be noted that not all steps and units in the above process and system structure diagrams are mandatory; some steps or units can be omitted as needed. The execution order of each step is not fixed and can be determined as required. The device structure described in the above embodiments can be a physical structure or a logical structure; that is, some units may be implemented by the same physical component, or some units may be implemented by multiple physical components, or they may be jointly implemented by certain components in multiple independent devices.

[0246] In the above embodiments, the hardware units or modules can be implemented mechanically or electrically. For example, a hardware unit, module, or processor may include permanently dedicated circuitry or logic (such as a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware unit or processor may also include programmable logic or circuitry (such as a general-purpose processor or other programmable processor), which can be temporarily configured by software to perform the corresponding operations. The specific implementation method (mechanical, dedicated permanent circuitry, or temporarily configured circuitry) can be determined based on cost and time considerations. It will be apparent to those skilled in the art that this disclosure is not limited to the details of the above exemplary embodiments, and that this disclosure can be implemented in other specific forms without departing from the spirit or essential characteristics of this disclosure. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Therefore, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0247] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0248] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0249] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A control method for cleaning equipment, characterized in that, include: Acquire the motion parameters of the cleaning equipment, including triaxial angular velocity and triaxial acceleration; Feature extraction is performed on the motion parameters to obtain feature components of the fall detection dimension, motion intensity dimension, ground departure state dimension, acceleration dimension, and angular velocity dimension. The feature components of the acceleration dimension include at least one axial acceleration time-domain signal, and the feature components of the angular velocity dimension include at least one axial angular velocity time-domain signal. Transient events of the cleaning device are identified based on the feature components of at least one dimension, including gesture adjustment events, drop events, or irregular shaking events off the ground; Based on the identification results of the transient events, the operating parameters of the cleaning equipment are adjusted.

2. The control method according to claim 1, characterized in that, The method for recognizing the gesture-based gear shifting event includes: Based on the characteristic components of the acceleration dimension, determine whether there are alternating positive and negative acceleration pulses in at least one axis of the cleaning equipment; If so, determine whether there is a target pulse with a pulse peak value greater than the first acceleration threshold among the alternating positive and negative acceleration pulses; If so, extract the target pulse and determine whether the number of pulses of the target pulse has reached the number threshold; If so, based on the feature components of the angular velocity dimension, obtain the peak angular velocity synchronized with the target pulse, and determine whether the peak angular velocity is greater than the angular velocity threshold; If so, determine whether the duration of the target pulse is less than a first time threshold; If so, the gesture gear adjustment event will be triggered.

3. The control method according to claim 2, characterized in that, The gesture-based gear adjustment event corresponds to multiple different parameter adjustment commands; The method for recognizing gesture-based gear shifting events also includes: Based on the axis, number of pulses, and / or initial polarity of the target pulse, determine the parameter adjustment command corresponding to the gesture gear shifting event.

4. The control method according to claim 3, characterized in that, The parameter adjustment commands include power increase commands and power decrease commands; The method for recognizing gesture-based gear shifting events also includes: When the initial polarity of the target pulse is the first polarity, the gesture gear adjustment event corresponds to the power boost command; or, When the initial polarity of the target pulse is a second polarity opposite to the first polarity, the gesture gear adjustment event corresponds to the power reduction command.

5. The control method according to claim 1, characterized in that, The feature components of the drop detection dimension include a triaxial acceleration vector; The method for identifying the fall event includes: Determine whether the sum of the three-axis acceleration vectors is less than the second acceleration threshold; If so, a fall event is triggered.

6. The control method according to claim 5, characterized in that, The second acceleration threshold is greater than or equal to 0.05g and less than or equal to 0.3g, where g is the acceleration due to gravity.

7. The control method according to claim 1, characterized in that, The method for identifying the irregular shaking event off the ground includes: Based on the feature components of the above-ground state dimension, it is determined whether the cleaning equipment is in an above-ground state; If so, based on the feature components of the acceleration dimension, obtain the acceleration vector change sequence within a preset time window; Calculate the spatial angle between adjacent acceleration vectors in the acceleration vector change sequence to obtain the spatial angle sequence; Calculate the coefficient of variation of the spatial angle sequence, and determine whether the coefficient of variation is greater than a coefficient threshold; If so, based on the feature components of the motion intensity dimension, determine whether the mean value of the motion intensity within the preset time window is greater than the intensity threshold; If so, an event of irregular shaking off the ground will be triggered.

8. The control method according to claim 7, characterized in that, The feature components of the off-ground state dimension include z-axis acceleration; The step of determining whether the cleaning equipment is in an off-ground state based on the feature components of the off-ground state dimension includes: Determine if the z-axis acceleration is less than the third acceleration threshold; If so, determine whether the duration of the z-axis acceleration being less than the third acceleration threshold is greater than the second time threshold; If so, the cleaning equipment is in an off-ground state.

9. The control method according to claim 7, characterized in that, The step of calculating the coefficient of variation of the spatial angle sequence includes: Calculate the standard deviation and mean of each spatial angle in the spatial angle sequence, and calculate the ratio of the standard deviation to the mean to obtain the coefficient of variation.

10. The control method according to claim 7, characterized in that, The characteristic components of the motion intensity dimension include the root mean square of the triaxial acceleration.

11. The control method according to claim 1, characterized in that, The step of adjusting the operating parameters of the cleaning equipment based on the identification result of the transient event includes: When the drop event is triggered, the roller brush motor and fan of the cleaning equipment are stopped, and the braking device is activated to stop the roller brush.

12. The control method according to claim 11, characterized in that, The specific steps for controlling the roller brush motor and fan of the cleaning equipment to stop when the drop event is triggered are as follows: When the drop event is triggered, the drive switches of the roller brush motor and the fan are turned off within a first response time, wherein the first response time is less than or equal to 10ms; and / or, The braking component includes a motor drive MOSFET disposed in the drive circuit of the roller brush motor, and the specific steps of controlling the braking component to stop the roller brush are as follows: The motor drive MOSFET is turned on to short-circuit the three-phase windings of the roller brush motor, thereby applying a short-circuit braking torque to the roller brush motor.

13. The control method according to claim 1, characterized in that, The step of adjusting the operating parameters of the cleaning equipment based on the identification result of the transient event includes: When the irregular shaking event is triggered, the fan power of the cleaning equipment is reduced by a first ratio; When the duration of the irregular shaking event off the ground reaches a third time threshold, the roller brush motor and fan of the cleaning equipment are controlled to stop.

14. The control method according to claim 1, characterized in that, The step of adjusting the operating parameters of the cleaning equipment based on the identification result of the transient event includes: When the gesture gear shifting event is triggered, the parameter adjustment command corresponding to the gesture gear shifting event is executed.

15. The control method according to claim 14, characterized in that, When the parameter adjustment command is a power increase command, the fan power of the cleaning equipment is increased by a second ratio; or When the parameter adjustment command is a power reduction command, the fan power of the cleaning equipment is reduced by a third ratio.

16. The control method according to claim 14, characterized in that, The step of adjusting the operating parameters of the cleaning equipment based on the identification result of the transient event further includes: After the parameter adjustment command corresponding to the gesture gear shifting event is executed, the control reminder device will activate.

17. The control method according to claim 1, characterized in that, The step of adjusting the operating parameters of the cleaning equipment based on the identification result of the transient event includes: The parameter adjustment command is executed based on the preset event priority, which is the transient event matching parameter. The event priorities are arranged from high to low as fall event, irregular shaking off the ground event, and gesture gear adjustment event.

18. A control device for a cleaning equipment, characterized in that, include: The data acquisition module is used to acquire the motion parameters of the cleaning equipment, including triaxial angular velocity and triaxial acceleration. The feature extraction module is used to extract features from the motion parameters to obtain feature components of the fall detection dimension, motion intensity dimension, ground-leaving state dimension, acceleration dimension, and angular velocity dimension. The feature components of the acceleration dimension include at least one axial acceleration time-domain signal, and the feature components of the angular velocity dimension include at least one axial angular velocity time-domain signal. An event recognition module is used to recognize transient events of the cleaning equipment based on the feature components of at least one dimension, the transient events including gesture adjustment events, drop events, or irregular shaking events off the ground; The parameter adjustment module is used to adjust the operating parameters of the cleaning equipment based on the identification results of the transient event.

19. A cleaning device, characterized in that, include: Sensors are used to detect motion parameters of the cleaning equipment, including triaxial angular velocity and triaxial acceleration; The controller is electrically connected to the sensor; The controller includes at least one processor and a memory, the memory storing instructions that, when executed by the at least one processor, cause the at least one processor to perform the control method of the cleaning equipment as described in any one of claims 1 to 17.

20. A machine-readable storage medium storing executable instructions that, when executed, cause the machine to perform a control method for a cleaning device as claimed in any one of claims 1 to 17.

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