Control method and device of cleaning equipment, cleaning equipment and storage medium

Abstract

The application discloses a kind of control method, device, cleaning equipment and storage medium of cleaning equipment, method includes: the motion parameter of cleaning equipment is obtained, the motion parameter includes three-axis angular velocity and three-axis acceleration;The feature extraction is carried out to the motion parameter, and the feature component of attitude dimension, operation dimension, vibration dimension and drop detection dimension is obtained;The running state of the cleaning equipment is identified based on at least one dimension feature component;Based on state priority, the parameter adjustment rule matched with the identified running state is executed.The application identifies the running state of the cleaning equipment based on the feature component of different dimension, executes parameter adjustment rule for different running state, realizes the automatic perception of cleaning equipment full-scene running state and the self-adaptive adjustment of operating parameter, does not need user to manually switch gear and actively troubleshoot equipment exception, improves operation convenience and cleaning effect, realizes the active protection of abnormal working condition and safety event, prolongs equipment service life.

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 vacuum cleaner working speeds relies on manual control by the user, and existing vacuum cleaners cannot detect abnormal events such as brush tangling or filter clogging. Summary of the Invention

[0003] When using existing vacuum cleaners, users need to frequently and manually switch between different speeds according to the cleaning needs of various cleaning scenarios and the operational needs of moving and parking. At the same time, users need to actively detect abnormal events such as the brush getting tangled or the filter getting clogged. This can easily lead to the failure to deal with abnormal events in a timely manner, affecting the lifespan of the equipment and the cleaning effect, and impacting the user experience.

[0004] The purpose of this application is to provide a control method, device, cleaning equipment, and storage medium for cleaning equipment, so that the vacuum cleaner can perform adaptive parameter control based on cleaning scenario requirements, user operation requirements, and abnormal states, thereby improving the 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 posture dimension, operation dimension, vibration dimension and fall detection dimension;

[0008] The operating status of the cleaning equipment is identified based on the feature components of at least one dimension. The operating status includes operation status, abnormal status, fall status and / or surface material status. The operation status includes cleaning status, lifting and moving status and parking status.

[0009] Based on preset state priorities, parameter adjustment rules are executed to match the identified operating state.

[0010] In one or more embodiments, the method for identifying the operating state includes:

[0011] Based on the feature components of the attitude dimension, the pitch angle of the cleaning equipment is determined;

[0012] Based on the feature components of the operation dimension, the motion intensity and ground-lift status of the cleaning equipment are determined;

[0013] The operating state is determined based on the pitch angle, the motion intensity, and the ground clearance.

[0014] In one or more embodiments, the characteristic components of the attitude dimension include x-axis angular velocity, x-axis acceleration, and z-axis acceleration, and the method for determining the pitch angle includes:

[0015] Based on the x-axis angular velocity and the pitch angle estimate from the previous moment, determine the first angle;

[0016] The second angle is determined based on the ratio of the x-axis acceleration to the z-axis acceleration;

[0017] The pitch angle of the cleaning equipment is determined based on a weighted average of the first angle and the second angle.

[0018] In one or more embodiments, the characteristic components of the operational dimension include triaxial acceleration;

[0019] The method for determining the motion intensity of the cleaning equipment includes:

[0020] The root mean square of the triaxial acceleration is calculated to obtain the motion intensity of the cleaning equipment.

[0021] In one or more embodiments, the method for determining the off-ground state includes:

[0022] Determine if the z-axis acceleration is less than the first acceleration threshold;

[0023] If the z-axis acceleration is less than the first acceleration threshold, determine whether the duration of the state in which the z-axis acceleration is less than the first acceleration threshold is greater than the first time threshold. If so, the ground-lift state is true.

[0024] Otherwise, the off-ground state is false.

[0025] In one or more embodiments, the step of determining the operating state of the cleaning equipment based on the pitch angle, the motion intensity, and the ground clearance includes:

[0026] Determine whether the stated "off-ground" state is false;

[0027] If so, determine whether the pitch angle is less than or equal to the first angle threshold;

[0028] If so, determine whether the motion intensity is greater than or equal to the first intensity threshold;

[0029] If so, the operating state of the cleaning equipment is the cleaning state.

[0030] In one or more embodiments, if the pitch angle is greater than the first angle threshold, the method further includes:

[0031] Determine whether the motion intensity is less than a second intensity threshold, wherein the second intensity threshold is less than the first intensity threshold;

[0032] If so, determine whether the duration of the state in which the motion intensity is less than the second intensity threshold is greater than the second time threshold;

[0033] If so, the operating state of the cleaning equipment is the parked state.

[0034] In one or more embodiments, if the off-ground state is true, the method further includes:

[0035] Determine whether the exercise intensity is less than a third intensity threshold, wherein the third intensity threshold is less than the first intensity threshold;

[0036] If so, the operating state of the cleaning equipment is the lifting and moving state.

[0037] In one or more embodiments, the cleaning state includes normal floor cleaning, low-ceiling space cleaning, and high-rise cleaning;

[0038] The method for identifying the operation state further includes:

[0039] When the cleaning equipment is in the cleaning state, the range of the pitch angle is determined. The range includes a first angle range, a second angle range, and a third angle range. The angle in the first angle range is smaller than the angle in the second angle range, and the angle in the second angle range is smaller than the angle in the third angle range.

[0040] When the pitch angle is within the first angle range, the cleaning equipment operates in a low-ceiling space cleaning mode; or...

[0041] When the pitch angle is within the second angle range, the cleaning equipment operates in normal floor cleaning mode; or...

[0042] When the pitch angle is within the third angle range, the cleaning equipment operates in the high-altitude cleaning mode.

[0043] In one or more embodiments, the characteristic components of the vibration dimension include z-axis acceleration; the method for identifying the material state of the working surface includes:

[0044] When the operating state is the cleaning state, the vibration spectrum of the cleaning equipment is obtained based on the feature components of the vibration dimension;

[0045] Based on a preset frequency band threshold, the signals in the vibration spectrum are divided into high-frequency signals, mid-frequency signals, and low-frequency signals according to their frequency.

[0046] The material state of the working surface is determined based on the proportion of energy of the high-frequency, mid-frequency, and low-frequency signals to the total vibration energy.

[0047] In one or more embodiments, the working surface material state includes a hard surface state, a short-pile carpet state, and a long-pile carpet state.

[0048] The step of determining the material state of the working surface based on the proportion of energy of the high-frequency signal, mid-frequency signal, and low-frequency signal to the total vibration energy includes:

[0049] When the proportion of energy of the high-frequency signal is greater than the first proportion threshold, the material state of the working surface is a hard surface state.

[0050] In one or more embodiments, when the proportion of energy of the mid-frequency signal is greater than a second proportion threshold, the working surface material state is a short-pile carpet state.

[0051] In one or more embodiments, when the proportion of energy of the low-frequency signal is greater than a third proportion threshold, the material state of the working surface is a long-pile carpet state.

[0052] In one or more embodiments, the method for identifying the abnormal state includes:

[0053] Based on the feature components of the vibration dimension, the vibration spectrum of the cleaning equipment is obtained;

[0054] Determine whether the vibration spectrum is abnormal;

[0055] If so, the cleaning equipment is in an abnormal state.

[0056] In one or more embodiments, the abnormal state includes brush entanglement, and the method for identifying brush entanglement includes:

[0057] Determine whether there is a low-frequency signal in the vibration spectrum with a frequency lower than a first frequency threshold and a vibration amplitude greater than a first amplitude threshold;

[0058] If the low-frequency signal exists, determine whether the number of times the low-frequency signal is detected within the first time period is greater than the first count threshold.

[0059] If the number of times the low-frequency signal is detected within the first time period is greater than the first threshold, then the cleaning device is in a state of brush winding.

[0060] In one or more embodiments, the abnormal state includes filter clogging, and the method for identifying filter clogging includes:

[0061] Determine whether the offset of the vibration spectrum relative to the preset reference spectrum is greater than the spectrum offset threshold;

[0062] If the offset of the vibration spectrum relative to the preset reference spectrum is greater than the spectrum offset threshold, determine whether the offset of the fan current of the cleaning equipment relative to the preset reference current is greater than the current offset threshold.

[0063] If the deviation of the fan current relative to the preset reference current is greater than the current deviation threshold, the cleaning equipment is in a state of filter blockage.

[0064] In one or more embodiments, the abnormal state includes a fan malfunction, and the method for identifying the fan malfunction includes:

[0065] Determine whether there is a high-frequency signal in the vibration spectrum with a frequency greater than a second frequency threshold and a vibration amplitude greater than a second amplitude threshold;

[0066] If the high-frequency signal exists, determine whether the number of times the high-frequency signal is detected within the second time period is greater than the second threshold.

[0067] If the number of times the high-frequency signal is detected within the second time period is greater than the second threshold, then the cleaning equipment is in an abnormal fan state.

[0068] In one or more embodiments, the feature components of the drop detection dimension include triaxial acceleration;

[0069] The method for identifying the fall state includes:

[0070] Calculate the vector sum of the triaxial accelerations and determine whether the vector sum is less than a second acceleration threshold;

[0071] If so, the cleaning equipment is in a dropped state.

[0072] In one or more embodiments, the parameter adjustment rules matching the drop state include:

[0073] The roller brush motor and fan of the cleaning equipment are stopped, and the braking components are activated to stop the roller brush.

[0074] In one or more embodiments, the parameter adjustment rules matching the abnormal state include:

[0075] Control the alarm to activate and alert the user.

[0076] In one or more embodiments, the abnormal state includes a fan malfunction, and the parameter adjustment rules matching the fan malfunction include:

[0077] The operating power of the cleaning equipment's fan is reduced by a preset ratio.

[0078] In one or more embodiments, the parameter adjustment rules matching the lifting and moving state include:

[0079] The operating power of the cleaning equipment's fan is reduced by a preset ratio, and when the duration of the lifting and moving state reaches a preset standby threshold, the fan and roller brush motor of the cleaning equipment are controlled to stop.

[0080] In one or more embodiments, the parameter adjustment rules matching the parking state include:

[0081] The fan and roller brush motor of the cleaning equipment are stopped.

[0082] In one or more embodiments, the cleaning state includes normal floor cleaning, low-ceiling space cleaning, and high-rise cleaning;

[0083] The parameter adjustment rules that match the cleaning states of low-ceiling spaces and high-ceiling spaces include:

[0084] The lighting components of the cleaning equipment are controlled to illuminate the area to be cleaned.

[0085] In one or more embodiments, the parameter adjustment rules matching the high-altitude cleaning state include:

[0086] Control the operation of the auxiliary components of the cleaning equipment.

[0087] In one or more embodiments, the working surface material state includes a hard surface state, a short-pile carpet state, and a long-pile carpet state;

[0088] The parameter adjustment rules that match the hard surface state include:

[0089] The fan of the cleaning equipment is controlled to operate at a first power, and the roller brush motor is controlled to operate at a first speed.

[0090] The parameter adjustment rules that match the state of the short-pile carpet include:

[0091] The fan of the cleaning equipment is controlled to operate at a second power, and the roller brush motor is controlled to operate at a second speed, wherein the second power is greater than the first power, and the second speed is less than the first speed;

[0092] The parameter adjustment rules that match the state of the long-pile carpet include:

[0093] The fan of the cleaning equipment is controlled to operate at a third power, and the roller brush motor is controlled to stop, wherein the third power is greater than the second power.

[0094] To achieve the above objectives, a second aspect of this application provides a control device for a cleaning equipment, comprising:

[0095] The data acquisition module is used to acquire the motion parameters of the cleaning equipment, including triaxial angular velocity and triaxial acceleration.

[0096] The feature extraction module is used to extract features from the motion parameters to obtain feature components of the posture dimension, operation dimension, vibration dimension and fall detection dimension.

[0097] The status recognition module is used to identify the operating status of the cleaning equipment based on the feature components of at least one dimension. The operating status includes operation status, abnormal status, fall status and / or work surface material status. The operation status includes cleaning status, lifting and moving status and parking status.

[0098] The parameter adjustment module is used to execute parameter adjustment rules that match the identified operating state based on preset state priorities. The state priorities are arranged from high to low as fall state, abnormal state, operation state, and working surface material state.

[0099] To achieve the above objectives, a third aspect of this application provides a cleaning device, comprising:

[0100] Sensors are used to detect motion parameters of the cleaning equipment, including triaxial angular velocity and triaxial acceleration;

[0101] The controller is electrically connected to the sensor;

[0102] 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.

[0103] 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.

[0104] The advantages of this application, which differ from existing technologies, are:

[0105] 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. Based on the feature components in different dimensions, it identifies the operating state, abnormal state, fall state and working surface material state of the cleaning equipment, and executes matching parameter adjustment rules for different operating states. This realizes automatic perception of the operating state of the cleaning equipment in all scenarios and adaptive adjustment of operating parameters. Users do not need to manually switch gears or actively check for equipment abnormalities. While improving the convenience of operation and cleaning effect, it realizes active protection against abnormal working conditions and safety events, effectively extends the service life of the equipment, and significantly optimizes the user experience.

[0106] The control method of this application determines the ground clearance state based on the z-axis acceleration, determines the motion intensity based on the root mean square of the three-axis acceleration, and determines the pitch angle based on the x-axis angular velocity, x-axis acceleration, and z-axis acceleration. The ground clearance state, motion intensity, and pitch angle are used as identification parameters for different operating states to accurately identify whether the cleaning equipment is in a cleaning state. When it is not in a cleaning state, the method actively controls the fan and / or roller brush motor to reduce power or shut down, effectively reducing ineffective power consumption, increasing the battery life of a single charge, and improving the user experience.

[0107] The control method of this application can further identify the cleaning scene based on the pitch angle when the cleaning equipment is in the cleaning state, and actively control the lighting to work when the cleaning scene is low space cleaning or high space cleaning, eliminate blind spots in the cleaning field of vision, avoid the equipment from colliding in the confined space, and improve the ease of operation and cleaning quality in special cleaning scenarios.

[0108] The control method of this application can further obtain the vibration spectrum based on the z-axis acceleration when the cleaning equipment is in the cleaning state, determine the material state of the working surface based on the energy ratio of high frequency, mid frequency and low frequency signals in the vibration spectrum, and adjust the suction and roller speed for different working surface material states to ensure the cleaning effect of different working surfaces and avoid damage to the working surface.

[0109] The control method of this application determines whether the cleaning equipment is in an abnormal state based on whether the vibration spectrum is abnormal, and controls the alarm to work when it is in an abnormal state, so as to remind the user to check and deal with it, thereby avoiding the cleaning equipment from continuing to operate in an abnormal state, which will affect its service life and cleaning effect, and improve the user experience.

[0110] 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.

[0111] The control method of this application executes the parameter adjustment rules matching each state sequentially based on the preset state priority to ensure the highest response authority for safety states such as drop and abnormality, thereby improving the response speed and execution reliability of parameter adjustment in emergency scenarios. At the same time, it effectively avoids the contradiction between parameter instructions of different levels of states, ensuring that the overall machine operating parameters are stable and controllable. Furthermore, under normal working conditions without safety or abnormal events, it can achieve multi-dimensional parameter superposition and adaptation of operating posture and working surface material state, taking into account cleaning adaptation accuracy and user experience while prioritizing safety.

[0112] The control method of this application can realize the automated control of cleaning equipment based on the signal collected by a single six-axis IMU sensor, with low hardware cost and wide applicability. Attached Figure Description

[0113] 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.

[0114] Figure 1 This is a flowchart illustrating one embodiment of the control method for the cleaning equipment of this application;

[0115] Figure 2 yes Figure 1 A flowchart of one embodiment corresponding to S103;

[0116] Figure 3 yes Figure 2 A flowchart of one embodiment corresponding to S1033a;

[0117] Figure 4 yes Figure 1 A flowchart illustrating another implementation method corresponding to S103;

[0118] Figure 5 yes Figure 1A flowchart illustrating another implementation method corresponding to S103;

[0119] Figure 6 yes Figure 1 A flowchart illustrating another implementation method corresponding to S103;

[0120] Figure 7 This is a schematic diagram of one embodiment of the control device for the cleaning equipment of this application. Detailed Implementation

[0121] 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.

[0122] Existing vacuum cleaners cannot adaptively adjust parameters based on the needs of different cleaning scenarios. Users need to frequently and manually switch between different speeds according to the cleaning needs of each scenario, as well as the needs of moving and parking, and both hands need to be used at the same time, which affects the user experience.

[0123] Meanwhile, existing vacuum cleaners cannot actively detect abnormal events such as brush tangling or filter clogging, requiring users to actively discover them. This can easily lead to untimely handling of abnormal events, affecting the lifespan of the equipment and the cleaning effect, thus impacting the user experience.

[0124] To address the aforementioned issues, the applicant has developed a novel control method for cleaning equipment. This control method can identify the cleaning and abnormal states of the cleaning equipment based on its motion parameters, thereby achieving automatic perception of the equipment's operating status across all scenarios and adaptive adjustment of its operating parameters. This eliminates the need for users to manually switch gears or actively troubleshoot equipment malfunctions. While improving operational convenience and cleaning effectiveness, it also provides proactive protection against abnormal operating conditions and safety incidents, effectively extending the equipment's lifespan and significantly optimizing the user experience.

[0125] 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 the operating state, abnormal state, fall state and working surface material state of the cleaning equipment based on the feature components in different dimensions, and executes matching parameter adjustment rules for different operating states, thereby realizing automatic perception of the operating state of the cleaning equipment in all scenarios and adaptive adjustment of operating parameters.

[0126] In one embodiment, the control method of this application determines the ground clearance state based on the z-axis acceleration, determines the motion intensity based on the root mean square of the three-axis acceleration, and determines the pitch angle based on the x-axis angular velocity, x-axis acceleration, and z-axis acceleration. The ground clearance state, motion intensity, and pitch angle are used as identification parameters for different operating states to accurately identify whether the cleaning equipment is in a cleaning state. When it is not in a cleaning state, the method actively controls the fan and / or roller brush motor to reduce power or shut down, effectively reducing ineffective power consumption, increasing the battery life of a single charge, and improving the user experience.

[0127] In one embodiment, the control method of this application further identifies the cleaning scene based on the pitch angle when the cleaning equipment is in the cleaning state, and actively controls the lighting to work when the cleaning scene is low-ceiling space cleaning or high-level cleaning, thereby eliminating blind spots in the cleaning field of vision, avoiding collisions of the equipment in confined spaces, and improving the ease of operation and cleaning quality in special cleaning scenarios.

[0128] In one embodiment, when the cleaning equipment is in a cleaning state, the control method of this application further obtains the vibration spectrum based on the z-axis acceleration, determines the working surface material state based on the energy ratio of high-frequency, mid-frequency and low-frequency signals in the vibration spectrum, and adjusts the suction and roller speed for different working surface material states to ensure the cleaning effect of different working surfaces and avoid damage to the working surface.

[0129] In one embodiment, the control method of this application determines whether the cleaning equipment is in an abnormal state based on whether the vibration spectrum is abnormal, and controls the alarm to work when it is in an abnormal state, so as to remind the user to check and deal with it, so as to avoid the cleaning equipment from continuing to operate in an abnormal state, affecting its service life and cleaning effect, and improving the user experience.

[0130] 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.

[0131] In one embodiment, the control method of this application executes the parameter adjustment rules matching each state sequentially based on the preset state priority to ensure the highest response authority for safety-related states such as falls and abnormalities, thereby improving the response speed and execution reliability of parameter adjustment in emergency scenarios. At the same time, it effectively avoids the contradiction between parameter instructions of different levels of states, ensuring that the overall machine operating parameters are stable and controllable. Furthermore, under normal working conditions without safety or abnormal events, it can achieve multi-dimensional parameter superposition and adaptation of operating posture and working surface material state, taking into account cleaning adaptation accuracy and user experience while prioritizing safety.

[0132] In one embodiment, the control method of this application can realize the automated control of cleaning equipment based on the signal collected by a single six-axis IMU sensor, with low hardware cost and wide applicability.

[0133] 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.

[0134] The cleaning equipment can be a vacuum cleaner, a floor scrubber with vacuuming function, or other handheld devices that can perform vacuuming functions.

[0135] When operating the cleaning equipment, users can hold the handle and control its movement by pushing or pulling the handle, or lift the cleaning equipment by pulling the handle to move it in the air, or manipulate the handle to stand the cleaning equipment upright.

[0136] like Figure 1 As shown, the control method includes:

[0137] S101. Obtain the motion parameters of the cleaning equipment.

[0138] 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.

[0139] Three-axis angular velocity refers to the rotational rate along the x-axis, y-axis, and z-axis of the cleaning equipment, as acquired by its sensors. This is the rotational rate along the three orthogonal axes of the cleaning equipment's coordinate system, used to characterize changes in the equipment's attitude and rotation. As a non-limiting example, when the cleaning equipment is placed vertically on a horizontal surface, the x-axis direction is the direction of travel, the z-axis direction is the direction of gravity, and the y-axis direction is perpendicular to both the x-axis and z-axis directions.

[0140] 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.

[0141] In one embodiment, the aforementioned motion parameters can be detected by sensors arranged on the handheld part or control lever of the cleaning device.

[0142] 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.

[0143] S102. Perform feature extraction on the motion parameters to obtain feature components of the posture dimension, operation dimension, vibration dimension and fall detection dimension.

[0144] This application further decomposes the acquired motion parameters to extract feature components of different dimensions for subsequent identification of states in different dimensions.

[0145] Specifically, the feature components are divided into posture dimension, operation dimension, vibration dimension and drop detection dimension according to the functional dimension. The feature components of the four dimensions are all based on the same set of motion parameters and are extracted through the signal processing path, respectively corresponding to the state recognition requirements of different levels.

[0146] Among them, the feature components of the attitude dimension are used to characterize the spatial tilt angle and attitude change trend of the cleaning equipment body, reflecting the deflection state of the body relative to the horizontal plane.

[0147] In one implementation, the characteristic components of the attitude dimension may include x-axis angular velocity, x-axis acceleration, and z-axis acceleration.

[0148] The feature components of the operational 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.

[0149] In one implementation, the characteristic components of the operational dimension may include triaxial acceleration, namely acceleration in the direction of travel, acceleration in the direction perpendicular to the direction of travel, and acceleration in the direction of gravity.

[0150] The characteristic components of the vibration dimension are used to characterize the vibration intensity of the cleaning equipment body, reflecting the forced vibration state of the body.

[0151] In one implementation, the characteristic components of the vibration dimension may include z-axis acceleration.

[0152] The feature components of the drop detection dimension are used to characterize the instantaneous acceleration changes, weightlessness, and impact characteristics of the cleaning equipment body, reflecting the transient motion state of the body.

[0153] In one implementation, the feature components of the fall detection dimension may include triaxial acceleration, namely acceleration in the direction of travel, acceleration in the direction perpendicular to the direction of travel, and acceleration in the direction of gravity.

[0154] S103. Identify the operating status of the cleaning equipment based on feature components of at least one dimension.

[0155] After decomposing the motion parameters by dimension, the operating status of different levels of cleaning equipment can be identified based on the feature components of different dimensions.

[0156] The operating status includes the operation status, abnormal status, drop status and / or the status of the working surface material.

[0157] Operating status is used to characterize the basic operating condition category of cleaning equipment, reflecting the overall usage stage of the equipment, and serving as the basis for configuring the basic operating parameters of the whole machine.

[0158] Specifically, in one embodiment, the operating state may include a cleaning state, a lifting and moving state, and a parking state, which correspond to three basic working conditions: the device performing a cleaning operation, being moved by hand, and being parked still.

[0159] Abnormal states are used to characterize non-steady-state conditions in which the core components or operating conditions of equipment deviate from the normal range. They reflect operational risks such as abnormal internal loads or abnormal component operation, and serve as the basis for triggering protection strategies and maintenance reminders.

[0160] Specifically, in one embodiment, abnormal conditions may include brush entanglement, filter blockage, and fan malfunction, which correspond to three types of components in the cleaning equipment that are prone to failure or abnormality.

[0161] The drop condition is used to characterize the transient working condition of equipment falling freely, reflecting the instantaneous risk of collision damage and damage to the surface to be cleaned, and serving as the basis for determining whether to trigger the emergency safety protection mechanism.

[0162] The working surface material status is used to characterize the material properties of the working surface that comes into contact with the cleaning operation, reflect the differences in surface characteristics of the surface to be cleaned, and is used to finely adapt and adjust the operating parameters of the equipment under cleaning conditions.

[0163] In one implementation, the different operating states of the above-mentioned different levels can be identified in parallel based on feature components of one or more dimensions, that is, the operating states of the cleaning equipment at different levels can be identified simultaneously.

[0164] In another implementation, the operating states of each level can be identified one by one according to a preset state priority, so as to ensure that the highest priority operating state can be identified first and the corresponding parameter adjustment rules can be executed.

[0165] Specifically, the status priorities can be arranged from high to low as follows: fall status, abnormal status, operation status, and work surface material status.

[0166] Understandably, the system can first identify whether the cleaning equipment is in a fall state; if so, it can quickly execute the corresponding emergency safety protection mechanism. If the cleaning equipment is not in a fall state, it can continue to identify whether the cleaning equipment is in an abnormal state; if so, it can execute the corresponding protection or warning strategy. Furthermore, if the cleaning equipment is not in an abnormal state, it can continue to identify the operating status of the cleaning equipment to execute the corresponding basic parameter control strategy. Finally, when the cleaning equipment is in a cleaning state, it can identify the material status of the working surface to finely adjust the operating parameters of the cleaning equipment.

[0167] The following describes in detail the method for identifying the operational status of each level.

[0168] First, please refer to Figure 2 , Figure 2 yes Figure 1 A flowchart of one embodiment corresponding to S103.

[0169] like Figure 2 As shown, the methods for identifying the operation status include:

[0170] S1031a. Determine the pitch angle of the cleaning equipment based on the feature components of the attitude dimension.

[0171] The pitch angle is the angle between the cleaning equipment body on the x-axis and the horizontal plane.

[0172] Because the tilt angle of the cleaning equipment varies significantly when it is in cleaning mode, being lifted and moved, and being parked, when the user holds the cleaning equipment to clean, the brush is in contact with the working surface and the cleaning equipment is tilted to facilitate hand operation; when the user lifts the cleaning equipment to move, the cleaning equipment is nearly vertical under the influence of gravity; and when the cleaning equipment is parked, the cleaning equipment is also nearly vertical.

[0173] Therefore, the pitch angle of the cleaning equipment can be determined first as a parameter for identifying the operating status.

[0174] Specifically, in one implementation, the method for determining the pitch angle may include:

[0175] The first angle is determined based on the x-axis angular velocity and the pitch angle estimate from the previous moment.

[0176] The second angle is determined based on the ratio of the x-axis acceleration to the z-axis acceleration.

[0177] The pitch angle of the cleaning equipment is determined based on a weighted average of the first and second angles.

[0178] In this embodiment, the pitch angle is estimated using angular velocity and acceleration respectively, and then the final pitch angle is obtained by weighted averaging.

[0179] By integrating the x-axis angular velocity over a unit sampling interval, the change in pitch angle relative to the previous moment can be obtained. This change is then superimposed with the pitch angle estimate from the previous moment to recursively calculate the current pitch angle, i.e., the first angle. This estimation method offers fast dynamic response, high short-term angle accuracy, and is less susceptible to instantaneous interference from fuselage translational acceleration. However, gyroscopes have inherent zero-point drift, and long-term continuous integration will generate cumulative errors, causing the estimated angle value to gradually deviate from the true value.

[0180] The pitch angle, or second angle, of the fuselage can be directly calculated by performing an arctangent operation on the ratio of the x-axis acceleration to the z-axis acceleration. This estimation method does not have cumulative error and the angle accuracy is stable and reliable under static conditions. However, the dynamic acceleration generated by the fuselage motion will be superimposed on the gravitational component, resulting in significant fluctuations in the calculation results and a decrease in accuracy under dynamic motion scenarios.

[0181] By leveraging the complementary characteristics of the two types of angles and performing a weighted average, the final output pitch angle not only possesses excellent dynamic tracking capabilities, reflecting real-time changes in the aircraft's attitude, but also effectively suppresses integral drift, ensuring the accuracy of the pitch angle.

[0182] The method for determining the pitch angle described above can be expressed as follows:

[0183] ;

[0184] In the formula, As the weight of the first angle, This is the estimated pitch angle value from the previous moment. The x-axis angular velocity, and These are the x-axis acceleration and the z-axis acceleration, respectively.

[0185] It should be noted that the above-mentioned pitch angle calculation method is only the preferred method adopted in this application; in other embodiments, the first angle can be directly used as the pitch angle, or the second angle can be directly used as the pitch angle, or any other method adopted in the art can be used to calculate the pitch angle, etc., which will not be elaborated here.

[0186] S1032a. Based on the feature components of the operation dimension, determine the motion intensity and ground-lift status of the cleaning equipment.

[0187] When the cleaning equipment is in cleaning mode, it is operated by the user to perform cleaning operations, resulting in a high intensity of movement. When the cleaning equipment is lifted and moved by the user, the intensity of movement is significantly lower than that in the cleaning mode. When the cleaning equipment is in a stationary state, the intensity of movement is close to zero.

[0188] When the cleaning equipment is in the cleaning or parked state, it remains in contact with the work surface; however, when the user lifts and moves the cleaning equipment, it detaches from the work surface and is off the ground.

[0189] Therefore, since the cleaning equipment exhibits significant differences in its movement intensity and ground clearance when it is in a cleaning state, a lifted and moved state, and a parked state, the movement intensity and ground clearance of the cleaning equipment can be further determined as identification parameters for the operating state.

[0190] Specifically, methods for determining the intensity of motion of cleaning equipment may include:

[0191] Calculate the root mean square of the triaxial acceleration to obtain the motion intensity of the cleaning equipment.

[0192] Based on the root mean square calculation of triaxial acceleration, the motion components in three directions can be combined to reflect the intensity of the overall motion of the fuselage in space.

[0193] The intensity of exercise can be determined by the following formula:

[0194] ;

[0195] In the formula, , , 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 direction perpendicular to the direction of travel, and the direction of gravity.

[0196] Furthermore, 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.

[0197] Specifically, it can be first determined whether the z-axis acceleration is less than the first acceleration threshold;

[0198] If it is less than, then it is further determined whether the duration of the z-axis acceleration in the state of being less than the first acceleration threshold is greater than the first time threshold.

[0199] If yes, then the cleaning equipment's off-ground status is confirmed; if not, then the cleaning equipment's off-ground status is considered false.

[0200] For example, in one implementation, the first acceleration threshold may be specifically 0.3g, and the first time threshold may be 50ms.

[0201] S1033a. Determine the operating status based on pitch angle, motion intensity, and ground clearance.

[0202] After obtaining the pitch angle, motion intensity, and ground clearance, the operating state can be determined based on the above parameters.

[0203] Specifically, please refer to Figure 3 , Figure 3 yes Figure 2 A flowchart illustrating one embodiment corresponding to S1033a. For example... Figure 3 As shown, methods for determining the operation status may include:

[0204] S10331. Determine whether the "off-ground" status is false.

[0205] First, the state of being off the ground can be used to distinguish between the cleaning state, the parking state, and the state of being picked up and moved.

[0206] If so, then:

[0207] S10332a, Determine whether the pitch angle is less than or equal to the first angle threshold.

[0208] When the cleaning equipment is not off the ground, the lifting and moving state can be ruled out, and the cleaning state and the parking state can be further distinguished by the pitch angle.

[0209] Specifically, the cleaning state and the parking state can be distinguished based on the first angle threshold. When the pitch angle is greater than the first angle threshold, it can be determined that the cleaning equipment is not in a cleaning state, and vice versa.

[0210] In one implementation, the first angle threshold can be 75°; in other implementations, the first angle can be adjusted based on the actual structural design of the cleaning equipment.

[0211] Furthermore, if the pitch angle is less than or equal to the first angle threshold, it also includes:

[0212] S10333a, Determine whether the exercise intensity is greater than or equal to the first intensity threshold.

[0213] When it is determined that the cleaning equipment is not in a parked state, a first intensity threshold can be used as the lower limit of the movement intensity in the cleaning state. When the movement intensity is greater than or equal to the first intensity threshold, the cleaning equipment can be considered to be in a cleaning state.

[0214] The first intensity threshold can be adjusted based on the cleaning status of different models of cleaning equipment, and all of these adjustments can achieve the effect of this embodiment.

[0215] If the exercise intensity is greater than or equal to the first intensity threshold, then:

[0216] S10334a The operating status of the cleaning equipment is cleaning status.

[0217] Furthermore, in sync with S10333a, if the pitch angle is greater than the first angle threshold, it also includes:

[0218] S10333b, Determine whether the exercise intensity is less than the second intensity threshold.

[0219] When it is determined that the cleaning equipment is not in a cleaning state, a second intensity threshold can be used as the upper limit of the movement intensity in the parked state.

[0220] Understandably, the second intensity threshold is less than the first intensity threshold mentioned above. In one embodiment, the second intensity threshold can be 0 or a value close to 0.

[0221] When the exercise intensity is less than the second intensity threshold, then:

[0222] S10334b: Determine whether the duration of the state where the motion intensity is less than the second intensity threshold is greater than the second time threshold.

[0223] Furthermore, when the intensity of the movement meets the requirements of the parking state, a second time threshold can be introduced to further determine the time, so as to avoid the accidental triggering of the parking state due to the instantaneous parking of the cleaning equipment.

[0224] The second time threshold can be adjusted based on actual needs, for example, it can be 3 seconds.

[0225] When the duration of a state where the motion intensity is less than the second intensity threshold is greater than the second time threshold, then:

[0226] S10335b, the cleaning equipment is in the parked state.

[0227] Furthermore, synchronized with S10332a, if the off-ground state is true, it also includes:

[0228] S10332c, Determine whether the exercise intensity is less than the third intensity threshold.

[0229] When the cleaning equipment is removed from the work surface, excluding the cleaning state and the parking state, the third intensity threshold can be used as the upper limit of the movement intensity in the lifting and moving state.

[0230] Understandably, the third intensity threshold should be less than the first intensity threshold mentioned above, and can be adaptive based on actual working conditions to match the lower motion intensity of the cleaning equipment during the lifting and moving state.

[0231] When the exercise intensity is less than the third intensity threshold, then:

[0232] S10333c, The cleaning equipment is in the lifting and moving state.

[0233] Furthermore, in one embodiment, the cleaning state can be further subdivided into normal floor cleaning, low-ceiling space cleaning, and high-level cleaning, so as to control the operating parameters according to the operational characteristics and usage requirements of different cleaning sub-scenarios.

[0234] Specifically, when the cleaning equipment is in a cleaning state, the method for identifying the operating state also includes:

[0235] S10335a, Determine the interval of the pitch angle.

[0236] The angle range that is less than or equal to the first angle threshold can be divided into a first angle range, a second angle range, and a third angle range. The angles in the first angle range are less than the angles in the second angle range, and the angles in the second angle range are less than the angles in the third angle range.

[0237] By determining the range of the cleaning equipment's pitch angle, the specific cleaning scenario of the cleaning equipment can be identified, namely, normal floor cleaning, low-ceiling space cleaning, and high-altitude cleaning.

[0238] Specifically, the methods include:

[0239] S10336a. When the pitch angle is in the first angle range, the cleaning equipment operates in the low-ceiling space cleaning mode.

[0240] S10337a. When the pitch angle is in the second angle range, the operating state of the cleaning equipment is normal ground cleaning.

[0241] S10338a. When the pitch angle is in the third angle range, the cleaning equipment operates in the high-altitude cleaning mode.

[0242] Understandably, when the pitch angle is in the first angle range, the pitch angle is small. At this time, the angle between the body of the cleaning equipment and the working surface is small, and the body is close to the working surface. It can be considered that it is cleaning a low space, such as under the sofa or under the bed. The cleaning state can be identified as cleaning a low space.

[0243] When the pitch angle is in the third angle range, the pitch angle is relatively large, the body of the cleaning equipment forms a large angle with the working surface, and the body is close to the vertical plane. This can be considered as cleaning a high place, such as the staircase, the high part of the wall, the corner of the ceiling, the top of the shelf, etc. The cleaning state can be identified as cleaning at a high place.

[0244] When the pitch angle is between the two, the pitch angle is moderate, and normal floor cleaning can be considered to be in progress. The cleaning status can be considered as normal floor cleaning.

[0245] In one embodiment, the first angle range can be less than 15°, the second angle range can be 15° to 45°, and the third angle range can be greater than 60°. In other embodiments, the above angle ranges can be adjusted based on the specific structural characteristics of the cleaning equipment, and the effects of this embodiment can be achieved.

[0246] Based on the methods described above, the operating status of the cleaning equipment can be identified, so that the operating parameters can be adaptively adjusted based on the operating status of the cleaning equipment to optimize the energy consumption of the whole machine and avoid high power operation in non-cleaning state.

[0247] For further details, please refer to Figure 4 , Figure 4 yes Figure 1 A flowchart of another embodiment corresponding to S103 is shown.

[0248] like Figure 4 As shown, the methods for identifying abnormal states include:

[0249] S1031b: Obtain the vibration spectrum of the cleaning equipment based on the characteristic components of the vibration dimension.

[0250] The characteristic components of the vibration dimension include z-axis acceleration. By filtering the z-axis acceleration data, a time-domain vibration signal can be obtained, which corresponds to the time-domain amplitude variation law of vibrations at different frequencies.

[0251] Based on this time-domain vibration signal, the vibration spectrum of the cleaning equipment can be obtained, that is, the distribution of vibration amplitude at different frequencies.

[0252] In one implementation, the vibration spectrum of the cleaning equipment can be obtained by collecting time-domain vibration signals within a preset time window and converting them to the frequency domain through Fourier transform. This vibration spectrum reflects the frequency distribution of the machine body vibration and the energy ratio of each frequency band. It includes the interface characteristic spectrum generated by the contact friction and collision between the floor brush and the working surface, as well as the inherent operating spectrum of internal moving parts such as the roller brush and the fan. It can be used as a basis for subsequent identification of the material status of the working surface and detection of abnormal status.

[0253] S1032b, Determine if the vibration spectrum is abnormal.

[0254] If so, then

[0255] S1033b, The cleaning equipment is in an abnormal state.

[0256] In this embodiment, the abnormality of the cleaning equipment is determined by judging whether the vibration spectrum of the cleaning equipment is abnormal.

[0257] Specifically, when the cleaning equipment experiences brush entanglement, the brush's rotational inertia increases and its actual operating speed decreases. At the same time, uneven distribution of the entangled material can trigger periodic eccentric impacts, causing vibration energy to concentrate in the low-frequency range and accompanied by a significant increase in amplitude.

[0258] Based on the above vibration characteristics, the low-frequency signal characteristics of the vibration spectrum can be used to determine the winding state of the roller brush.

[0259] Specifically, it can first be determined whether there is a low-frequency signal in the vibration spectrum with a frequency lower than the first frequency threshold and a vibration amplitude greater than the first amplitude threshold;

[0260] When there is a low-frequency signal in the vibration spectrum with a frequency lower than the first frequency threshold and a vibration amplitude greater than the first amplitude threshold, it can be determined that there is a risk of brush entanglement. Further determination is made as to whether the number of times the low-frequency signal is detected within the first time period is greater than the first number threshold, so as to avoid misjudgment caused by the instantaneous entanglement state of the brush during normal operation.

[0261] If the number of low-frequency signals detected exceeds the threshold for the first detection, the roller brush will be entangled for a long time and cannot be untangled by its own rotation. At this time, the cleaning equipment can be identified as being in a state of roller brush entanglement.

[0262] The first frequency threshold, the first amplitude threshold, the first duration, and the first number threshold can be adjusted based on the actual operating conditions of the cleaning equipment to ensure identification accuracy.

[0263] When the filter of the cleaning equipment becomes clogged, the back pressure of the air duct increases, which leads to a continuous increase in the operating load of the fan. The aerodynamic excitation characteristics of the whole machine change, and the main peak position and energy distribution of the vibration spectrum deviate from the normal working state. Therefore, it can be determined whether the cleaning equipment is in a state of filter clogging by determining whether the offset of the vibration spectrum relative to the preset reference spectrum is greater than the spectrum offset threshold.

[0264] When the vibration spectrum deviates from the preset reference spectrum by a greater than the spectrum deviance threshold, the working current will increase synchronously due to the increased fan load when the cleaning equipment's filter becomes clogged. To ensure detection accuracy, it can be further determined whether the fan current of the cleaning equipment deviates from the preset reference current by a greater than the current deviance threshold; if so, the cleaning equipment is in a state of filter clogging.

[0265] Among them, the preset reference spectrum and preset reference current can be the vibration spectrum and reference current of the cleaning equipment under normal working conditions. For example, the vibration spectrum and working current of the cleaning equipment when the filter is clean can be used as the preset reference spectrum and preset reference current. The spectrum offset threshold and current offset threshold can be adjusted based on the actual working conditions to ensure the accuracy of identification.

[0266] When the fan of the cleaning equipment malfunctions, wear of the internal bearings, deterioration of the rotor dynamic balance, or increased commutation friction will cause the moving parts to generate high-frequency periodic impacts, and the vibration energy will concentrate in the high-frequency range and form characteristic peaks.

[0267] Based on the above vibration characteristics, the high-frequency signal characteristics of the vibration spectrum can be used to determine the abnormal state of the fan.

[0268] Specifically, first determine whether there is a high-frequency signal in the vibration spectrum with a frequency greater than the second frequency threshold and a vibration amplitude greater than the second amplitude threshold;

[0269] When there is a high-frequency signal in the vibration spectrum with a frequency greater than the second frequency threshold and a vibration amplitude greater than the second amplitude threshold, it can be identified that there is a risk of wind turbine abnormality. Further, it is determined whether the number of times the high-frequency signal is detected within the second time period is greater than the second number threshold, so as to avoid the abnormality misjudgment caused by the instantaneous fluctuation of the wind turbine's operating condition.

[0270] If the number of high-frequency signals detected is greater than the threshold for the second count, it can be determined that the fan has been in abnormal operating condition for a long time, and the cleaning equipment can be considered to be in an abnormal fan state.

[0271] The second frequency threshold, the second amplitude threshold, the second duration threshold, and the second number threshold can be adjusted based on the actual operating conditions of the cleaning equipment to ensure accurate identification.

[0272] Based on the methods described above, abnormal states of cleaning equipment can be identified, enabling proactive alarms and parameter adjustments based on the identified abnormal states. This allows users to quickly perceive abnormal states, preventing the equipment from operating at high power for extended periods under abnormal conditions, thus extending equipment lifespan, improving cleaning effectiveness, and enhancing user experience.

[0273] For further details, please refer to Figure 5 , Figure 5 This is a flowchart illustrating another implementation method corresponding to S103 in step 1.

[0274] like Figure 5 As shown, the methods for identifying the fall status include:

[0275] S1031c Calculate the vector sum of the triaxial accelerations and determine whether the vector sum is less than the second acceleration threshold.

[0276] The characteristic components of the drop detection dimension include triaxial acceleration. 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. The vector sum of the triaxial acceleration will be greatly reduced 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 triaxial acceleration is less than the second acceleration threshold.

[0277] In one embodiment, the second acceleration threshold can be specifically 0.1g. In other embodiments, the second acceleration threshold can be adjusted based on the actual detection sensitivity requirements, and both can achieve the effect of this embodiment.

[0278] When the vector sum is less than the second acceleration threshold, then:

[0279] S1032c, The cleaning equipment is in a state of being dropped.

[0280] 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.

[0281] For further details, please refer to Figure 6 , Figure 6 yes Figure 1 A flowchart of another implementation corresponding to S103.

[0282] like Figure 6 As shown, the methods for identifying the material condition of the work surface include:

[0283] S1031d: When the operating state is cleaning state, obtain the vibration spectrum of the cleaning equipment based on the characteristic components of the vibration dimension.

[0284] The identification of the material status of the working surface is only performed when the operation status is clean. This is to avoid meaningless calculations in other operation statuses that would cause extra consumption of computing power and electricity. It also prevents invalid vibration data generated by non-ground-contact working conditions such as lifting and moving, equipment parking, and dropping from interfering with material determination and causing incorrect parameter adjustments.

[0285] The method for obtaining the vibration spectrum can be the same as in step S1031b, and will not be repeated here.

[0286] S1032d: Based on a preset frequency band threshold, the signal in the vibration spectrum is divided into high-frequency band signal, mid-frequency band signal and low-frequency band signal according to frequency.

[0287] S1033d: Based on the proportion of energy of high-frequency, mid-frequency and low-frequency signals to the total vibration energy, the material state of the working surface is determined.

[0288] Because the contact stiffness and damping characteristics of the working surface vary significantly when the cleaning equipment cleans surfaces with different softness, the contact vibration generated by the rotation friction and slapping of the floor brush will have different degrees of attenuation and filtering effects. The vibration signal ultimately transmitted to the machine body will show differentiated frequency domain energy distribution characteristics. Therefore, the material state of the working surface can be distinguished by the energy ratio of different frequency bands in the vibration spectrum.

[0289] For example, when the energy proportion of high-frequency signals in the vibration spectrum is high, the working surface can be identified as a rigid surface, such as ceramic tiles or hardwood flooring. The support stiffness of the roller brush is large and the buffer damping is weak. The high-frequency impact vibration generated by the roller brush hitting and rubbing is transmitted to the machine body with almost no attenuation.

[0290] When the energy proportion of low-frequency signals in the vibration spectrum is relatively high, the working surface can be identified as a flexible surface, such as a long-pile carpet. Its buffering damping for the roller brush is strong, which will absorb and filter out high-frequency vibrations significantly. The low-frequency vibration component brought by the overall rolling of the roller brush is relatively dominant.

[0291] The frequency threshold can be set based on actual needs. For example, signals in the 60~100Hz frequency band can be used as high-frequency signals, signals in the 30~60Hz frequency band can be used as mid-frequency signals, and signals in the 20~40Hz frequency band can be used as low-frequency signals.

[0292] Specifically, in one embodiment, the working surface material state can be divided into hard surface state, short-pile carpet state and long-pile carpet state, and the working surface material state is distinguished based on the difference in vibration spectrum when the cleaning equipment cleans on different working surface material states.

[0293] When the proportion of energy of high-frequency band signals is greater than the first proportion threshold, the material state of the working surface can be identified as a hard surface state.

[0294] When the proportion of energy of the mid-frequency signal is greater than the second proportion threshold, the material state of the working surface is short-pile carpet.

[0295] When the proportion of energy of low-frequency signals is greater than the third proportion threshold, the material state of the working surface is that of a long-pile carpet.

[0296] The first, second, and third proportional thresholds can be adjusted based on the actual operating characteristics of the cleaning equipment to ensure accurate identification.

[0297] Based on the methods described above, the material state of the work surface can be identified, so that the operating parameters of the cleaning equipment can be adaptively adjusted according to different work surface material states to optimize the cleaning effect and improve the user experience.

[0298] For further information, please refer to [link / reference]. Figure 1 After the operating status of the cleaning equipment is identified, the method also includes:

[0299] S104. Execute parameter adjustment rules that match the identified running status based on preset status priorities.

[0300] This application adaptively adjusts the operating parameters of the cleaning equipment based on the different operating states identified by S103.

[0301] First, the rules for adjusting the operating parameters for each operating state are introduced, as follows:

[0302] 1. When the cleaning equipment is in a falling state, control the roller brush motor and fan of the cleaning equipment to stop, and control the braking components to stop the roller brush from rotating.

[0303] When the cleaning equipment is detected to be in a falling state, 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 and hits. The brake components are also controlled 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 floors, entanglement of hair and debris, or collisions and scratches on furniture. At the same time, the high-speed rotating roller brush is prevented from contacting the human body and causing scratches.

[0304] The braking component can be specifically an electromagnetic braking assembly, which may include a driving MOSFET. When a drop is detected, the driving MOSFET can be turned on to short-circuit the three-phase windings of the roller brush motor. The roller brush is quickly locked by electromagnetic reverse torque to achieve instantaneous braking without mechanical friction, so as to ensure braking speed.

[0305] 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.

[0306] 2. When the cleaning equipment is in an abnormal state, the alarm device of the cleaning equipment shall be activated to remind the user.

[0307] When an abnormal state is detected in the cleaning equipment, the alarm can be activated to remind the user to troubleshoot and handle the abnormal state. This prevents the cleaning equipment from continuing to operate in an abnormal state, which could cause secondary damage such as overload and burnout of the roller brush and fan motor, increased blockage of the air duct, and increased vibration and wear of the machine body. At the same time, it can prevent problems such as roller brush entanglement and filter clogging from reducing the cleaning effect, and avoid safety hazards such as overheating and leakage caused by abnormal fan operation.

[0308] The alarm device 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.

[0309] In particular, when the cleaning equipment is in an abnormal fan condition, the operating power of the cleaning equipment fan can be reduced by a preset ratio to avoid safety hazards such as overheating and leakage caused by the fan operating at high power for a long time.

[0310] The preset ratio can be 20%, 30%, etc., and can be set according to actual needs.

[0311] 3. When the cleaning equipment is in a stopped state, control the fan and roller brush motor of the cleaning equipment to stop.

[0312] When the cleaning equipment is detected to be in a parked state, the continued operation of the fan and roller brush motor will lead to energy waste. It can be controlled to shut down, reducing the overall ineffective power consumption of the machine and extending the single-charge battery life of the cleaning equipment; at the same time, it reduces the heat loss of the equipment, delays the aging of the whole machine, and reduces the frequency of daily maintenance by users; in addition, after shutdown, continuous vibration and operating noise can be eliminated, improving the quietness of use during the static storage stage.

[0313] In one embodiment, after the fan and roller brush of the cleaning equipment stop, the cleaning equipment can be switched to standby mode. In standby mode, the low-power devices such as sensors and controllers of the cleaning equipment can be kept powered on so that the user can quickly wake up the whole machine and re-identify the operating status and adaptively adjust the parameters based on the methods of the above embodiments.

[0314] 4. When the cleaning equipment is in the lifting and moving state, reduce the working power of the cleaning equipment fan by a preset ratio, and when the duration of the lifting and moving state reaches the preset standby threshold, control the cleaning equipment fan and roller brush motor to stop.

[0315] When the cleaning equipment is detected to be in a lifted and moving state, there is no dust to be sucked up. The continuous full-power operation of the fan and roller brush will generate meaningless energy consumption. Therefore, the fan power can be reduced, which will significantly reduce power consumption and effectively improve the overall battery life. At the same time, the vibration and noise of the whole machine will be reduced, the vibration burden during hand movement will be reduced, and the user's grip and operation comfort will be improved.

[0316] At the same time, in this state, only the fan power is reduced, which makes it easy to quickly restore the fan power for cleaning when switching to the cleaning state. There is no need to restart the fan and roller brush, which will cause a start-up delay, shorten the response time of the working condition switch and ensure the continuity of cleaning operations.

[0317] Furthermore, when the cleaning equipment remains suspended in the air for an extended period while being continuously lifted and moved to reach the preset standby threshold, the fan and roller brush motor of the cleaning equipment can be stopped to avoid unnecessary power consumption. At this time, the cleaning equipment can be switched to standby mode simultaneously so that the user can quickly wake up the entire machine later.

[0318] The preset ratio and preset standby threshold can be set based on actual needs. For example, the preset ratio can be 20% and the preset standby threshold can be 5 seconds.

[0319] 5. When the cleaning equipment is in the low-ceiling space cleaning or high-level cleaning mode, control the lighting of the cleaning equipment to illuminate the area to be cleaned.

[0320] When users operate cleaning equipment to clean low spaces or high areas, these spaces often suffer from obstructed ambient light and limited field of vision. Examples include low, enclosed spaces like under beds, sofas, and cabinets, as well as high, hard-to-reach areas like ceiling corners and the tops of shelves. Conventional ambient lighting often fails to effectively cover the work surface, making it difficult for users to clearly observe the distribution of stains and the machine's position. Therefore, controlling the lighting to automatically turn on and provide directional illumination to the work area effectively eliminates blind spots, improves stain identification clarity, and reduces cleaning omissions. Simultaneously, it helps users accurately control the machine's position, preventing the equipment from bumping into furniture or walls in confined spaces, thus improving operational convenience and cleaning quality in special cleaning scenarios.

[0321] In one embodiment, the lighting element can be arranged on the floor brush of the cleaning equipment; in other embodiments, the lighting element can also be arranged in other locations on the cleaning equipment, as long as the working surface can be covered by the light from the lighting element.

[0322] In particular, in one embodiment, the illumination angle and output brightness of the lighting component can change according to the actual cleaning state. For example, when cleaning in a low space, the lighting component automatically lowers the illumination angle and provides close-range uniform supplementary lighting along the ground direction to adapt to the low horizontal working surface; when cleaning at a high place, the lighting component automatically raises the illumination angle and increases the output brightness to cover the high vertical working surface, thereby achieving dynamic adaptation of lighting parameters to the cleaning scene.

[0323] Furthermore, in one embodiment, the cleaning equipment may also be equipped with assistive components to help the cleaning equipment move on the work surface; when the cleaning equipment is in the operation mode of high-altitude cleaning, the assistive components can also be controlled to work, so that the user can operate the cleaning equipment to work in high-altitude areas and reduce the difficulty of operation.

[0324] The assistive component can be an independent walking wheel or a roller brush. The cleaning equipment can be actively moved on the working surface by controlling the rotation of the walking wheel, or the cleaning equipment can be actively moved under the friction between the roller brush and the working surface by increasing the rotation speed of the roller brush, thereby assisting the user in operation. Both methods can achieve the effect of this embodiment.

[0325] VI. When the working surface is a hard surface, the cleaning equipment's fan can be controlled to operate at the highest power and the roller brush motor to operate at the highest speed.

[0326] When the surface material is a short-pile carpet, the fan of the cleaning equipment is controlled to operate at the second power and the roller brush motor is controlled to operate at the second speed. The second power is greater than the first power and the second speed is less than the first speed.

[0327] When the surface material is a long-pile carpet, the cleaning equipment's fan operates at the third power, and the roller brush motor is stopped. The third power is greater than the second power.

[0328] This implementation method differentiates the fan power and roller brush operation status based on the differences in the material condition of the working surface, adapts to the characteristics of different working surfaces, and achieves comprehensive optimization of cleaning effect, energy consumption level and equipment reliability.

[0329] Specifically, when the working surface is a hard surface, a high-speed roller brush is used in conjunction with a low-power fan to efficiently sweep away surface dust and make it rise, thus reducing operating energy consumption and noise while ensuring cleaning efficiency.

[0330] When the surface material is short-pile carpet, increase the fan power and decrease the roller speed to enhance the deep negative pressure suction capability. At the same time, use low-speed beating to loosen the carpet fibers and remove dust, reducing the risk of secondary dust dispersion and hair entanglement caused by high-speed rotation.

[0331] When the surface material is a long-pile carpet, turn off the roller brush and use the maximum power fan for pure negative pressure suction. This will prevent the roller brush from pulling and damaging the carpet fabric and causing tangling and jamming, while ensuring the cleaning of dust in the deep fabric gaps.

[0332] Based on the parameter adjustment rules matching the above-mentioned operating states, the parameters of the cleaning equipment can be adaptively matched in multiple scenarios. While ensuring the cleaning effect in different working environments, it can reduce the ineffective energy consumption in non-cleaning conditions, improve the ease of operation and safety, extend the service life of the whole machine, and actively detect abnormal events of the cleaning equipment and alarm, reduce the risk of equipment damage, optimize the cleaning effect, and instantly stop the mechanism in the event of a fall to avoid secondary damage and safety hazards, thus improving the user experience.

[0333] The operating parameters of the cleaning equipment may simultaneously hit multiple operating states at different levels. The parameter adjustment rules that match the operating states hit by the cleaning equipment can be executed based on the preset state priority. The state priority is arranged from high to low as fall state, abnormal state, operation state, and working surface material state.

[0334] Specifically, when the current state of the cleaning equipment matches multiple different operating states mentioned above, the matching parameter adjustment rules can be executed according to the state priority to ensure the highest response authority for safety states such as falls and abnormalities. This avoids parallel operations of multiple states crowding out computing power and causing instruction conflicts that lead to delays in protection actions, significantly improving the response speed and execution reliability of parameter adjustment in emergency scenarios. At the same time, it can effectively avoid contradictions and frequent jumps in parameter instructions of different levels of states, ensuring that the overall operating parameters of the machine are stable and controllable. In addition, under normal working conditions without safety or abnormal events, it can still achieve multi-dimensional parameter superposition and adaptation of operating posture and working surface material state, taking into account cleaning adaptation accuracy and user experience while prioritizing safety.

[0335] For example, when the current state of the cleaning equipment simultaneously matches the roller brush entanglement state, the low-ceiling space cleaning state, and the short-pile carpet state, the parameter adjustment rule matching the roller brush entanglement state is executed first, that is, the alarm is controlled to work. Then the parameter adjustment rule matching the low-ceiling space cleaning state is executed, that is, the lighting is controlled to work. Finally, the parameter adjustment rule matching the short-pile carpet state is executed, that is, the cleaning equipment fan is controlled to work at the second power and the roller brush motor is controlled to work at the second speed.

[0336] Based on the control methods described above, the four-dimensional feature components can be extracted from the triaxial acceleration and triaxial angular velocity data of the cleaning equipment. This allows for the parallel identification of four different levels of operating states: drop state, abnormal state, operational state, and surface material state. Parameter adjustment rules matching the operating state are then executed, enabling automatic perception of the cleaning equipment's operating state and adaptive adjustment of operating parameters across all scenarios. This eliminates the need for manual gear switching, improving operational convenience and cleaning effectiveness, and significantly enhancing the user experience. Furthermore, it enables proactive protection against abnormal operating conditions and safety incidents, eliminating the need for users to actively troubleshoot equipment malfunctions and effectively extending equipment lifespan.

[0337] Compared to existing cleaning equipment, only a single six-axis IMU sensor needs to be added to achieve full-state recognition and parameter adjustment, which is low in hardware cost and widely applicable.

[0338] This application also provides a control device for cleaning equipment; please refer to [link / reference]. Figure 7 , Figure 7 This is a schematic diagram of one embodiment of the control device for the cleaning equipment of this application.

[0339] like Figure 7 As shown, the device includes: a data acquisition module 21, a feature extraction module 22, a state recognition module 23, and a parameter adjustment module 24.

[0340] 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;

[0341] Feature extraction module 22 is used to extract features from motion parameters to obtain feature components of posture dimension, operation dimension, vibration dimension and fall detection dimension;

[0342] The status recognition module 23 is used to identify the operating status of the cleaning equipment based on feature components of at least one dimension. The operating status includes operation status, abnormal status, fall status and / or work surface material status. The operation status includes cleaning status, lifting and moving status and parking status.

[0343] The parameter adjustment module 24 is used to execute parameter adjustment rules that match the identified running state based on preset state priorities.

[0344] As per the above reference Figures 1 to 6 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.

[0345] 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.

[0346] 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.

[0347] 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.

[0348] 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 1-6 The description includes various operations and functions.

[0349] 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 1-6 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.

[0350] 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.

[0351] 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.

[0352] 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.

[0353] 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 according to actual needs. The execution order of each step is not fixed and can be determined as needed. 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 structure, or some units may be implemented by multiple physical structures, or they may be jointly implemented by certain components in multiple independent devices.

[0354] 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.

[0355] 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 posture dimension, operation dimension, vibration dimension and fall detection dimension; The operating status of the cleaning equipment is identified based on the feature components of at least one dimension. The operating status includes operation status, abnormal status, fall status and / or work surface material status. The operation status includes cleaning status, lifting and moving status and parking status. Based on preset state priorities, parameter adjustment rules are executed to match the identified operating state.

2. The control method according to claim 1, characterized in that, The method for identifying the operation state includes: Based on the feature components of the attitude dimension, the pitch angle of the cleaning equipment is determined; Based on the feature components of the operation dimension, the motion intensity and ground-lift status of the cleaning equipment are determined; The operating state is determined based on the pitch angle, the motion intensity, and the ground clearance.

3. The control method according to claim 2, characterized in that, The characteristic components of the attitude dimension include x-axis angular velocity, x-axis acceleration, and z-axis acceleration, and the method for determining the pitch angle includes: Based on the x-axis angular velocity and the pitch angle estimate from the previous moment, determine the first angle; The second angle is determined based on the ratio of the x-axis acceleration to the z-axis acceleration; The pitch angle of the cleaning equipment is determined based on a weighted average of the first angle and the second angle.

4. The control method according to claim 2, characterized in that, The characteristic components of the operational dimension include triaxial acceleration; The method for determining the motion intensity of the cleaning equipment includes: Calculate the root mean square of the triaxial acceleration to obtain the motion intensity of the cleaning equipment; and / or, The method for determining the above-ground state includes: Determine if the z-axis acceleration is less than the first acceleration threshold; If the z-axis acceleration is less than the first acceleration threshold, determine whether the duration of the state in which the z-axis acceleration is less than the first acceleration threshold is greater than a first time threshold. If so, the ground-lift state is true. Otherwise, the off-ground state is false.

5. The control method according to claim 2, characterized in that, The step of determining the operating state of the cleaning equipment based on the pitch angle, the motion intensity, and the ground clearance includes: Determine whether the stated "off-ground" state is false; If so, determine whether the pitch angle is less than or equal to the first angle threshold; If so, determine whether the motion intensity is greater than or equal to the first intensity threshold; If so, the operating state of the cleaning equipment is the cleaning state.

6. The control method according to claim 5, characterized in that, If the pitch angle is greater than the first angle threshold, the method further includes: Determine whether the motion intensity is less than a second intensity threshold, wherein the second intensity threshold is less than the first intensity threshold; If so, determine whether the duration of the state in which the motion intensity is less than the second intensity threshold is greater than the second time threshold; If so, the operating state of the cleaning equipment is the parked state.

7. The control method according to claim 5, characterized in that, If the above-ground state is true, it also includes: Determine whether the exercise intensity is less than a third intensity threshold, wherein the third intensity threshold is less than the first intensity threshold; If so, the operating state of the cleaning equipment is the lifting and moving state.

8. The control method according to claim 5, characterized in that, The cleaning status includes normal floor cleaning, low-ceiling space cleaning, and high-altitude cleaning. The method for identifying the operation state further includes: When the cleaning equipment is in cleaning mode, the range of the pitch angle is determined, wherein the range includes a first angle range, a second angle range and a third angle range, the angle in the first angle range is smaller than the angle in the second angle range, and the angle in the second angle range is smaller than the angle in the third angle range. When the pitch angle is within the first angle range, the cleaning equipment operates in a low-ceiling space cleaning mode; or... When the pitch angle is within the second angle range, the cleaning equipment operates in normal floor cleaning mode; or... When the pitch angle is within the third angle range, the cleaning equipment operates in the high-altitude cleaning mode.

9. The control method according to claim 1, characterized in that, The characteristic components of the vibration dimension include z-axis acceleration; the method for identifying the material state of the working surface includes: When the operating state is the cleaning state, the vibration spectrum of the cleaning equipment is obtained based on the feature components of the vibration dimension; Based on a preset frequency band threshold, the signals in the vibration spectrum are divided into high-frequency signals, mid-frequency signals, and low-frequency signals according to their frequency. The material state of the working surface is determined based on the proportion of energy of the high-frequency, mid-frequency, and low-frequency signals to the total vibration energy.

10. The control method according to claim 9, characterized in that, The material state of the working surface includes hard surface state, short-pile carpet state and long-pile carpet state; The step of determining the material state of the working surface based on the proportion of energy of the high-frequency signal, mid-frequency signal, and low-frequency signal to the total vibration energy includes: When the proportion of energy of the high-frequency signal is greater than a first proportion threshold, the material state of the working surface is a hard surface state; or, When the proportion of energy of the mid-frequency signal is greater than the second proportion threshold, the material state of the work surface is a short-pile carpet; or, When the energy proportion of the low-frequency signal is greater than the third proportion threshold, the material state of the working surface is a long-pile carpet.

11. The control method according to claim 1, characterized in that, The method for identifying the abnormal state includes: Based on the feature components of the vibration dimension, the vibration spectrum of the cleaning equipment is obtained; Determine whether the vibration spectrum is abnormal; If so, the cleaning equipment is in an abnormal state.

12. The control method according to claim 11, characterized in that, The abnormal state includes brush entanglement, and the method for identifying brush entanglement includes: Determine whether there is a low-frequency signal in the vibration spectrum with a frequency lower than a first frequency threshold and a vibration amplitude greater than a first amplitude threshold; If the low-frequency signal exists, determine whether the number of times the low-frequency signal is detected within the first time period is greater than the first count threshold. If the number of times the low-frequency signal is detected within the first time period is greater than the first threshold, then the cleaning device is in a state of brush winding.

13. The control method according to claim 11, characterized in that, The abnormal state includes filter clogging, and the method for identifying filter clogging includes: Determine whether the offset of the vibration spectrum relative to the preset reference spectrum is greater than the spectrum offset threshold; If the offset of the vibration spectrum relative to the preset reference spectrum is greater than the spectrum offset threshold, determine whether the offset of the fan current of the cleaning equipment relative to the preset reference current is greater than the current offset threshold. If the deviation of the fan current relative to the preset reference current is greater than the current deviation threshold, the cleaning equipment is in a state of filter blockage.

14. The control method according to claim 11, characterized in that, The abnormal state includes fan malfunction, and the method for identifying fan malfunction includes: Determine whether there is a high-frequency signal in the vibration spectrum with a frequency greater than a second frequency threshold and a vibration amplitude greater than a second amplitude threshold; If the high-frequency signal exists, determine whether the number of times the high-frequency signal is detected within the second time period is greater than the second threshold. If the number of times the high-frequency signal is detected within the second time period is greater than the second threshold, then the cleaning equipment is in an abnormal fan state.

15. The control method according to claim 1, characterized in that, The feature components of the drop detection dimension include triaxial acceleration; The method for identifying the fall state includes: Calculate the vector sum of the triaxial accelerations and determine whether the vector sum is less than a second acceleration threshold; If so, the cleaning equipment is in a dropped state.

16. The control method according to claim 1, characterized in that, The states are prioritized from highest to lowest as follows: fall state, abnormal state, operation state, and work surface material state.

17. The control method according to claim 1, characterized in that, The parameter adjustment rules matching the drop state include: The roller brush motor and fan of the cleaning equipment are stopped, and the braking components are activated to stop the roller brush.

18. The control method according to claim 1, characterized in that, The parameter adjustment rules that match the abnormal state include: Control the alarm to activate and alert the user.

19. The control method according to claim 18, characterized in that, The abnormal state includes fan malfunction, and the parameter adjustment rules matching the fan malfunction further include: The operating power of the cleaning equipment's fan is reduced by a preset ratio.

20. The control method according to claim 1, characterized in that, The parameter adjustment rules that match the lifting and moving state include: The operating power of the cleaning equipment's fan is reduced by a preset ratio, and when the duration of the lifting and moving state reaches a preset standby threshold, the fan and roller brush motor of the cleaning equipment are controlled to stop.

21. The control method according to claim 1, characterized in that, The parameter adjustment rules that match the parking state include: The fan and roller brush motor of the cleaning equipment are stopped.

22. The control method according to claim 1, characterized in that, The cleaning status includes normal floor cleaning, low-ceiling space cleaning, and high-altitude cleaning. The parameter adjustment rules that match the cleaning states of low-ceiling spaces and high-ceiling spaces include: Control the lighting components of the cleaning equipment to illuminate the area to be cleaned; and / or, The parameter adjustment rules that match the high-altitude cleaning status include: Control the operation of the auxiliary components of the cleaning equipment.

23. The control method according to claim 1, characterized in that, The material state of the working surface includes hard surface state, short-pile carpet state and long-pile carpet state; The parameter adjustment rules that match the hard surface state include: The fan of the cleaning equipment is controlled to operate at a first power, and the roller brush motor is controlled to operate at a first speed. The parameter adjustment rules that match the state of the short-pile carpet include: The fan of the cleaning equipment is controlled to operate at a second power, and the roller brush motor is controlled to operate at a second speed, wherein the second power is greater than the first power, and the second speed is less than the first speed; The parameter adjustment rules that match the state of the long-pile carpet include: The fan of the cleaning equipment is controlled to operate at a third power, and the roller brush motor is controlled to stop, wherein the third power is greater than the second power.

24. 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 posture dimension, operation dimension, vibration dimension and fall detection dimension. The status recognition module is used to identify the operating status of the cleaning equipment based on the feature components of at least one dimension. The operating status includes operation status, abnormal status, fall status and / or work surface material status. The operation status includes cleaning status, lifting and moving status and parking status. The parameter adjustment module is used to execute parameter adjustment rules that match the identified operating state based on a preset state priority.

25. 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 23.

26. 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 23.

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